The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jun. 15, 2021
Filed:
Oct. 12, 2018
Waymo Llc, Mountain View, CA (US);
Daniel Trawick Egnor, Palo Alto, CA (US);
Nolan McPeek-Bechtold, Belmont, CA (US);
James Harris, San Francisco, CA (US);
Andrew Barton-Sweeney, Oakland, CA (US);
Ruslan Kurdyumov, San Francisco, CA (US);
Spencer Alexander, San Francisco, CA (US);
Ryan Cash, Sunnyvale, CA (US);
Waymo LLC, Mountain View, CA (US);
Abstract
A method and system are provided for controlling braking a vehicle in an autonomous driving mode. For instance, the vehicle is controlled in the autonomous driving mode according to a first braking control mode using a first model to adjust the position of a vehicle relative to an expected position of a current trajectory of the vehicle. Using a second model how close to a maximum deviation threshold the vehicle would come if a maximum braking strength for the vehicle was applied is predicted. The maximum deviation threshold provides an allowed forward deviation from the current trajectory. Based on the prediction, the vehicle is controlled in the autonomous driving mode according to a second braking control mode by automatically applying the maximum braking strength.