Patents by Inventor Nolan McPeek-Bechtold
Nolan McPeek-Bechtold 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: 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
-
Patent number: 11634160Abstract: Aspects of the disclosure relate to a vehicle having an autonomous driving mode and a manual driving mode. The vehicle may include a steering system having one or more processors configured to control the orientation of the one or more wheels based on control commands. The vehicle may also include an autonomous driving control system configured to control the vehicle in an autonomous driving mode by generating the control commands and to send the control commands to the steering system. In addition, the steering system may thermally derate the steering system based on first temperature information for the steering system when the vehicle is operating in a manual drive mode, and the autonomous driving control system may thermally derate the steering system based on second temperature information for the steering system when the vehicle is operating in the autonomous driving mode.Type: GrantFiled: August 14, 2020Date of Patent: April 25, 2023Assignee: Waymo LLCInventors: Justin Zaydel, Nolan McPeek-Bechtold
-
Patent number: 11608066Abstract: Aspects of the disclosure relate to controlling a vehicle in an autonomous driving mode where vehicle has a drive by wire braking system. For instance, while the vehicle is being controlled in the autonomous driving mode, a signal corresponding to input at a brake pedal of the drive by wire braking system may be received. An amount of braking may be determined based on the received signal. The amount of braking may be used to determine a trajectory for the vehicle to follow. The vehicle may be controlled in the autonomous driving mode using the trajectory.Type: GrantFiled: May 19, 2020Date of Patent: March 21, 2023Assignee: Waymo LLCInventors: Nolan McPeek-Bechtold, Kimberly Toth
-
Publication number: 20220063678Abstract: Aspects of the disclosure relate to controlling transitions between driving modes of an autonomous vehicle. The vehicle may have a first mode that is a manual driving mode, a second mode that is an autonomous driving mode where a driver is expected to be present to take control, and a third mode where a driver is not expected to be present to take control. While operating in the second mode, a request to transition to the first mode may be received. In response, the vehicle may transition to the first mode. After transitioning to the first driving mode, the vehicle may be prevented from transitioning the first mode to the second mode or the third mode until a predetermined duration has passed even when input is received at one or more of a steering wheel, brake pedal, or accelerator during the predetermined period.Type: ApplicationFiled: August 27, 2020Publication date: March 3, 2022Inventors: Nolan McPeek-Bechtold, Daniel Egnor, Leonid Vaynberg, Ryan Cash
-
Publication number: 20220050463Abstract: Aspects of the disclosure relate to controlling a vehicle in an autonomous driving mode. For instance, a control command identifying a steering control position may be received by a steering system of the vehicle from an autonomous driving control system. Orientation of one or more wheels of the vehicle may be controlled according to the steering control position. After receiving the control command, that the steering system has not received a valid control command from the control system for a first predetermined duration may be determined. Based on the determination that the steering system has not received a valid control command from the control system for the first predetermined duration, the orientation of the one or more wheels may be continue to be controlled based on the steering control position.Type: ApplicationFiled: August 14, 2020Publication date: February 17, 2022Inventors: Justin Zaydel, Nolan McPeek-Bechtold, James Harris
-
Publication number: 20220048538Abstract: Aspects of the disclosure relate to a vehicle having an autonomous driving mode and a manual driving mode. The vehicle may include a steering system having one or more processors configured to control the orientation of the one or more wheels based on control commands. The vehicle may also include an autonomous driving control system configured to control the vehicle in an autonomous driving mode by generating the control commands and to send the control commands to the steering system. In addition, the steering system may thermally derate the steering system based on first temperature information for the steering system when the vehicle is operating in a manual drive mode, and the autonomous driving control system may thermally derate the steering system based on second temperature information for the steering system when the vehicle is operating in the autonomous driving mode.Type: ApplicationFiled: August 14, 2020Publication date: February 17, 2022Inventors: Justin Zaydel, Nolan McPeek-Bechtold
-
Publication number: 20210362719Abstract: Aspects of the disclosure provide for a method of controlling a vehicle in an autonomous driving mode. For instance, the method may include receiving, by one or more processors of a brake controller of the vehicle, a braking profile for a trajectory for the vehicle to follow into the future. The brake controller may determine whether to use one or both of regenerative and friction braking based on the braking profile. The vehicle is controlled according to the braking profile based on the determination of whether to use one or both of regenerative and friction braking.Type: ApplicationFiled: July 9, 2020Publication date: November 25, 2021Inventor: Nolan McPeek-Bechtold
-
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
-
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
-
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
-
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
-
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
-
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
-
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
-
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
-
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