Patents by Inventor Ryan Cash
Ryan Cash 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: 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: 20220169121Abstract: Embodiments of the invention are directed toward a geared traction drive system configured to drive a wheel of a vehicle, comprising: a driveshaft for transmitting power to the wheel; an electric drive motor for driving the driveshaft, the electric drive motor configured to receive signals from a vehicle dynamic control system to command a required speed; a gear reduction component for reducing the speed of the motor by a predetermined factor to a lower speed suitable for driving the wheel; and a drive electronics component that works with the electric drive motor to drive the wheel to the speed commanded by the vehicle dynamic control system.Type: ApplicationFiled: December 10, 2021Publication date: June 2, 2022Applicant: Wrightspeed, Inc.Inventors: Ian Wright, Ryan Cash
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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
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Patent number: 11230196Abstract: Embodiments of the invention are directed toward a geared traction drive system configured to drive a wheel of a vehicle, comprising: a driveshaft for transmitting power to the wheel; an electric drive motor for driving the driveshaft, the electric drive motor configured to receive signals from a vehicle dynamic control system to command a required speed; a gear reduction component for reducing the speed of the motor by a predetermined factor to a lower speed suitable for driving the wheel; and a drive electronics component that works with the electric drive motor to drive the wheel to the speed commanded by the vehicle dynamic control system.Type: GrantFiled: April 17, 2019Date of Patent: January 25, 2022Assignee: Wrightspeed, Inc.Inventors: Ian Wright, Ryan Cash
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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: 11062537Abstract: Aspects of the disclosure relate to determining vehicle operation modes for a fleet of vehicles. This may include maintaining a storage system including vehicle parameters for a vehicle fleet such that each vehicle of the fleet is associated with a set of vehicle parameters. The vehicle operation mode may be determined by selecting one of a plurality of vehicle operation levels arranged in a hierarchy or by identifying a set of tags where each level or tag corresponds to a vehicle driving capability. The determined vehicle operation mode may be communicated to the given vehicle in order to cause the vehicle to operate according to the determined vehicle operation mode.Type: GrantFiled: February 28, 2018Date of Patent: July 13, 2021Assignee: Waymo LLCInventors: Ryan Joseph Andrade, Ryan Cash, Peter Colijn, Laurens Andreas Feenstra, Congyu Gao, Dirk Haehnel, Steven Reis, Omari Stephens
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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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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: 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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Publication number: 20200079228Abstract: Embodiments of the invention are directed toward a geared traction drive system configured to drive a wheel of a vehicle, comprising: a driveshaft for transmitting power to the wheel; an electric drive motor for driving the driveshaft, the electric drive motor configured to receive signals from a vehicle dynamic control system to command a required speed; a gear reduction component for reducing the speed of the motor by a predetermined factor to a lower speed suitable for driving the wheel; and a drive electronics component that works with the electric drive motor to drive the wheel to the speed commanded by the vehicle dynamic control system.Type: ApplicationFiled: April 17, 2019Publication date: March 12, 2020Applicant: Wrightspeed, Inc.Inventors: Ian Wright, Ryan Cash
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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: 20190266815Abstract: Aspects of the disclosure relate to determining vehicle operation modes for a fleet of vehicles. This may include maintaining a storage system including vehicle parameters for a vehicle fleet such that each vehicle of the fleet is associated with a set of vehicle parameters. The vehicle operation mode may be determined by selecting one of a plurality of vehicle operation levels arranged in a hierarchy or by identifying a set of tags where each level or tag corresponds to a vehicle driving capability. The determined vehicle operation mode may be communicated to the given vehicle in order to cause the vehicle to operate according to the determined vehicle operation mode.Type: ApplicationFiled: February 28, 2018Publication date: August 29, 2019Inventors: Ryan Joseph Andrade, Ryan Cash, Peter Colijn, Laurens Andreas Feenstra, Congyu Gao, Dirk Haehnel, Steven Reis, Omari Stephens