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1. 发明公开

KR20180031056A 교통 신호 및 그의 연관된 상태를 검출하는 강건한 방법 审中-公开
标题翻译：一种检测交通信号及其相关状态的稳健方法
公开(公告)号：KR20180031056A
公开(公告)日：2018-03-27
申请号：KR20187007123
申请日：2013-02-04
申请人： WAYMO LLC
发明人： FAIRFIELD NATHANIEL , FERGUSON DAVID I , LEVANDOWSKI ANTHONY
IPC分类号： B60W40/02 , B60W10/00 , B60W40/04 , G05D1/00
CPC分类号： B60W30/18154 , B60W2550/22 , B60W2550/402 , G05D1/0088 , G05D1/0231 , G06K9/00791 , G06K9/00818 , G06K9/00825
摘要： 교통신호들및 그들의연관된상태들을검출하는방법들및 디바이스들이개시되어있다. 하나의실시예에서, 한예시적인방법은목표영역정보를획득하기위해차량의하나이상의센서들을사용하여목표영역을스캔하는단계를포함한다. 차량은자율모드에서동작하도록구성되어있을수 있고, 목표영역은교통신호들이통상적으로위치해있는한 유형의영역일수 있다. 이방법은또한목표영역정보에서교통신호를검출하는단계, 교통신호의위치를결정하는단계, 및교통신호의상태를결정하는단계를포함할수 있다. 또한, 교통신호의신뢰도가결정될수 있다. 예를들어, 교통신호의위치가교통신호들의기지의위치들과비교될수 있다. 교통신호의상태및 교통신호의신뢰도에기초하여, 차량이자율모드에서제어될수 있다.
摘要翻译：公开了用于检测交通信号及其相关状态的方法和设备。在一个实施例中，示例方法包括使用车辆的一个或多个传感器扫描目标区域以获得目标区域信息。车辆可以被配置为以自主模式运行，并且目标区域可以是交通信号典型地位于的一类区域。该方法还可以包括检测目标区域信息中的交通信号，确定交通信号的位置以及确定交通信号的状态。此外，可以确定交通信号的置信度。例如，可以将交通信号的位置与交通信号的已知位置进行比较。基于交通信号的状态和交通信号的置信度，车辆可以被控制在自主模式下。

2. 发明公开

KR20200126441A 자율 차량들의 예측들의 테스트 审中-公开
公开(公告)号：KR20200126441A
公开(公告)日：2020-11-06
申请号：KR20207031351
申请日：2017-06-28
申请人： WAYMO LLC
发明人： FAIRFIELD NATHANIEL , FURMAN VADIM
IPC分类号： B60W30/14 , B60W50/00 , G05D1/00 , G05D1/02
摘要： 본개시내용의양태들은도로에서의다른차량또는물체에대한자율차량의예측들을테스트하는것에관한것이다. 예를들어, 하나이상의프로세서(120)는제1 차량(100)을자율적으로이동시켜액션을완료하도록플래닝하고제2 차량(680, 780, 880)이반응액션을취할것이라고예측할수 있다. 제1 차량은, 제1 차량이제1 차량과제2 차량사이의충돌을야기하지않고액션의완료를취소하고, 제1 차량이액션을완료하려고시도하고있다는것을제2 차량또는제2 차량의운전자에게표시하도록허용하는방식으로액션의완료를향해이동된다. 그후, 제1 차량이액션을취할수 있는것으로결정될때, 제2 차량이특정반응액션을취하기시작하는지여부의결정을이용하여제1 차량을자율적으로제어함으로써액션이완료된다.

3. 发明专利

SG10202106031WA DYNAMIC ROUTING FOR AUTONOMOUS VEHICLES 未知
公开(公告)号：SG10202106031WA
公开(公告)日：2021-07-29
申请号：SG10202106031W
申请日：2017-11-14
申请人： WAYMO LLC
发明人： FAIRFIELD NATHANIEL , HERBACH JOSHUA SETH
摘要： A route for a trip to a destination is generated using map information. A set of no-go roadway segments, where the vehicle is not able to drive in an autonomous mode, relevant to the route from the plurality of no-go roadway segments is identified from the map information. A local region around a current location of the vehicle is determined. A local map region including roadway segments of the map information that correspond to locations within the local region is determined. The set of the plurality of no-go roadway segments is filtered from the roadway segments of the local map region. A cost value is assigned to each roadway segment of the filtered roadway segments of the local map region. Any assigned cost values are used to determining a plan for maneuvering the vehicle for a predetermined period into the future. The vehicle is maneuvered according to the plan.

4. 发明专利

AU2020204157B2 Arranging passenger pickups for autonomous vehicles 未知
公开(公告)号：AU2020204157B2
公开(公告)日：2021-02-18
申请号：AU2020204157
申请日：2020-06-22
申请人： WAYMO LLC
发明人： FAIRFIELD NATHANIEL , HERBACH JOSHUA SETH , LUDWICK CHRISTOPHER KENNEDY , MCNAUGHTON MATTHEW PAUL , HUBERT RENAUD-ROLAND , ARDEN JENNIFER , CHAN MIN LI
IPC分类号： G06Q50/30 , G08G1/00
摘要： ARRANGING PASSENGER PICKUPS FOR AUTONOMOUS VEHICLES Aspects of the disclosure relate to arranging a pickup between a driverless vehicle and a passenger. For instance, dispatch instructions dispatching the vehicle to a predetermined pickup area in order to pick up the passenger are received by the vehicle which begins maneuvering to the predetermined pickup area. While doing so, the vehicle receives from the passenger's client computing device the device's location. An indication that the passenger is interested in a fly-by pickup is identified. The fly-by pickup allows the passenger to safely enter the vehicle at a location outside of the predetermined pickup area and prior to the one or more processors have maneuvered the vehicle to the predetermined pickup area. The vehicle determines that the fly-by pickup is appropriate based on at least the location of the client computing device and the indication, and based on the determination, maneuvers itself in order to attempt the fly-by pickup.

5. 发明专利

AU2019284146B2 Testing predictions for autonomous vehicles 未知
公开(公告)号：AU2019284146B2
公开(公告)日：2021-01-28
申请号：AU2019284146
申请日：2019-12-30
申请人： WAYMO LLC
发明人： FAIRFIELD NATHANIEL , FURMAN VADIM
IPC分类号： B60W30/14 , B60W50/00 , G05D1/00 , G05D1/02
摘要： TESTING PREDICTIONS FOR AUTONOMOUS VEHICLES Aspects of the disclosure relate to testing predictions of an autonomous vehicle relating to another vehicle or object in a roadway. For instance, one or more processors 120 may plan to maneuver a first vehicle 100 autonomously to complete an action and predict that a second vehicle 680, 780, 880 will take a responsive action. The first vehicle is maneuvered towards completing the action in a way that would allow the first vehicle to cancel completing the action without causing a collision between the first vehicle and the second vehicle, and in order to indicate to the second vehicle or a driver of the second vehicle that the first vehicle is attempting to complete the action. Thereafter, when the first vehicle is determined to be able to take the action, the action is completed by controlling the first vehicle autonomously using the determination of whether the second vehicle begins to take the particular responsive action.

6. 发明专利

SG11202005671RA SOFTWARE VALIDATION FOR AUTONOMOUS VEHICLES 未知
公开(公告)号：SG11202005671RA
公开(公告)日：2020-07-29
申请号：SG11202005671R
申请日：2019-01-08
申请人： WAYMO LLC
发明人： MORLEY FRANKLIN , BAROR OMER , FAIRFIELD NATHANIEL , CRARY MINER
IPC分类号： B60W30/14 , B60W10/18 , B60W30/08 , G05D1/00 , G05D1/02
摘要： Aspects of the disclosure relate to validating autonomous control software for operating a vehicle autonomously. For instance, the autonomous control software is run through a driving scenario to observe an outcome for the autonomous control software. A validation model is run through the driving scenario a plurality of times to observe an outcome for the model for each of the plurality of times. Whether the software passed the driving scenario is determined based on whether the outcome for the software indicates that a virtual vehicle under control of the software collided with another object during the single time. Whether the validation model passed the driving scenario is determined based on whether the outcome for the model indicates that a virtual vehicle under control of the model collided with another object in any one of the plurality of times. The software is validated based on the determinations.

7. 发明专利

SG10202003619TA ARRANGING PASSENGER PICKUPS FOR AUTONOMOUS VEHICLES 未知
公开(公告)号：SG10202003619TA
公开(公告)日：2020-05-28
申请号：SG10202003619T
申请日：2017-03-22
申请人： WAYMO LLC
发明人： FAIRFIELD NATHANIEL , HERBACH JOSHUA SETH , LUDWICK CHRISTOPHER KENNEDY , MCNAUGHTON MATTHEW PAUL , HUBERT RENAUD-ROLAND , ARDEN JENNIFER , CHAN MIN LI
IPC分类号： G05D1/00 , G01C21/34 , G06Q10/02 , G06Q50/30 , H04W4/02
摘要： Aspects of the disclosure relate to arranging a pickup between a driverless vehicle and a passenger. For instance, dispatch instructions dispatching the vehicle to a predetermined pickup area in order to pick up the passenger are received by the vehicle which begins maneuvering to the predetermined pickup area. While doing so, the vehicle receives from the passenger's client computing device the device's location. An indication that the passenger is interested in a fly-by pickup is identified. The fly-by pickup allows the passenger to safely enter the vehicle at a location outside of the predetermined pickup area and prior to the one or more processors have maneuvered the vehicle to the predetermined pickup area. The vehicle determines that the fly-by pickup is appropriate based on at least the location of the client computing device and the indication, and based on the determination, maneuvers itself in order to attempt the fly-by pickup.

8. 发明专利

SG11202000237YA METHODS AND SYSTEMS FOR PROVIDING REMOTE ASSISTANCE TO A VEHICLE 未知
公开(公告)号：SG11202000237YA
公开(公告)日：2020-02-27
申请号：SG11202000237Y
申请日：2018-06-18
申请人： WAYMO LLC
发明人： FAIRFIELD NATHANIEL , DOLGOV DMITRI , HERBACH JOSHUA
IPC分类号： B60W30/14 , B60W30/18 , B60W40/02 , G05D1/00
摘要： Examples described may enable provision of remote assistance for an autonomous vehicle. An example method includes a computing system operating in a rewind mode. In the rewind mode, the system may beconfigured to provide information to a remote assistance operated based on a remote-assistance triggering criteria being met. When the triggering criteria is met, the remote assistance system may provide data from the time leading up to when the remote-assistance triggering criteria was met that was capture of the environment of autonomous vehicle to the remote assistance operator. Based on viewing the data, the remote assistance operator may provide and input to the system that causes a command to be issued to the autonomous vehicle.

9. 发明专利

AU2019284146A1 Testing predictions for autonomous vehicles 未知
公开(公告)号：AU2019284146A1
公开(公告)日：2020-01-30
申请号：AU2019284146
申请日：2019-12-30
申请人： WAYMO LLC
发明人： FAIRFIELD NATHANIEL , FURMAN VADIM
IPC分类号： B60W30/14 , B60W50/00 , G05D1/00 , G05D1/02
摘要： TESTING PREDICTIONS FOR AUTONOMOUS VEHICLES Aspects of the disclosure relate to testing predictions of an autonomous vehicle relating to another vehicle or object in a roadway. For instance, one or more processors 120 may plan to maneuver a first vehicle 100 autonomously to complete an action and predict that a second vehicle 680, 780, 880 will take a responsive action. The first vehicle is maneuvered towards completing the action in a way that would allow the first vehicle to cancel completing the action without causing a collision between the first vehicle and the second vehicle, and in order to indicate to the second vehicle or a driver of the second vehicle that the first vehicle is attempting to complete the action. Thereafter, when the first vehicle is determined to be able to take the action, the action is completed by controlling the first vehicle autonomously using the determination of whether the second vehicle begins to take the particular responsive action.

10. 发明专利

AU2017291708A1 Testing predictions for autonomous vehicles 未知
公开(公告)号：AU2017291708A1
公开(公告)日：2019-02-07
申请号：AU2017291708
申请日：2017-06-28
申请人： WAYMO LLC
发明人： FAIRFIELD NATHANIEL , FURMAN VADIM
IPC分类号： B60W30/14 , B60W50/00 , G05D1/00 , G05D1/02
摘要： Aspects of the disclosure relate to testing predictions of an autonomous vehicle relating to another vehicle or object in a roadway. For instance, one or more processors 120 may plan to maneuver a first vehicle 100 autonomously to complete an action and predict that a second vehicle 680, 780, 880 will take a responsive action. The first vehicle is maneuvered towards completing the action in a way that would allow the first vehicle to cancel completing the action without causing a collision between the first vehicle and the second vehicle, and in order to indicate to the second vehicle or a driver of the second vehicle that the first vehicle is attempting to complete the action. Thereafter, when the first vehicle is determined to be able to take the action, the action is completed by controlling the first vehicle autonomously using the determination of whether the second vehicle begins to take the particular responsive action.

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