A method includes receiving sensor information from one or more sensors from a vehicle comprising an autonomous driving capability, the sensor information indicating at least one of properties associated with a state or a condition of the vehicle, properties associated with a driving environment of the vehicle, or a state of occupancy of the vehicle; receiving a request for a driving mode transition for the vehicle from a first driving mode to a next driving mode following the first driving mode; determining, based on the received sensor information, a smoothing operation for the driving mode transition; and initiating, based on the determined smoothing operation, the driving mode transition for the vehicle from the first driving mode to the next driving mode. In another embodiment, information associated with one or more parcels on board the vehicle may be used to transition to a next driving mode following the first driving mode.
B60K 28/02 - Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver
B60K 28/06 - Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver responsive to incapacity of driver
B60K 28/08 - Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the cargo, e.g. overload
B60W 40/08 - Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit related to drivers or passengers
B60W 50/08 - Interaction between the driver and the control system
2.
RISK PROCESSING FOR VEHICLES HAVING AUTONOMOUS DRIVING CAPABILITIES
Among other things, sensor signals are received using a vehicle comprising an autonomous driving capability. A risk associated with operating the vehicle is identified based on the sensor signals. The autonomous driving capability is modified in response to the risk. The operation of the vehicle is updated based on the modifying of the autonomous capability.
B60K 31/00 - Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
Among other things, a determination is made that intervention in an operation of one or more autonomous driving capabilities of a vehicle is appropriate. Based on the determination, a person is enabled to provide information for an intervention. The intervention is caused in the operation of the one or more autonomous driving capabilities of the vehicle.
Among other things, one or more travel signals are identified by analyzing one or more images and data from sensors, classifying candidate travel signals into zero, one or more true and relevant travel signals, and estimating a signal state of the classified travel signals.
Among other things, a vehicle drives autonomously on a trajectory through a road network to a goal location based on an automatic process for planning the trajectory without human intervention; and an automatic process alters the planning of the trajectory to reach a target location based on a request received from an occupant of the vehicle to engage in a speed-reducing maneuver.
Among other things, a world model is maintained of an environment of a vehicle. A hypothetical object in the environment that cannot be perceived by sensors of the vehicle is included in the world model.
Among other things, a signal is emitted from a signaling device and is captured by stimulus detectors location on a vehicle, including an autonomous vehicle. Properties of the signal are analyzed, potentially in concert with other information, to determine the precise location of the signaling device and therefore the precise goal location for picking up a rider of the autonomous vehicle. In response to the calculation of the precise goal location, the autonomous vehicle attempts to travel to a location as near as possible to the precise goal location to facilitate entry of the rider into the vehicle.
G01C 22/00 - Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers or using pedometers
G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
8.
IDENTIFYING A STOPPING PLACE FOR AN AUTONOMOUS VEHICLE
Among other things, a vehicle is caused to drive autonomously through a road network toward a defined goal position. Current information is analyzed about potential stopping places in the vicinity of the goal position, to make a choice of a currently selected stopping place that is acceptable and feasible. The vehicle is caused to drive autonomously toward the currently selected stopping place. The activities are repeated until the vehicle stops at a currently selected stopping place.
G01C 22/00 - Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers or using pedometers
In general, an indication is received through a user interface of an intention of a potential rider to use an autonomous vehicle. In response to the receipt of the indication, a hailing request is sent by a signaling mode to at least one autonomous vehicle that can receive the hailing request directly in accordance with the signaling mode.
Among other things, information is received that identifies or defines a function-related feature of an environment of a vehicle. Function-related information is generated that corresponds to the function-related feature.
Among other things, a determination is made of an ability of an autonomous vehicle to safely or robustly travel a road feature or a road segment or a route that is being considered for the autonomous vehicle as of a time or range of times. The route conforms to properties of stored road network information. The road feature or road segment or route is eliminated from consideration if the computer has determined that the road feature or road segment or route cannot be safely or robustly traveled by the autonomous vehicle. The determination by the computer is based on properties of the autonomous vehicle.
Among other things, a command is received expressing an objective for operation of a vehicle within a denominated travel segment of a planned travel route. The objective spans a time series of (for example, is expressed at a higher or more abstract level than) control inputs that are to be delivered to one or more of the brake, accelerator, steering, or other operational actuator of the vehicle. The command is expressed to cause operation of the vehicle along a selected man-made travel structure of the denominated travel segment. A feasible manner of operation of the vehicle is determined to effect the command. A succession of control inputs is generated to one or more of the brake, accelerator, steering or other operational actuator of the vehicle in accordance with the determined feasible manner of operation.
B62D 6/00 - Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
B62D 6/04 - Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to forces disturbing the intended course of the vehicle, e.g. forces acting transversely to the direction of vehicle travel
G01C 21/00 - NavigationNavigational instruments not provided for in groups
G01C 21/26 - NavigationNavigational instruments not provided for in groups specially adapted for navigation in a road network
Among other things, an operation related to control of a vehicle is facilitated by actions that include the following. A finite set of candidate trajectories of the vehicle is generated that begin at a location of the vehicle as of a given time. The candidate trajectories are based on a state of the vehicle and on possible behaviors of the vehicle and of the environment as of the location of the vehicle and the given time. A putative optimal trajectory is selected from among the candidate trajectories based on costs associated with the candidate trajectories. The costs include costs associated with violations of rules of operation of the vehicle. The selected putative optimal trajectory is used to facilitate the operation related to control of the vehicle.
09 - Scientific and electric apparatus and instruments
39 - Transport, packaging, storage and travel services
42 - Scientific, technological and industrial services, research and design
Goods & Services
Software for operating self-driving cars. Taxi transportation services. Providing customized computer programming development and
computer system integration services for software for use
with self-driving cars.
09 - Scientific and electric apparatus and instruments
39 - Transport, packaging, storage and travel services
42 - Scientific, technological and industrial services, research and design
Goods & Services
Software for operating self-driving cars. Taxi transportation services. Providing customized computer programming development and
computer system integration services for software for use
with self-driving cars.
09 - Scientific and electric apparatus and instruments
39 - Transport, packaging, storage and travel services
42 - Scientific, technological and industrial services, research and design
Goods & Services
Software for operating self-driving cars. Taxi transportation services. Providing customized computer programming development and
computer system integration services for software for use
with self-driving cars.
