Patents by Inventor Jared Stephen Russell
Jared Stephen Russell 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: 11054834Abstract: The technology relates controlling an autonomous vehicle through a multi-lane turn. In one example, data corresponding to a position of the autonomous vehicle in a lane of the multi-lane turn, a trajectory of the autonomous vehicle, and data corresponding to positions of objects in a vicinity of the autonomous vehicle may be received. A determination of whether the autonomous vehicle is positioned as a first vehicle in the lane or positioned behind another vehicle in the lane may be made based on a position of the autonomous vehicle in the lane relative to the positions of the objects. The trajectory of the autonomous vehicle through the lane may be adjusted based on whether the autonomous vehicle is positioned as a first vehicle in the lane or positioned behind another vehicle in the lane. The autonomous vehicle may be controlled based on the adjusted trajectory.Type: GrantFiled: October 19, 2018Date of Patent: July 6, 2021Assignee: Waymo LLCInventors: Jared Stephen Russell, Jens-Steffen Ralf Gutmann, Pei Sun
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Patent number: 11048927Abstract: The technology relates to controlling a vehicle in an autonomous driving mode. For instance, sensor data identifying an object in an environment of the vehicle may be received. A grid including a plurality of cells may be projected around the object. For each given one of the plurality of cells, a likelihood that the object will enter the given one within a period of time into the future is predicted. A contour is generated based on the predicted likelihoods. The vehicle is then controlled in the autonomous driving mode in order to avoid an area within the contour.Type: GrantFiled: October 24, 2017Date of Patent: June 29, 2021Assignee: Waymo LLCInventors: Jared Stephen Russell, Kai Ding
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Patent number: 11034351Abstract: Aspects of the disclosure relate to generating a speed plan for an autonomous vehicle. As an example, the vehicle is maneuvered in an autonomous driving mode along a route using pre-stored map information. This information identifies a plurality of keep clear regions where the vehicle should not stop but can drive through in the autonomous driving mode. Each keep clear region of the plurality of keep clear regions is associated with a priority value. A subset of the plurality of keep clear regions is identified based on the route. A speed plan for stopping the vehicle is generated based on the priority values associated with the keep clear regions of the subset. The speed plan identifies a location for stopping the vehicle. The speed plan is used to stop the vehicle in the location.Type: GrantFiled: January 2, 2019Date of Patent: June 15, 2021Assignee: Waymo LLCInventors: Jared Stephen Russell, Dmitri A. Dolgov, Nathaniel Fairfield, Laura Estelle Lindzey, Christopher Paul Urmson
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Publication number: 20210164796Abstract: The disclosure provides for a method for determining a route for passenger comfort and operating a vehicle according to the determined route. To start, a set of routes from a start location to an end location may be determined. Each route includes one or more portions. For each route of the set of routes, a total motion sickness value is determined based on a sway motion sickness value, a surge motion sickness value, and a heave motion sickness value for each of the given portions. The total motion sickness value for a route reflects a likelihood that a user will experience motion sickness while in a vehicle along the route. A route may then be selected from the set of routes based on the total motion sickness value of each route of the set of routes, and the vehicle may be maneuvered according to the selected route.Type: ApplicationFiled: February 11, 2021Publication date: June 3, 2021Inventors: Daniel Lynn Larner, Jared Stephen Russell
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Publication number: 20210139048Abstract: An autonomous vehicle is operated along a route according to a nominal driving solution that takes into account one or more first constraints including a first predicted trajectory for an agent vehicle. An alternate scenario is determined based on one or more second external constraints that include a second predicted trajectory for the agent vehicle different from the first predicted trajectory. A risk factor on the nominal driving solution is determined for the alternative scenario, and a secondary driving solution is determined based on the risk factor and the one or more second external constraints. A candidate switching point is identified where the secondary driving solution diverges from the nominal driving solution, and the nominal driving solution is revised up to the candidate switching point based on the secondary driving solution. The autonomous vehicle is then operated based on the revised nominal driving solution.Type: ApplicationFiled: December 23, 2020Publication date: May 13, 2021Inventors: Jared Stephen Russell, Clovis Scotti
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Publication number: 20210109525Abstract: The disclosure provides a method for operating an autonomous vehicle. To operate the autonomous vehicle, a plurality of lane segments that are in an environment of the autonomous vehicle is determined and a first object and a second object in the environment are detected. A first position for the first object is determined in relation to the plurality of lane segments, and particular lane segments that are occluded by the first object are determined using the first position. According to the occluded lane segments, a reaction time is determined for the second object and a driving instruction for the autonomous vehicle is determined according to the reaction time. The autonomous vehicle is then operated based on the driving instruction.Type: ApplicationFiled: September 28, 2020Publication date: April 15, 2021Applicant: WAYMO LLCInventors: Jared Stephen Russell, Jens-Steffen Ralf Gutmann
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Patent number: 10942037Abstract: The disclosure provides for a method for determining a route for passenger comfort and operating a vehicle according to the determined route. To start, a set of routes from a start location to an end location may be determined. Each route includes one or more portions. For each route of the set of routes, a total motion sickness value is determined based on a sway motion sickness value, a surge motion sickness value, and a heave motion sickness value for each of the given portions. The total motion sickness value for a route reflects a likelihood that a user will experience motion sickness while in a vehicle along the route. A route may then be selected from the set of routes based on the total motion sickness value of each route of the set of routes, and the vehicle may be maneuvered according to the selected route.Type: GrantFiled: August 24, 2018Date of Patent: March 9, 2021Assignee: Waymo LLCInventors: Daniel Lynn Larner, Jared Stephen Russell
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Patent number: 10915762Abstract: Aspects of the disclosure relate to detecting sidewalks adjacent to roads. In this regard, a set of potential sidewalk areas adjacent to one or more roads in a vehicle's vicinity may be determined based on map data. Topology data for the set of potential sidewalk areas may be generated based on sensor data received from a perception system of the vehicle. The set of potential sidewalks may be filtered to remove areas unlikely to include a sidewalk. The vehicle may be operated based on the filtered set of potential sidewalk areas, which may include taking precautionary measures when within a predetermined distance from any of the filtered set of potential sidewalks.Type: GrantFiled: December 7, 2018Date of Patent: February 9, 2021Assignee: Waymo LLCInventor: Jared Stephen Russell
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Patent number: 10824148Abstract: The disclosure provides a method for operating an autonomous vehicle. To operate the autonomous vehicle, a plurality of lane segments that are in an environment of the autonomous vehicle is determined and a first object and a second object in the environment are detected. A first position for the first object is determined in relation to the plurality of lane segments, and particular lane segments that are occluded by the first object are determined using the first position. According to the occluded lane segments, a reaction time is determined for the second object and a driving instruction for the autonomous vehicle is determined according to the reaction time. The autonomous vehicle is then operated based on the driving instruction.Type: GrantFiled: December 14, 2018Date of Patent: November 3, 2020Assignee: WAYMO LLCInventors: Jared Stephen Russell, Jens-Steffen Ralf Gutmann
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Publication number: 20200249687Abstract: The technology relates to controlling a vehicle in an autonomous driving mode. In one instance, sensor data identifying an object in an environment of the vehicle may be received. A first path of a first trajectory where the vehicle will pass the object may be determined. A function is used to determining a first maximum speed of the vehicle based on a predetermined minimum lateral clearance between the object and the vehicle. The first maximum speed may be used to determine whether an actual lateral clearance between the object and the vehicle will meet the predetermined minimum lateral clearance. The determination of whether the actual lateral clearance will meet the predetermined minimum lateral clearance may be used to generate a first speed plan for the first trajectory. The vehicle may be controlled in the autonomous driving mode according to the first trajectory including the first speed plan and the first path.Type: ApplicationFiled: April 22, 2020Publication date: August 6, 2020Inventors: Jared Stephen Russell, Mark Paskin
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Publication number: 20200192365Abstract: The disclosure provides a method for operating an autonomous vehicle. To operate the autonomous vehicle, a plurality of lane segments that are in an environment of the autonomous vehicle is determined and a first object and a second object in the environment are detected. A first position for the first object is determined in relation to the plurality of lane segments, and particular lane segments that are occluded by the first object are determined using the first position. According to the occluded lane segments, a reaction time is determined for the second object and a driving instruction for the autonomous vehicle is determined according to the reaction time. The autonomous vehicle is then operated based on the driving instruction.Type: ApplicationFiled: December 14, 2018Publication date: June 18, 2020Inventors: Jared Stephen Russell, Jens-Steffen Ralf Gutmann
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Patent number: 10671079Abstract: The technology relates to controlling a vehicle in an autonomous driving mode. In one instance, sensor data identifying an object in an environment of the vehicle may be received. A first path of a first trajectory where the vehicle will pass the object may be determined. A function is used to determining a first maximum speed of the vehicle based on a predetermined minimum lateral clearance between the object and the vehicle. The first maximum speed may be used to determine whether an actual lateral clearance between the object and the vehicle will meet the predetermined minimum lateral clearance. The determination of whether the actual lateral clearance will meet the predetermined minimum lateral clearance may be used to generate a first speed plan for the first trajectory. The vehicle may be controlled in the autonomous driving mode according to the first trajectory including the first speed plan and the first path.Type: GrantFiled: October 24, 2017Date of Patent: June 2, 2020Assignee: Waymo LLCInventors: Jared Stephen Russell, Mark Paskin
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Publication number: 20200125106Abstract: The technology relates controlling an autonomous vehicle through a multi-lane turn. In one example, data corresponding to a position of the autonomous vehicle in a lane of the multi-lane turn, a trajectory of the autonomous vehicle, and data corresponding to positions of objects in a vicinity of the autonomous vehicle may be received. A determination of whether the autonomous vehicle is positioned as a first vehicle in the lane or positioned behind another vehicle in the lane may be made based on a position of the autonomous vehicle in the lane relative to the positions of the objects. The trajectory of the autonomous vehicle through the lane may be adjusted based on whether the autonomous vehicle is positioned as a first vehicle in the lane or positioned behind another vehicle in the lane. The autonomous vehicle may be controlled based on the adjusted trajectory.Type: ApplicationFiled: October 19, 2018Publication date: April 23, 2020Inventors: Jared Stephen Russell, Jens-Steffen Ralf Gutmann, Pei Sun
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Patent number: 10616553Abstract: Methods, apparatus, systems, and computer-readable media are provided that relate to using one or more vision sensors to capture images of a loaded pallet in association with application of stretch wrap to the loaded pallet by an automated pallet wrapping machine. The images are used to generate an image-based identifier for the loaded pallet that is then used for pallet identification by mobile robots and/or other automated agents in a warehouse or other environment. In some implementations, the images are captured by the vision sensor when the pallet is in the wrapping area of the automated pallet wrapping machine and while the vision sensor and/or the pallet are rotating. In some implementations, the image-based identifier may be assigned to pallet attributes and/or a de-palletizing scheme of the loaded pallet.Type: GrantFiled: October 28, 2019Date of Patent: April 7, 2020Assignee: X DEVELOPMENT LLCInventors: Jared Stephen Russell, Julian Mac Neille Mason
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Publication number: 20200004256Abstract: The technology relates to controlling a vehicle in an autonomous driving mode. For example, sensor data identifying a plurality of objects may be received. Pairs of objects of the plurality of objects may be identified. For each identified pair of objects of the plurality of objects, a similarity value which indicates whether the objects of that identified pair of objects can be responded to by the vehicle as a group may be determined. The objects of one of the identified pairs of objects may be clustered together based on the similarity score. The vehicle may be controlled in the autonomous mode by responding to each object in the cluster in a same way.Type: ApplicationFiled: July 16, 2019Publication date: January 2, 2020Inventors: Jared Stephen Russell, Fang Da
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Patent number: 10507577Abstract: Example embodiments may relate to robot-cloud interaction. In particular, a cloud-based service may receive a query from a first robotic system including sensor data, a request for instructions to carry out a task, and information associated with a configuration of the first robotic system. The cloud-based service may then identify stored data including a procedure previously used by a second robotic system to carry out the task and information associated with a configuration of the second robotic system. The cloud-based service may then generate instructions for the first robotic system to carry out the task based at least in part on the sensor data, the procedure used by the second robotic system to carry out the task, the information associated with the configuration of the first robotic system, and the information associated with the configuration of the second robotic system.Type: GrantFiled: September 29, 2017Date of Patent: December 17, 2019Assignee: X Development LLCInventors: James Joseph Kuffner, Jared Stephen Russell
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Patent number: 10491881Abstract: Methods, apparatus, systems, and computer-readable media are provided that relate to using one or more vision sensors to capture images of a loaded pallet in association with application of stretch wrap to the loaded pallet by an automated pallet wrapping machine. The images are used to generate an image-based identifier for the loaded pallet that is then used for pallet identification by mobile robots and/or other automated agents in a warehouse or other environment. In some implementations, the images are captured by the vision sensor when the pallet is in the wrapping area of the automated pallet wrapping machine and while the vision sensor and/or the pallet are rotating. In some implementations, the image-based identifier may be assigned to pallet attributes and/or a de-palletizing scheme of the loaded pallet.Type: GrantFiled: October 31, 2017Date of Patent: November 26, 2019Assignee: X DEVELOPMENT LLCInventors: Jared Stephen Russell, Julian Mac Neille Mason
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Patent number: 10401862Abstract: The technology relates to controlling a vehicle in an autonomous driving mode. For example, sensor data identifying a plurality of objects may be received. Pairs of objects of the plurality of objects may be identified. For each identified pair of objects of the plurality of objects, a similarity value which indicates whether the objects of that identified pair of objects can be responded to by the vehicle as a group may be determined. The objects of one of the identified pairs of objects may be clustered together based on the similarity score. The vehicle may be controlled in the autonomous mode by responding to each object in the cluster in a same way.Type: GrantFiled: October 31, 2017Date of Patent: September 3, 2019Assignee: Waymo LLCInventors: Jared Stephen Russell, Fang Da
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Publication number: 20190193733Abstract: Aspects of the disclosure relate to generating a speed plan for an autonomous vehicle. As an example, the vehicle is maneuvered in an autonomous driving mode along a route using pre-stored map information. This information identifies a plurality of keep clear regions where the vehicle should not stop but can drive through in the autonomous driving mode. Each keep clear region of the plurality of keep clear regions is associated with a priority value. A subset of the plurality of keep clear regions is identified based on the route. A speed plan for stopping the vehicle is generated based on the priority values associated with the keep clear regions of the subset. The speed plan identifies a location for stopping the vehicle. The speed plan is used to stop the vehicle in the location.Type: ApplicationFiled: January 2, 2019Publication date: June 27, 2019Inventors: Jared Stephen Russell, Dmitri A. Dolgov, Nathaniel Fairfield, Laura Estelle Lindzey, Christopher Paul Urmson
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Publication number: 20190129432Abstract: The technology relates to controlling a vehicle in an autonomous driving mode. For example, sensor data identifying a plurality of objects may be received. Pairs of objects of the plurality of objects may be identified. For each identified pair of objects of the plurality of objects, a similarity value which indicates whether the objects of that identified pair of objects can be responded to by the vehicle as a group may be determined. The objects of one of the identified pairs of objects may be clustered together based on the similarity score. The vehicle may be controlled in the autonomous mode by responding to each object in the cluster in a same way.Type: ApplicationFiled: October 31, 2017Publication date: May 2, 2019Inventors: Jared Stephen Russell, Fang Da