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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.:

US 12547174 B1

PDFFull Text
Date of Patent:
Feb. 10, 2026

Filed:

Feb. 01, 2024

Approach for consolidating observed vehicle trajectories into a single representative trajectory

Applicant:

Waymo Llc, Mountain View, CA (US);

Inventors:

David I. Ferguson, San Francisco, CA (US);

Jiajun Zhu, Palo Alto, CA (US);

Assignee:

WAYMO LLC, Mountain View, CA (US);

Attorney:

Botos Churchill IP Law

Primary Examiner:

Dale W Hilgendorf

Int. Cl.
CPC ...
B62D 15/02 (2006.01); B60W 10/18 (2012.01); B60W 10/20 (2006.01); B60W 30/095 (2012.01); B60W 30/16 (2020.01); B60W 40/04 (2006.01); B60W 40/072 (2012.01); B60W 50/04 (2006.01); B60W 60/00 (2020.01); B62D 1/00 (2006.01); B62D 6/00 (2006.01); B62D 15/00 (2006.01); G01C 21/26 (2006.01); G01S 13/86 (2006.01); G01S 13/931 (2020.01); G01S 15/42 (2006.01); G01S 17/42 (2006.01); G01S 17/88 (2006.01); G05D 1/00 (2006.01); G08G 1/0967 (2006.01); G08G 1/00 (2006.01);
U.S. Cl.
CPC ...
G05D 1/0212 (2013.01); B60W 30/095 (2013.01); B60W 40/04 (2013.01); B60W 40/072 (2013.01); B60W 60/0011 (2020.02); B62D 1/00 (2013.01); B62D 6/00 (2013.01); B62D 15/00 (2013.01); B62D 15/025 (2013.01); B62D 15/0255 (2013.01); B62D 15/026 (2013.01); G01C 21/26 (2013.01); G05D 1/00 (2013.01); G05D 1/0088 (2013.01); G05D 1/0214 (2013.01); G05D 1/0223 (2013.01); G05D 1/0287 (2013.01); G08G 1/096725 (2013.01); B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 30/16 (2013.01); B60W 2050/048 (2013.01); G01S 13/865 (2013.01); G01S 13/867 (2013.01); G01S 2013/9325 (2013.01); G01S 15/42 (2013.01); G01S 17/42 (2013.01); G01S 17/88 (2013.01); G01S 2205/002 (2013.01); G05D 1/0246 (2013.01); G05D 1/0293 (2013.01); G08G 1/20 (2013.01); G08G 1/22 (2013.01);
Abstract

A method and apparatus is provided for controlling the operation of an autonomous vehicle. According to one aspect, the autonomous vehicle may track the trajectories of other vehicles on a road. Based on the other vehicle's trajectories, the autonomous vehicle may generate a pool of combined trajectories. Subsequently, the autonomous vehicle may select one of the combined trajectories as a representative trajectory. The representative trajectory may be used to change at least one of the speed or direction of the autonomous vehicle.

Find Patent Forward Citations

Ferguson, David. (2026). Approach for consolidating observed vehicle trajectories into a single representative trajectory (U.S. Patent No. 12547174). U.S. Patent and Trademark Office. https://idiyas.com/patent/badge/12547174

Data source: USPTO (United States Patent and Trademark Office) public patent records. Weekly synchronization. How IDiyas builds this profile

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