Architecture For Variable Motion Control Envelope

    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.

    Positional gaps for driver controllability

    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

    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.

    Virtual Validation and Verification Model Structure for Motion Control

    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

    IPC分类号: B62D15/02 B60W60/00

    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.