Patents by Inventor Joshua Seth Herbach

Joshua Seth Herbach 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).

  • Patent number: 12002367
    Abstract: Aspects of the present disclosure relate to a system having a memory, a plurality of self-driving systems for controlling a vehicle, and one or more processors. The processors are configured to receive at least one fallback task in association with a request for a primary task and at least one trigger of each fallback task. Each trigger is a set of conditions that, when satisfied, indicate when a vehicle requires attention for proper operation. The processors are also configured to send instructions to the self-driving systems to execute the primary task and receive status updates from the self-driving systems. The processors are configured to determine that a set of conditions of a trigger is satisfied based on the status updates and send further instructions based on the associated fallback task to the self-driving systems.
    Type: Grant
    Filed: February 8, 2022
    Date of Patent: June 4, 2024
    Assignee: Waymo LLC
    Inventors: Joshua Seth Herbach, Philip Nemec, Nathaniel Fairfield
  • Patent number: 11971716
    Abstract: Aspects of the disclosure relate to controlling a vehicle in an autonomous driving mode. For instance, a first location corresponding to a location where the vehicle is to pick up or drop off a passenger is received. A first cost for the vehicle to reach the first location is determined. A second location based on the first location is identified, and a second cost is determined based on a cost for the vehicle to reach the second location and a cost for the passenger to reach the second location. The first cost is compared to the second cost, and a notification is sent based on the notification. In response to sending the notification, instructions to proceed to the second location are received, and in response to receiving the instructions, the vehicle is controlled in the autonomous driving mode to the second location to pick up or drop off the passenger.
    Type: Grant
    Filed: January 3, 2022
    Date of Patent: April 30, 2024
    Assignee: Waymo LLC
    Inventors: Joshua Seth Herbach, Michael Epstein, Mishika Vora, Guillaume Dupre, Kevin Rawlings
  • Publication number: 20240111289
    Abstract: Aspects of the disclosure relate to arranging a pickup between a driverless vehicle and a passenger. For instance, dispatch instructions dispatching the vehicle to a predetermined pickup area in order to pick up the passenger are received by the vehicle which begins maneuvering to the predetermined pickup area. While doing so, the vehicle receives from the passenger's client computing device the device's location. An indication that the passenger is interested in a fly-by pickup is identified. The fly-by pickup allows the passenger to safely enter the vehicle at a location outside of the predetermined pickup area and prior to the one or more processors have maneuvered the vehicle to the predetermined pickup area. The vehicle determines that the fly-by pickup is appropriate based on at least the location of the client computing device and the indication, and based on the determination, maneuvers itself in order to attempt the fly-by pickup.
    Type: Application
    Filed: October 16, 2023
    Publication date: April 4, 2024
    Inventors: Nathaniel Fairfield, Joshua Seth Herbach, Christopher Kennedy Ludwick, Matthew Paul McNaughton, Renaud-Roland Hubert, Jennifer Arden, Min Li Chan
  • Patent number: 11947353
    Abstract: Aspects of the disclosure relate to a system that includes a memory storing a queue for arranging tasks, a plurality of self-driving systems for controlling an autonomous vehicle, and one or more processors. The one or more processors may receive a non-passenger task request with a priority level of the non-passenger task request. When the non-passenger task request is accepted, the one or more processors may insert the task in the queue based on the priority level of the task request. Then, the one or more processors may provide instructions to one or more self-driving systems according to the non-passenger task request. Having received updates of the status of the autonomous vehicle, the one or more processors may determine that the task is completed based on the updates. After determining that the task is completed, the one or more processors may remove the task from the queue.
    Type: Grant
    Filed: December 18, 2020
    Date of Patent: April 2, 2024
    Assignee: Waymo LLC
    Inventors: Joshua Seth Herbach, Philip Nemec, Peter Colijn
  • Publication number: 20240011778
    Abstract: Aspects of the disclosure provide systems and methods for providing suggested locations for pick up and destination locations. Pick up locations may include locations where an autonomous vehicle can pick up a passenger, while destination locations may include locations where the vehicle can wait for an additional passenger, stop and wait for a passenger to perform some task and return to the vehicle, or for the vehicle to drop off a passenger. As such, a request for a vehicle may be received from a client computing device. The request may identify a first location. A set of one or more suggested locations may be selected by comparing the predetermined locations to the first location. The set may be provided to the client computing device.
    Type: Application
    Filed: July 18, 2023
    Publication date: January 11, 2024
    Inventors: Peter Colijn, Joshua Seth Herbach, Matthew Paul McNaughton
  • Patent number: 11853067
    Abstract: Aspects of the disclosure relate to arranging a pickup between a driverless vehicle and a passenger. For instance, dispatch instructions dispatching the vehicle to a predetermined pickup area in order to pick up the passenger are received by the vehicle which begins maneuvering to the predetermined pickup area. While doing so, the vehicle receives from the passenger's client computing device the device's location. An indication that the passenger is interested in a fly-by pickup is identified. The fly-by pickup allows the passenger to safely enter the vehicle at a location outside of the predetermined pickup area and prior to the one or more processors have maneuvered the vehicle to the predetermined pickup area. The vehicle determines that the fly-by pickup is appropriate based on at least the location of the client computing device and the indication, and based on the determination, maneuvers itself in order to attempt the fly-by pickup.
    Type: Grant
    Filed: October 18, 2021
    Date of Patent: December 26, 2023
    Assignee: Waymo LLC
    Inventors: Nathaniel Fairfield, Joshua Seth Herbach, Christopher Kennedy Ludwick, Matthew Paul McNaughton, Renaud-Roland Hubert, Jennifer Arden, Min Li Chan
  • Publication number: 20230396970
    Abstract: The technology relates to actively looking for an assigned passenger prior to a vehicle 100 reaching a pickup location. For instance, information identifying the pickup location and client device information for authenticating the assigned passenger is received. Sensor data is received from a perception system of the vehicle identifying objects in an environment of the vehicle. When the vehicle is within a predetermined distance from the pickup location, authenticating a client device using the client device information is attempted. When the client device has been authenticated, the sensor data is used to determine whether a pedestrian is within a first threshold distance of the vehicle. When a pedestrian is determined to be within the first threshold distance of the vehicle, the vehicle is stopped prior to reaching the pickup location, to wait for the pedestrian within the first threshold distance of the vehicle to enter the vehicle.
    Type: Application
    Filed: June 8, 2023
    Publication date: December 7, 2023
    Inventors: Philip Nemec, Renaud-Roland Hubert, Joshua Seth Herbach, Min Li Chan, Michael Epstein, Salil Pandit, John Wesley Dyer, Juliet Rothenberg
  • Publication number: 20230386338
    Abstract: Example systems and methods allow for reporting and sharing of information reports relating to driving conditions within a fleet of autonomous vehicles. One example method includes receiving information reports relating to driving conditions from a plurality of autonomous vehicles within a fleet of autonomous vehicles. The method may also include receiving sensor data from a plurality of autonomous vehicles within the fleet of autonomous vehicles. The method may further include validating some of the information reports based at least in part on the sensor data. The method may additionally include combining validated information reports into a driving information map. The method may also include periodically filtering the driving information map to remove outdated information reports. The method may further include providing portions of the driving information map to autonomous vehicles within the fleet of autonomous vehicles.
    Type: Application
    Filed: August 3, 2023
    Publication date: November 30, 2023
    Inventors: Nathaniel Fairfield, Joshua Seth Herbach, Andrew Hughes Chatham, Michael Steven Montemerlo
  • Patent number: 11815896
    Abstract: Aspects of the disclosure relate to arranging a pickup between a driverless vehicle and a passenger. For instance, dispatch instructions dispatching the vehicle to a predetermined pickup area in order to pick up the passenger are received by the vehicle which begins maneuvering to the predetermined pickup area. While doing so, the vehicle receives from the passenger's client computing device the device's location. An indication that the passenger is interested in a fly-by pickup is identified. The fly-by pickup allows the passenger to safely enter the vehicle at a location outside of the predetermined pickup area and prior to the one or more processors have maneuvered the vehicle to the predetermined pickup area. The vehicle determines that the fly-by pickup is appropriate based on at least the location of the client computing device and the indication, and based on the determination, maneuvers itself in order to attempt the fly-by pickup.
    Type: Grant
    Filed: October 18, 2021
    Date of Patent: November 14, 2023
    Assignee: Waymo LLC
    Inventors: Nathaniel Fairfield, Joshua Seth Herbach, Christopher Kennedy Ludwick, Matthew Paul McNaughton, Renaud-Roland Hubert, Jennifer Arden, Min Li Chan
  • Patent number: 11781871
    Abstract: Aspects of the disclosure provide systems and methods for providing suggested locations for pick up and destination locations. Pick up locations may include locations where an autonomous vehicle can pick up a passenger, while destination locations may include locations where the vehicle can wait for an additional passenger, stop and wait for a passenger to perform some task and return to the vehicle, or for the vehicle to drop off a passenger. As such, a request for a vehicle may be received from a client computing device. The request may identify a first location. A set of one or more suggested locations may be selected by comparing the predetermined locations to the first location. The set may be provided to the client computing device.
    Type: Grant
    Filed: April 11, 2022
    Date of Patent: October 10, 2023
    Assignee: Waymo LLC
    Inventors: Peter Colijn, Joshua Seth Herbach, Matthew Paul McNaughton
  • Publication number: 20230280748
    Abstract: Aspects of the disclosure relate to controlling a vehicle in an autonomous driving mode. The system includes a plurality of sensors configured to generate sensor data. The system also includes a first computing system configured to generate trajectories using the sensor data and send the generated trajectories to a second computing system. The second computing system is configured to cause the vehicle to follow a receive trajectory. The system also includes a third computing system configured to, when there is a failure of the first computer system, generate and send trajectories to the second computing system based on whether a vehicle is located on a highway or a surface street.
    Type: Application
    Filed: May 12, 2023
    Publication date: September 7, 2023
    Inventors: Emily Chi, Ryan Joseph Andrade, Michael James, Ioan-Alexandru Sucan, Christopher Kennedy Ludwick, Joshua Seth Herbach, Misha Balakhno, Andrew Barton-Sweeney
  • Patent number: 11747811
    Abstract: Aspects of the present disclosure relate to a vehicle having one or more computing devices that may receive instructions to pick up a passenger at a pickup location and determine when the vehicle is within a first distance of the pickup location. When the vehicle is within the first distance, the computing devices may make a first attempt to find a spot to park the vehicle and wait for the passenger. When the vehicle is unable to find a spot to park the vehicle on the first attempt, the computing devices may maneuvering the vehicle in order to make a second attempt to find a spot to park the vehicle and wait for the passenger. When the vehicle is unable to find a spot to park the vehicle on the second attempt, the computing devices may stop the vehicle in a current lane to wait for the passenger.
    Type: Grant
    Filed: March 1, 2019
    Date of Patent: September 5, 2023
    Assignee: Waymo LLC
    Inventors: Brian Douglas Cullinane, David Tse-Zhou Lu, Anne Kristiina Aula, Jennifer Arden, Nathaniel Fairfield, Joshua Seth Herbach, Calvin Karl Johnson, Renaud-Roland Hubert
  • Publication number: 20230244228
    Abstract: Example systems and methods enable an autonomous vehicle to request assistance from a remote operator in certain predetermined situations. One example method includes determining a representation of an environment of an autonomous vehicle based on sensor data of the environment. Based on the representation, the method may also include identifying a situation from a predetermined set of situations for which the autonomous vehicle will request remote assistance. The method may further include sending a request for assistance to a remote assistor, the request including the representation of the environment and the identified situation. The method may additionally include receiving a response from the remote assistor indicating an autonomous operation. The method may also include causing the autonomous vehicle to perform the autonomous operation.
    Type: Application
    Filed: April 6, 2023
    Publication date: August 3, 2023
    Inventors: Nathaniel Fairfield, Joshua Seth Herbach, Vadim Furman
  • Publication number: 20230245563
    Abstract: Example systems and methods allow for reporting and sharing of information reports relating to driving conditions within a fleet of autonomous vehicles. One example method includes receiving information reports relating to driving conditions from a plurality of autonomous vehicles within a fleet of autonomous vehicles. The method may also include receiving sensor data from a plurality of autonomous vehicles within the fleet of autonomous vehicles. The method may further include validating some of the information reports based at least in part on the sensor data. The method may additionally include combining validated information reports into a driving information map. The method may also include periodically filtering the driving information map to remove outdated information reports. The method may further include providing portions of the driving information map to autonomous vehicles within the fleet of autonomous vehicles.
    Type: Application
    Filed: April 7, 2023
    Publication date: August 3, 2023
    Inventors: Nathaniel Fairfield, Joshua Seth Herbach, Andrew Hughes Chatham, Michael Steven Montemerlo
  • Patent number: 11716598
    Abstract: The technology relates to actively looking for an assigned passenger prior to a vehicle 100 reaching a pickup location. For instance, information identifying the pickup location and client device information for authenticating the assigned passenger is received. Sensor data is received from a perception system of the vehicle identifying objects in an environment of the vehicle. When the vehicle is within a predetermined distance from the pickup location, authenticating a client device using the client device information is attempted. When the client device has been authenticated, the sensor data is used to determine whether a pedestrian is within a first threshold distance of the vehicle. When a pedestrian is determined to be within the first threshold distance of the vehicle, the vehicle is stopped prior to reaching the pickup location, to wait for the pedestrian within the first threshold distance of the vehicle to enter the vehicle.
    Type: Grant
    Filed: March 1, 2022
    Date of Patent: August 1, 2023
    Assignee: Waymo LLC
    Inventors: Philip Nemec, Renaud-Roland Hubert, Joshua Seth Herbach, Min Li Chan, Michael Epstein, Salil Pandit, John Wesley Dyer, Juliet Rothenberg
  • Patent number: 11693405
    Abstract: Aspects of the disclosure relate to controlling a vehicle in an autonomous driving mode. The system includes a plurality of sensors configured to generate sensor data. The system also includes a first computing system configured to generate trajectories using the sensor data and send the generated trajectories to a second computing system. The second computing system is configured to cause the vehicle to follow a receive trajectory. The system also includes a third computing system configured to, when there is a failure of the first computer system, generate and send trajectories to the second computing system based on whether a vehicle is located on a highway or a surface street.
    Type: Grant
    Filed: September 30, 2020
    Date of Patent: July 4, 2023
    Assignee: Waymo LLC
    Inventors: Emily Chi, Ryan Joseph Andrade, Michael James, Ioan-Alexandru Sucan, Christopher Kennedy Ludwick, Joshua Seth Herbach, Misha Balakhno, Andrew Barton-Sweeney
  • Patent number: 11675370
    Abstract: Aspects of the disclosure relate to assigning a fleet of driverless vehicles to a plurality of parking locations for parking vehicles of the fleet. For instance, locations of the vehicles of the fleet as well as a number of available spaces at each of the plurality of parking location locations may be tracked. A subset of the fleet not already located at one of the plurality of parking locations is identified. At least one assignment assigning each vehicle of the subset to a respective parking location of the plurality of parking locations is determined according to the numbers of available spaces and the identified locations of the subset. For the at least one assignment, a total cost is determined by determining a cost value for each of a plurality of factors. The given assignment is sent to the fleet based on the total cost and the cost value.
    Type: Grant
    Filed: September 15, 2021
    Date of Patent: June 13, 2023
    Assignee: Waymo LLC
    Inventors: Peter Colijn, Laurens Andreas Feenstra, Joshua Seth Herbach, Katharine Patterson
  • Patent number: 11651691
    Abstract: Example systems and methods allow for reporting and sharing of information reports relating to driving conditions within a fleet of autonomous vehicles. One example method includes receiving information reports relating to driving conditions from a plurality of autonomous vehicles within a fleet of autonomous vehicles. The method may also include receiving sensor data from a plurality of autonomous vehicles within the fleet of autonomous vehicles. The method may further include validating some of the information reports based at least in part on the sensor data. The method may additionally include combining validated information reports into a driving information map. The method may also include periodically filtering the driving information map to remove outdated information reports. The method may further include providing portions of the driving information map to autonomous vehicles within the fleet of autonomous vehicles.
    Type: Grant
    Filed: February 4, 2021
    Date of Patent: May 16, 2023
    Assignee: Waymo LLC
    Inventors: Nathaniel Fairfield, Joshua Seth Herbach, Andrew Hughes Chatham, Michael Steven Montemerlo
  • Patent number: 11537133
    Abstract: A route for a trip to a destination is generated using map information. A set of no-go roadway segments, where the vehicle is not able to drive in an autonomous mode, relevant to the route from the plurality of no-go roadway segments is identified from the map information. A local region around a current location of the vehicle is determined. A local map region including roadway segments of the map information that correspond to locations within the local region is determined. The set of the plurality of no-go roadway segments is filtered from the roadway segments of the local map region. A cost value is assigned to each roadway segment of the filtered roadway segments of the local map region. Any assigned cost values are used to determining a plan for maneuvering the vehicle for a predetermined period into the future. The vehicle is maneuvered according to the plan.
    Type: Grant
    Filed: May 13, 2020
    Date of Patent: December 27, 2022
    Assignee: WAYMO LLC
    Inventors: Nathaniel Fairfield, Joshua Seth Herbach
  • Publication number: 20220390944
    Abstract: Aspects of the present disclosure relate to context aware stopping of a vehicle without a driver. As an example, after a passenger has entered the vehicle, the vehicle is maneuvered by one or more processors in an autonomous driving mode towards a destination location along a route. The route is divided into two or more stages. A signal is received by the one or more processors. The signal indicates that the passenger is requesting that the vehicle stop or pull over. In response to the signal, the one or more processors determine a current stage of the route based on a current distance of the vehicle from a pickup location where the passenger entered the vehicle or a current distance of the vehicle from the destination location. The one or more processors then stop the vehicle in accordance with the determined current stage.
    Type: Application
    Filed: July 14, 2022
    Publication date: December 8, 2022
    Inventors: John Wesley Dyer, Luis Torres, Michael Epstein, Guillaume Dupre, Joshua Seth Herbach