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公开(公告)号：US20230004158A1
公开(公告)日：2023-01-05
申请号：US17364277
申请日：2021-06-30
申请人： Waymo LLC
发明人： Joshua P. Switkes , Andrew Barton-Sweeney , Vadim Butakov , Diomidis Katzourakis , Craig Latimer , David Smith
摘要： A method includes identifying sensor data associated with corresponding distal ends of one or more axles of an autonomous vehicle (AV). The method further includes determining, based on the sensor data, mass distribution data of the AV. The mass distribution data is associated with a first load proximate a first distal end of a first axle of the AV and a second load proximate a second distal end of the first axle of the AV. The method further includes causing, based on the mass distribution data, performance of a corrective action associated with the AV.
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公开(公告)号：US20230001955A1
公开(公告)日：2023-01-05
申请号：US17364289
申请日：2021-06-30
申请人： Waymo LLC
发明人： Joshua P. Switkes , Andrew Barton-Sweeney , Vadim Butakov , Diomidis Katzourakis , Craig Latimer , David Smith
IPC分类号： B60W60/00
摘要： A method includes identifying mass distribution data of an autonomous vehicle (AV). The mass distribution data is associated with a first load proximate a first distal end of a first axle of the AV and a second load proximate a second distal end of the first axle of the AV. The method further includes determining, based on the mass distribution data, one or more handling maneuver limits for the AV. The method further includes causing the AV to travel a route based on the one or more handling maneuver limits.
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公开(公告)号：US20220204017A1
公开(公告)日：2022-06-30
申请号：US17135259
申请日：2020-12-28
申请人： WAYMO LLC
摘要： The technology employs a variable motion control envelope that enables an on-board computing system of a self-driving vehicle to estimate future vehicle driving behavior along an upcoming path, in order to maintain a desired amount of control during autonomous driving. Factors including intrinsic vehicle properties, extrinsic environmental influences and road friction information are evaluated. Such factors can be evaluated to derive an available acceleration model, which defines an envelope of maximum longitudinal and lateral accelerations for the vehicle. This model, which may identify dynamically varying acceleration limits that can be affected by road conditions and road configurations, may be used by the on-board control system (e.g., a planner module of the processing system) to control driving operations of the vehicle in an autonomous driving mode.
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公开(公告)号：US11427226B1
公开(公告)日：2022-08-30
申请号：US17122006
申请日：2020-12-15
申请人： WAYMO LLC
发明人： Jennifer Iglesias , Diomidis Katzourakis , Kerrie Wu , Bruce Lin
摘要： The technology involves determining a minimum lateral gap distance between a vehicle configured for autonomous driving and one or more other objects in the vehicle's environment. The minimum lateral gap is used when determining whether to have a driver take over control of certain driving operations. This provides a measure of safety during disengagements or other change of control events. Determining the minimum lateral gap includes calculating a budgeted distance based on a cross-track error for a lateral position of the vehicle, an allowed actual gap distance to an object in the vehicle's environment, and a perception error associated with a location of the object in the vehicle's environment. This determination can be done for a set of possible operating speeds and steering rate limit combinations. The vehicle's control system may notify the driver to take control, for instance with audible, visual and/or haptic notifications.
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公开(公告)号：US20230077259A1
公开(公告)日：2023-03-09
申请号：US17408734
申请日：2021-08-23
申请人： WAYMO LLC
摘要： The technology employs a model structure for motion control in a vehicle configured to operate in an autonomous driving mode. The model structure has components including a vehicle dynamics system module, a column dynamics module, a rack dynamics module, and an actuation control module. A virtual validation and verification model is configurable based on the components of the model structure. Configuration is performed according to a set of operational requirements based on at least one of a vehicle type, occupant loading information, a center of gravity, or tire pressure as per a cold nominal setpoint. The virtual validation and verification model can be executed so that an electric power steering (EPS) module of the model structure components is configured for at least one of: a software-in-loop model, functional EPS assist, angle control, or to emulate an EPS controller.
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