Patents by Inventor Jens Steffen
Jens Steffen 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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Publication number: 20250020197Abstract: The invention relates to an electric axle drive (10) for an axle (16) of a motor vehicle comprising two vehicle wheels (12, 14), having an electric machine (18) which has a stator (20) and a rotor (22), and having a planetary gear set (26) which has a ring gear (30), a planet carrier (32) and a sun gear (28) as a drive unit (34), via which drive torques which can be provided by the rotor (22) can be introduced into the planetary gear set (26), a first output shaft (36), from which a first of the vehicle wheels (12, 14) can be driven, being connected in a torque-transmitting manner to the ring gear (30) as the first output (38) of the planetary gear set (26).Type: ApplicationFiled: November 21, 2022Publication date: January 16, 2025Inventors: Frank STEFFENS, Jens LUCKMANN, Marc STRĂ–LIN, Marc KLEIN, Florian VINCON
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Patent number: 12181886Abstract: 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: June 2, 2021Date of Patent: December 31, 2024Assignee: Waymo LLCInventors: Jared Stephen Russell, Jens-Steffen Ralf Gutmann, Pei Sun
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Publication number: 20240416958Abstract: Aspects of the disclosure provide a method of generating and following planned trajectories for an autonomous vehicle. For instance, a baseline for a planned trajectory that the autonomous vehicle can use to follow a route to a destination may be determined. A stopping point corresponding to a traffic control that will cause the autonomous vehicle to come to a stop using the baseline may be determined. Sensor data identifying objects and their locations may be received. A plurality of constraints may be generated based on the sensor data. A planned trajectory may be generated using the baseline, the stopping point, and the plurality of constraints, wherein constraints beyond the stopping point are ignored.Type: ApplicationFiled: August 27, 2024Publication date: December 19, 2024Inventors: Jared Russell, Jens-Steffen Gutmann, Ioan-Alexandru Sucan
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Publication number: 20240361771Abstract: The technology relates to determining general weather conditions affecting the roadway around a vehicle, and how such conditions may impact driving and route planning for the vehicle when operating in an autonomous mode. For instance, the on-board sensor system may detect whether the road is generally icy as opposed to a small ice patch on a specific portion of the road surface. The system may also evaluate specific driving actions taken by the vehicle and/or other nearby vehicles. Based on such information, the vehicle's control system is able to use the resultant information to select an appropriate braking level or braking strategy. As a result, the system can detect and respond to different levels of adverse weather conditions. The on-board computer system may share road condition information with nearby vehicles and with remote assistance, so that it may be employed with broader fleet planning operations.Type: ApplicationFiled: July 9, 2024Publication date: October 31, 2024Inventors: David Harrison Silver, Jens-Steffen Ralf Gutmann, Michael James
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Patent number: 12116007Abstract: Aspects of the disclosure provide a method of generating and following planned trajectories for an autonomous vehicle. For instance, a baseline for a planned trajectory that the autonomous vehicle can use to follow a route to a destination may be determined. A stopping point corresponding to a traffic control that will cause the autonomous vehicle to come to a stop using the baseline may be determined. Sensor data identifying objects and their locations may be received. A plurality of constraints may be generated based on the sensor data. A planned trajectory may be generated using the baseline, the stopping point, and the plurality of constraints, wherein constraints beyond the stopping point are ignored.Type: GrantFiled: December 9, 2020Date of Patent: October 15, 2024Assignee: Waymo LLCInventors: Jared Russell, Jens-Steffen Gutmann, Ioan-Alexandru Sucan
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Patent number: 12066836Abstract: The technology relates to determining general weather conditions affecting the roadway around a vehicle, and how such conditions may impact driving and route planning for the vehicle when operating in an autonomous mode. For instance, the on-board sensor system may detect whether the road is generally icy as opposed to a small ice patch on a specific portion of the road surface. The system may also evaluate specific driving actions taken by the vehicle and/or other nearby vehicles. Based on such information, the vehicle's control system is able to use the resultant information to select an appropriate braking level or braking strategy. As a result, the system can detect and respond to different levels of adverse weather conditions. The on-board computer system may share road condition information with nearby vehicles and with remote assistance, so that it may be employed with broader fleet planning operations.Type: GrantFiled: April 7, 2023Date of Patent: August 20, 2024Assignee: Waymo LLCInventors: David Harrison Silver, Jens-Steffen Ralf Gutmann, Michael James
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Publication number: 20240217510Abstract: Aspects of the disclosure relate to determining whether a vehicle should continue through an intersection. For example, the one or more of the vehicle's computers may identify a time when the traffic signal light will turn from yellow to red. The one or more computers may also estimate a location of a vehicle at the time when the traffic signal light will turn from yellow to red. A starting point of the intersection may be identified. Based on whether the estimated location of the vehicle is at least a threshold distance past the starting point at the time when the traffic signal light will turn from yellow to red, the computers can determine whether the vehicle should continue through the intersection.Type: ApplicationFiled: January 12, 2024Publication date: July 4, 2024Inventors: Jens-Steffen Ralf Gutmann, Andreas Wendel, Nathaniel Fairfield, Dmitri A. Dolgov, Donald Jason Burnette
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Patent number: 12005897Abstract: Aspects of the disclosure relate to identifying and adjusting speed plans for controlling a vehicle in an autonomous driving mode. In one example, an initial speed plan for controlling speed of the vehicle for a first predetermined period of time corresponding to an amount of time along a route of the vehicle is identified. Data identifying an object and characteristics of that object is received from a perception system of the vehicle. A trajectory for the object that will intersect with the route at an intersection point at particular point in time is predicted using the data. A set of constraints is generated based on at least the trajectory. The speed plan is adjusted in order to satisfy the set of constraints for a second predetermined period of time corresponding to the amount of time. The vehicle is maneuvered in the autonomous driving mode according to the adjusted speed plan.Type: GrantFiled: February 21, 2023Date of Patent: June 11, 2024Assignee: Waymo LLCInventors: Jens-Steffen Ralf Gutmann, Vadim Furman, Tobias Kunz
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Patent number: 11989666Abstract: The technology relates to predicting that an object is going to enter into a trajectory of a vehicle. This may include receiving sensor data identifying a first location of the object in an environment of the vehicle at a first point in time and receiving sensor data identifying a second location of the object in the environment at a second point in time. In addition, a boundary of the trajectory is determined by defining at least a two-dimensional area through which the vehicle is expected to travel in the future. A first distance between the boundary and the first location and a second distance between the trajectory and the second location are determined. The first distance and the second distance are used to determine that the object is going to enter into the trajectory at a future point in time.Type: GrantFiled: March 21, 2023Date of Patent: May 21, 2024Assignee: Waymo LLCInventors: Jens-Steffen Ralf Gutmann, Zhinan Xu
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Patent number: 11970160Abstract: Aspects of the disclosure relate to determining whether a vehicle should continue through an intersection. For example, the one or more of the vehicle's computers may identify a time when the traffic signal light will turn from yellow to red. The one or more computers may also estimate a location of a vehicle at the time when the traffic signal light will turn from yellow to red. A starting point of the intersection may be identified. Based on whether the estimated location of the vehicle is at least a threshold distance past the starting point at the time when the traffic signal light will turn from yellow to red, the computers can determine whether the vehicle should continue through the intersection.Type: GrantFiled: February 14, 2022Date of Patent: April 30, 2024Assignee: Waymo LLCInventors: Jens-Steffen Ralf Gutmann, Andreas Wendel, Nathaniel Fairfield, Dmitri A. Dolgov, Donald Jason Burnette
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Publication number: 20240083425Abstract: The technology relates to determining a future heading of an object. In order to do so, sensor data, including information identifying a bounding box representing an object in a vehicle's environment and locations of sensor data points corresponding to the object, may be received. Based on dimensions of the bounding box, an area corresponding to a wheel of the object may be identified. An orientation of the wheel may then be estimated based on the sensor data points having locations within the area. The estimation may then be used to determine a future heading of the object.Type: ApplicationFiled: November 16, 2023Publication date: March 14, 2024Inventor: Jens-Steffen Ralf Gutmann
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Publication number: 20240017738Abstract: Aspects of the disclosure provide for controlling an autonomous vehicle. For example, a set of potential stopping locations may be identified based on a current location of an autonomous vehicle. A set of potential states may be identified for the autonomous vehicle. A fallback cost for each potential state of the set of potential states to reach each potential stopping location of the set of potential stopping locations may be determined. A trajectory for an autonomous vehicle may be planned based on a route to a destination and the determined fallback costs. The autonomous vehicle may be controlled according to at least a portion of the trajectory.Type: ApplicationFiled: July 12, 2022Publication date: January 18, 2024Inventors: Steven Vozar, Ioan-Alexandru Sucan, Jory Denny, Jens-Steffen Ralf Gutmann, Ryan Luna, Jonathan Daudelin, Tian Jin
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Patent number: 11851055Abstract: The technology relates to determining a future heading of an object. In order to do so, sensor data, including information identifying a bounding box representing an object in a vehicle's environment and locations of sensor data points corresponding to the object, may be received. Based on dimensions of the bounding box, an area corresponding to a wheel of the object may be identified. An orientation of the wheel may then be estimated based on the sensor data points having locations within the area. The estimation may then be used to determine a future heading of the object.Type: GrantFiled: March 8, 2022Date of Patent: December 26, 2023Assignee: Waymo LLCInventor: Jens-Steffen Ralf Gutmann
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Publication number: 20230315122Abstract: The technology relates to determining general weather conditions affecting the roadway around a vehicle, and how such conditions may impact driving and route planning for the vehicle when operating in an autonomous mode. For instance, the on-board sensor system may detect whether the road is generally icy as opposed to a small ice patch on a specific portion of the road surface. The system may also evaluate specific driving actions taken by the vehicle and/or other nearby vehicles. Based on such information, the vehicle's control system is able to use the resultant information to select an appropriate braking level or braking strategy. As a result, the system can detect and respond to different levels of adverse weather conditions. The on-board computer system may share road condition information with nearby vehicles and with remote assistance, so that it may be employed with broader fleet planning operations.Type: ApplicationFiled: April 7, 2023Publication date: October 5, 2023Inventors: David Harrison Silver, Jens-Steffen Ralf Gutmann, Michael James
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Patent number: 11762392Abstract: Aspects of the disclosure relate to controlling a first vehicle in an autonomous driving mode. While doing so, a second vehicle may be identified. Geometry for a future trajectory of the first vehicle may be identified, and an initial allowable discomfort value may be identified. Determining a speed profile for the geometry that meets the value may be attempted by determining a discomfort value for the speed profile based on a set of factors relating to at least discomfort of a passenger of the first vehicle and discomfort of a passenger of the second vehicle. When a speed profile that meets the value cannot be determined, the value may be adjusted until a speed profile that meets the value is determined. The speed profile that meets an adjusted value is used to control the first vehicle in the autonomous driving mode.Type: GrantFiled: March 13, 2020Date of Patent: September 19, 2023Assignee: Waymo LLCInventors: Jens-Steffen Ralf Gutmann, Tobias Kunz, Vadim Furman
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Patent number: 11720116Abstract: A system and method for avoiding or mitigating collisions by an autonomous vehicle is provided. Raw sensor data for the vehicle's environment is received, such as through a perception system of the vehicle. A trajectory is also received, the trajectory having a width corresponding to a distance that is at least as wide as the vehicle. The trajectory and raw sensor data are projected onto a grid, such as a static occupancy grid, having a plurality of cells. It is determined whether any cell that overlaps with the trajectory includes the raw sensor data. It is further determined, based on the raw sensor data, whether an obstacle is present along the trajectory. When no obstacles are determined to be present along the trajectory, the trajectory may be verified. However, where obstacles are determined to be present, the vehicle may take an action to avoid collision.Type: GrantFiled: June 23, 2021Date of Patent: August 8, 2023Assignee: Waymo LLCInventor: Jens-Steffen Ralf Gutmann
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Patent number: 11650603Abstract: The technology relates to determining general weather conditions affecting the roadway around a vehicle, and how such conditions may impact driving and route planning for the vehicle when operating in an autonomous mode. For instance, the on-board sensor system may detect whether the road is generally icy as opposed to a small ice patch on a specific portion of the road surface. The system may also evaluate specific driving actions taken by the vehicle and/or other nearby vehicles. Based on such information, the vehicle's control system is able to use the resultant information to select an appropriate braking level or braking strategy. As a result, the system can detect and respond to different levels of adverse weather conditions. The on-board computer system may share road condition information with nearby vehicles and with remote assistance, so that it may be employed with broader fleet planning operations.Type: GrantFiled: October 26, 2020Date of Patent: May 16, 2023Assignee: Waymo LLCInventors: David Harrison Silver, Jens-Steffen Ralf Gutmann, Michael James
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Patent number: 11636362Abstract: The technology relates to predicting that an object is going to enter into a trajectory of a vehicle. This may include receiving sensor data identifying a first location of the object in an environment of the vehicle at a first point in time and receiving sensor data identifying a second location of the object in the environment at a second point in time. In addition, a boundary of the trajectory is determined by defining at least a two-dimensional area through which the vehicle is expected to travel in the future. A first distance between the boundary and the first location and a second distance between the trajectory and the second location are determined. The first distance and the second distance are used to determine that the object is going to enter into the trajectory at a future point in time.Type: GrantFiled: April 13, 2021Date of Patent: April 25, 2023Assignee: Waymo LLCInventors: Jens-Steffen Ralf Gutmann, Zhinan Xu
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Patent number: 11619940Abstract: 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: March 17, 2022Date of Patent: April 4, 2023Assignee: Waymo LLCInventors: Jared Stephen Russell, Jens-Steffen Ralf Gutmann
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Patent number: 11608060Abstract: Aspects of the disclosure relate to identifying and adjusting speed plans for controlling a vehicle in an autonomous driving mode. In one example, an initial speed plan for controlling speed of the vehicle for a first predetermined period of time corresponding to an amount of time along a route of the vehicle is identified. Data identifying an object and characteristics of that object is received from a perception system of the vehicle. A trajectory for the object that will intersect with the route at an intersection point at particular point in time is predicted using the data. A set of constraints is generated based on at least the trajectory. The speed plan is adjusted in order to satisfy the set of constraints for a second predetermined period of time corresponding to the amount of time. The vehicle is maneuvered in the autonomous driving mode according to the adjusted speed plan.Type: GrantFiled: March 27, 2020Date of Patent: March 21, 2023Assignee: Waymo LLCInventors: Jens-Steffen Ralf Gutmann, Vadim Furman, Tobias Kunz