Patents by Inventor Daniel Trawick Egnor
Daniel Trawick Egnor has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Patent number: 11852492Abstract: An autonomous vehicle may access portions of a map to maneuver a roadway. The map may be split into one or more levels that represent different regions in space. For example, an overpass may be represented by one level while the road below the overpass may be on a separate level. A vehicle traveling on a particular level may use map data that is associated with that level. Furthermore, if the vehicle travels through a warp zone, it may transition from the current level to a destination level and thus begin to use map data associated with the destination level.Type: GrantFiled: October 21, 2020Date of Patent: December 26, 2023Assignee: Waymo LLCInventors: Christopher Paul Urmson, Michael Steven Montemerlo, Andrew Hughes Chatham, Daniel Trawick Egnor
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Patent number: 11827235Abstract: Aspects of the disclosure relate to controlling a vehicle in an autonomous driving mode. For instance, a trajectory is identified. The trajectory defines a future desired path for the vehicle and includes a control requirement having a corresponding point in time. A command for achieving the control requirement is generated. A fixed delay value corresponding to a delay caused by transmission of the command to an actuator of the vehicle is generated. A variable delay value corresponding to a delay caused by an amount of time to change a physical state of the actuator to a desired state according to the command is generated. The command is then sent to the actuator based on the fixed delay value, the variable delay value, and so that the actuator causes the vehicle to move according to the command.Type: GrantFiled: August 18, 2021Date of Patent: November 28, 2023Assignee: Waymo LLCInventors: Ethan Stark, Daniel Trawick Egnor, Ryan Cash
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Patent number: 11731644Abstract: Aspects of the disclosure relate to controlling a transition between a manual driving mode and an autonomous driving mode of a vehicle. For instance, one or more processors of one or more control computing devices may control the vehicle in the autonomous driving mode. While controlling the vehicle in the autonomous driving mode and decelerating at a given rate, the processors may receive at a user input of the vehicle input requesting a transition from the autonomous driving mode to the manual driving mode. In response to the input, the processors may transition the vehicle to the manual driving mode. After transitioning the vehicle to the manual driving mode, the processors may send deceleration signals to a deceleration actuator thereby causing the vehicle to continue to decelerate at the given rate.Type: GrantFiled: May 19, 2022Date of Patent: August 22, 2023Assignee: Waymo LLCInventors: Ethan Stark, Daniel Trawick Egnor, Ryan Cash, Andrew Schultz
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Patent number: 11703875Abstract: 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.Type: GrantFiled: May 12, 2021Date of Patent: July 18, 2023Assignee: Waymo LLCInventors: Daniel Trawick Egnor, Nolan McPeek-Bechtold, James Harris, Andrew Barton-Sweeney, Ruslan Kurdyumov, Spencer Alexander, Ryan Cash
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Patent number: 11364928Abstract: Aspects of the disclosure relate to controlling a transition between a manual driving mode and an autonomous driving mode of a vehicle. For instance, one or more processors of one or more control computing devices may control the vehicle in the autonomous driving mode. While controlling the vehicle in the autonomous driving mode and decelerating at a given rate, the processors may receive at a user input of the vehicle input requesting a transition from the autonomous driving mode to the manual driving mode. In response to the input, the processors may transition the vehicle to the manual driving mode. After transitioning the vehicle to the manual driving mode, the processors may send deceleration signals to a deceleration actuator thereby causing the vehicle to continue to decelerate at the given rate.Type: GrantFiled: November 15, 2019Date of Patent: June 21, 2022Assignee: Waymo LLCInventors: Ethan Stark, Daniel Trawick Egnor, Ryan Cash, Andrew Schultz
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Publication number: 20210325896Abstract: 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.Type: ApplicationFiled: May 12, 2021Publication date: October 21, 2021Inventors: Daniel Trawick Egnor, Nolan McPeek-Bechtold, James Harris, Andrew Barton-Sweeney, Ruslan Kurdyumov, Spencer Alexander, Ryan Cash
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Patent number: 11124202Abstract: Aspects of the disclosure relate to controlling a vehicle in an autonomous driving mode. For instance, a trajectory is identified. The trajectory defines a future desired path for the vehicle and includes a control requirement having a corresponding point in time. A command for achieving the control requirement is generated. A fixed delay value corresponding to a delay caused by transmission of the command to an actuator of the vehicle is generated. A variable delay value corresponding to a delay caused by an amount of time to change a physical state of the actuator to a desired state according to the command is generated. The command is then sent to the actuator based on the fixed delay value, the variable delay value, and so that the actuator causes the vehicle to move according to the command.Type: GrantFiled: September 27, 2017Date of Patent: September 21, 2021Assignee: Waymo LLCInventors: Ethan Stark, Daniel Trawick Egnor, Ryan Cash
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Publication number: 20210229666Abstract: Aspects of the disclosure relate to stopping a vehicle. For instance, a vehicle is controlled in an autonomous driving mode by generating first commands for acceleration control and sending the first commands to an acceleration and/or steering actuator of an acceleration system of the vehicle in order to cause the vehicle to accelerate. Acceleration and/or orientation of the vehicle is monitored while the vehicle is being operated in an autonomous driving mode. The monitored acceleration and/or orientation is compared with the first commands. An error with the acceleration and/or steering system is determined based on the comparison. When the error is determined, the vehicle is controlled in the autonomous driving mode by generating second commands which do not require any acceleration and/or steering.Type: ApplicationFiled: April 12, 2021Publication date: July 29, 2021Inventors: Ethan Stark, Daniel Trawick Egnor, Ryan Cash, Nolan McPeek-Bechtold
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Patent number: 11036234Abstract: 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.Type: GrantFiled: October 12, 2018Date of Patent: June 15, 2021Assignee: Waymo LLCInventors: Daniel Trawick Egnor, Nolan McPeek-Bechtold, James Harris, Andrew Barton-Sweeney, Ruslan Kurdyumov, Spencer Alexander, Ryan Cash
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Patent number: 11008011Abstract: Aspects of the disclosure relate to stopping a vehicle. For instance, a vehicle is controlled in an autonomous driving mode by generating first commands for acceleration control and sending the first commands to an acceleration and/or steering actuator of an acceleration system of the vehicle in order to cause the vehicle to accelerate. Acceleration and/or orientation of the vehicle is monitored while the vehicle is being operated in an autonomous driving mode. The monitored acceleration and/or orientation is compared with the first commands. An error with the acceleration and/or steering system is determined based on the comparison. When the error is determined, the vehicle is controlled in the autonomous driving mode by generating second commands which do not require any acceleration and/or steering.Type: GrantFiled: September 6, 2019Date of Patent: May 18, 2021Assignee: Waymo LLCInventors: Ethan Stark, Daniel Trawick Egnor, Ryan Cash, Nolan McPeek-Bechtold
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Patent number: 10845202Abstract: An autonomous vehicle may access portions of a map to maneuver a roadway. The map may be split into one or more levels that represent different regions in space. For example, an overpass may be represented by one level while the road below the overpass may be on a separate level. A vehicle traveling on a particular level may use map data that is associated with that level. Furthermore, if the vehicle travels through a warp zone, it may transition from the current level to a destination level and thus begin to use map data associated with the destination level.Type: GrantFiled: January 24, 2018Date of Patent: November 24, 2020Assignee: Waymo LLCInventors: Christopher Paul Urmson, Michael Steven Montemerlo, Andrew Hughes Chatham, Daniel Trawick Egnor
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Patent number: 10710565Abstract: The disclosure relates to controlling braking behaviors a vehicle in an autonomous driving mode in the event of a hydraulic system failure. For instance, the vehicle may be controlled in the autonomous driving mode according to a first braking control behavior based on a first relationship between position of a brake pedal of the vehicle and amount of deceleration for the vehicle. While controlling the vehicle, a failure of a hydraulic system may be determined. Based on the determination, the vehicle may be controlled in the autonomous driving mode according to a second braking control behavior by moving the brake pedal until the vehicle reaches a deceleration target defined by the second braking control behavior.Type: GrantFiled: October 10, 2018Date of Patent: July 14, 2020Assignee: Waymo LLCInventors: Daniel Trawick Egnor, Nolan McPeek-Bechtold, James Harris, Andrew Barton-Sweeney, Ruslan Kurdyumov, Spencer Alexander
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Publication number: 20200117206Abstract: The disclosure relates to controlling braking a vehicle in an autonomous driving mode. For instance, the vehicle may be controlled 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 may provide 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.Type: ApplicationFiled: October 12, 2018Publication date: April 16, 2020Inventors: Daniel Trawick Egnor, Nolan McPeek-Bechtold, James Harris, Andrew Barton-Sweeney, Ruslan Kurdyumov, Spencer Alexander, Ryan Cash
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Publication number: 20200114889Abstract: The disclosure relates to controlling braking behaviors a vehicle in an autonomous driving mode in the event of a hydraulic system failure. For instance, the vehicle may be controlled in the autonomous driving mode according to a first braking control behavior based on a first relationship between position of a brake pedal of the vehicle and amount of deceleration for the vehicle. While controlling the vehicle, a failure of a hydraulic system may be determined. Based on the determination, the vehicle may be controlled in the autonomous driving mode according to a second braking control behavior by moving the brake pedal until the vehicle reaches a deceleration target defined by the second braking control behavior.Type: ApplicationFiled: October 10, 2018Publication date: April 16, 2020Inventors: Daniel Trawick Egnor, Nolan McPeek-Bechtold, James Harris, Andrew Barton-Sweeney, Ruslan Kurdyumov, Spencer Alexander
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Publication number: 20200094832Abstract: Aspects of the disclosure relate to stopping a vehicle. For instance, a vehicle is controlled in an autonomous driving mode by generating first commands for acceleration control and sending the first commands to an acceleration and/or steering actuator of an acceleration system of the vehicle in order to cause the vehicle to accelerate. Acceleration and/or orientation of the vehicle is monitored while the vehicle is being operated in an autonomous driving mode. The monitored acceleration and/or orientation is compared with the first commands. An error with the acceleration and/or steering system is determined based on the comparison. When the error is determined, the vehicle is controlled in the autonomous driving mode by generating second commands which do not require any acceleration and/or steering.Type: ApplicationFiled: September 6, 2019Publication date: March 26, 2020Inventors: Ethan Stark, Daniel Trawick Egnor, Ryan Cash, Nolan McPeek-Bechtold
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Patent number: 10569784Abstract: Aspects of the disclosure relate to stopping a vehicle. For instance, a vehicle is controlled in an autonomous driving mode by generating first commands for acceleration control and sending the first commands to an acceleration and/or steering actuator of an acceleration system of the vehicle in order to cause the vehicle to accelerate. Acceleration and/or orientation of the vehicle is monitored while the vehicle is being operated in an autonomous driving mode. The monitored acceleration and/or orientation is compared with the first commands. An error with the acceleration and/or steering system is determined based on the comparison. When the error is determined, the vehicle is controlled in the autonomous driving mode by generating second commands which do not require any acceleration and/or steering.Type: GrantFiled: September 28, 2017Date of Patent: February 25, 2020Assignee: Waymo LLCInventors: Ethan Stark, Daniel Trawick Egnor, Ryan Cash, Nolan McPeek-Bechtold
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Patent number: 10513273Abstract: Aspects of the disclosure relate to controlling a transition between a manual driving mode and an autonomous driving mode of a vehicle. For instance, one or more processors of one or more control computing devices may control the vehicle in the autonomous driving mode. While controlling the vehicle in the autonomous driving mode and decelerating at a given rate, the processors may receive at a user input of the vehicle input requesting a transition from the autonomous driving mode to the manual driving mode. In response to the input, the processors may transition the vehicle to the manual driving mode. After transitioning the vehicle to the manual driving mode, the processors may send deceleration signals to a deceleration actuator thereby causing the vehicle to continue to decelerate at the given rate.Type: GrantFiled: September 28, 2017Date of Patent: December 24, 2019Assignee: Waymo LLCInventors: Ethan Stark, Daniel Trawick Egnor, Ryan Cash, Andrew Schultz
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Patent number: 10493992Abstract: Aspects of the disclosure relate to stopping a vehicle. For instance, a vehicle is controlled in an autonomous driving mode by generating first commands for acceleration control and sending the first commands to an acceleration and/or steering actuator of an acceleration system of the vehicle in order to cause the vehicle to accelerate. Acceleration and/or orientation of the vehicle is monitored while the vehicle is being operated in an autonomous driving mode. The monitored acceleration and/or orientation is compared with the first commands. An error with the acceleration and/or steering system is determined based on the comparison. When the error is determined, the vehicle is controlled in the autonomous driving mode by generating second commands which do not require any acceleration and/or steering.Type: GrantFiled: September 28, 2017Date of Patent: December 3, 2019Assignee: Waymo LLCInventors: Ethan Stark, Daniel Trawick Egnor, Ryan Cash
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Publication number: 20190092341Abstract: Aspects of the present disclosure relate to vehicle systems including one or more control computing devices configured to send commands to one or more actuators of the vehicle in order to control deceleration, acceleration, and steering. The vehicle may include user input devices for allowing a driver to control the one or more actuators in order to control deceleration, acceleration, and steering. The computing devices are configured to operate in a manual driving mode where commands from the control computing devices are invalidated and ignored by the actuators, a first autonomous driving mode where the control computing devices are configured to send the commands to control the actuators and inputs from the user input devices are prioritized over the commands; and a second autonomous driving mode wherein the control computing devices are configured to send the commands to control the actuators and inputs from commands are prioritized over inputs from the user input devices.Type: ApplicationFiled: September 27, 2017Publication date: March 28, 2019Inventors: Ethan Stark, Daniel Trawick Egnor, Ryan Cash, Katharine Patterson
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Publication number: 20190092332Abstract: Aspects of the disclosure relate to stopping a vehicle. For instance, a vehicle is controlled in an autonomous driving mode by generating first commands for acceleration control and sending the first commands to an acceleration and/or steering actuator of an acceleration system of the vehicle in order to cause the vehicle to accelerate. Acceleration and/or orientation of the vehicle is monitored while the vehicle is being operated in an autonomous driving mode. The monitored acceleration and/or orientation is compared with the first commands. An error with the acceleration and/or steering system is determined based on the comparison. When the error is determined, the vehicle is controlled in the autonomous driving mode by generating second commands which do not require any acceleration and/or steering.Type: ApplicationFiled: September 28, 2017Publication date: March 28, 2019Inventors: Ethan Stark, Daniel Trawick Egnor, Ryan Cash