Patents by Inventor Tobias Kunze

Tobias Kunze 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: 12280770
    Abstract: A first driving solution for a vehicle along a portion of a route is determined based on an agent detected in the vehicle's environment following a first trajectory of a plurality of possible trajectories. A switching time is determined for the vehicle to deviate from the first driving solution for a situation in which the agent is following a second trajectory of the plurality of possible trajectories. The first driving solution is revised such that the vehicle will be able to switch from the revised first driving solution to another driving solution at the switching time in case if the detected agent is following the second trajectory.
    Type: Grant
    Filed: February 27, 2024
    Date of Patent: April 22, 2025
    Assignee: Waymo LLC
    Inventors: Jared Stephen Russell, Tobias Kunz
  • Publication number: 20250002052
    Abstract: The technology relates to planning trajectories for self-driving vehicles in order to transport passengers or cargo from a pickup location to a destination. Trajectory planning includes generating a speed plan for an upcoming portion of the trip in view of one or more constraints. The constraints may be due to proximity to an adjacent vehicle or other road user, and can include projected overlaps between the vehicle and other objects in the vehicle's nearby environment. Certain constraints may be binary or otherwise discontinuous in nature, in which a condition either exists at a given point in time or it does not. Noise in sensor data or prediction models may trigger such binary conditions, which in turn may cause the vehicle to alter the speed plan. Aspects of the technology employ permeable speed constraints that enable the vehicle to avoid problems associated with discontinuous constraints.
    Type: Application
    Filed: September 9, 2024
    Publication date: January 2, 2025
    Inventors: Jared Stephen Russell, Tobias Kunz, Anup Menon
  • Patent number: 12116018
    Abstract: The technology relates to planning trajectories for self-driving vehicles in order to transport passengers or cargo from a pickup location to a destination. Trajectory planning includes generating a speed plan for an upcoming portion of the trip in view of one or more constraints. The constraints may be due to proximity to an adjacent vehicle or other road user, and can include projected overlaps between the vehicle and other objects in the vehicle's nearby environment. Certain constraints may be binary or otherwise discontinuous in nature, in which a condition either exists at a given point in time or it does not. Noise in sensor data or prediction models may trigger such binary conditions, which in turn may cause the vehicle to alter the speed plan.
    Type: Grant
    Filed: December 22, 2021
    Date of Patent: October 15, 2024
    Assignee: Waymo LLC
    Inventors: Jared Stephen Russell, Tobias Kunz, Anup Menon
  • Patent number: 12005897
    Abstract: 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: Grant
    Filed: February 21, 2023
    Date of Patent: June 11, 2024
    Assignee: Waymo LLC
    Inventors: Jens-Steffen Ralf Gutmann, Vadim Furman, Tobias Kunz
  • Patent number: 11945433
    Abstract: A first driving solution for a vehicle along a portion of a route is determined based on an agent detected in the vehicle's environment following a first trajectory of a plurality of possible trajectories. A switching time is determined for the vehicle to deviate from the first driving solution for a situation in which the agent is following a second trajectory of the plurality of possible trajectories. The first driving solution is revised such that the vehicle will be able to switch from the revised first driving solution to another driving solution at the switching time in case if the detected agent is following the second trajectory.
    Type: Grant
    Filed: October 12, 2021
    Date of Patent: April 2, 2024
    Assignee: Waymo LLC
    Inventors: Jared Stephen Russell, Tobias Kunz
  • Patent number: 11762392
    Abstract: 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: Grant
    Filed: March 13, 2020
    Date of Patent: September 19, 2023
    Assignee: Waymo LLC
    Inventors: Jens-Steffen Ralf Gutmann, Tobias Kunz, Vadim Furman
  • Patent number: 11634134
    Abstract: Aspects of the disclosure relate to controlling a first vehicle in an autonomous driving mode. While doing so, a second vehicle may be identified. This vehicle may be determined to be a tailgating vehicle. An initial allowable discomfort value representing expected discomfort of an occupant of the first vehicle and expected discomfort of an occupant of the second vehicle may be identified. Determining a speed profile for a future trajectory of the first vehicle that meets the value may be attempted based on a set of factors corresponding to a reaction of the tailgating 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: Grant
    Filed: March 8, 2021
    Date of Patent: April 25, 2023
    Assignee: Waymo LLC
    Inventor: Tobias Kunz
  • Patent number: 11608060
    Abstract: 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: Grant
    Filed: March 27, 2020
    Date of Patent: March 21, 2023
    Assignee: Waymo LLC
    Inventors: Jens-Steffen Ralf Gutmann, Vadim Furman, Tobias Kunz
  • Publication number: 20220204056
    Abstract: The technology relates to planning trajectories for self-driving vehicles in order to transport passengers or cargo from a pickup location to a destination. Trajectory planning includes generating a speed plan for an upcoming portion of the trip in view of one or more constraints. The constraints may be due to proximity to an adjacent vehicle or other road user, and can include projected overlaps between the vehicle and other objects in the vehicle's nearby environment. Certain constraints may be binary or otherwise discontinuous in nature, in which a condition either exists at a given point in time or it does not. Noise in sensor data or prediction models may trigger such binary conditions, which in turn may cause the vehicle to alter the speed plan. Aspects of the technology employ permeable speed constraints that enable the vehicle to avoid problems associated with discontinuous constraints.
    Type: Application
    Filed: December 22, 2021
    Publication date: June 30, 2022
    Inventors: Jared Stephen Russell, Tobias Kunz, Anup Menon
  • Patent number: 11192545
    Abstract: A first driving solution for a vehicle along a portion of a route is determined based on an agent detected in the vehicle's environment following a first trajectory of a plurality of possible trajectories. A switching time is determined for the vehicle to deviate from the first driving solution for a situation in which the agent is following a second trajectory of the plurality of possible trajectories. The first driving solution is revised such that the vehicle will be able to switch from the revised first driving solution to another driving solution at the switching time in case if the detected agent is following the second trajectory.
    Type: Grant
    Filed: December 5, 2018
    Date of Patent: December 7, 2021
    Assignee: Waymo LLC
    Inventors: Jared Stephen Russell, Tobias Kunz
  • Publication number: 20210237730
    Abstract: Aspects of the disclosure relate to controlling a first vehicle in an autonomous driving mode. While doing so, a second vehicle may be identified. This vehicle may be determined to be a tailgating vehicle. An initial allowable discomfort value representing expected discomfort of an occupant of the first vehicle and expected discomfort of an occupant of the second vehicle may be identified. Determining a speed profile for a future trajectory of the first vehicle that meets the value may be attempted based on a set of factors corresponding to a reaction of the tailgating 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: Application
    Filed: March 8, 2021
    Publication date: August 5, 2021
    Inventor: Tobias Kunz
  • Patent number: 10967861
    Abstract: Aspects of the disclosure relate to controlling a first vehicle in an autonomous driving mode. While doing so, a second vehicle may be identified. This vehicle may be determined to be a tailgating vehicle. An initial allowable discomfort value representing expected discomfort of an occupant of the first vehicle and expected discomfort of an occupant of the second vehicle may be identified. Determining a speed profile for a future trajectory of the first vehicle that meets the value may be attempted based on a set of factors corresponding to a reaction of the tailgating 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: Grant
    Filed: November 13, 2018
    Date of Patent: April 6, 2021
    Inventor: Tobias Kunz
  • Publication number: 20200324790
    Abstract: Aspects of the disclosure relate to signaling for turns for a vehicle 100 having an autonomous driving mode. For instance, a trajectory 410 that the vehicle will follow for some period of time into the future may be received. The at least a portion may be processed to identify a turning event, the turning event corresponding to a location where the vehicle plans to turn and for which the vehicle will need to use a turn signal. Whether the trajectory includes a negative turning event 610, 630 located some threshold distance before the turning event may be determined. The negative turning event corresponds to a location along the trajectory where the vehicle could make a turn, but does not plan to make a turn. While the vehicle is operating in the autonomous driving mode, the turn signal of the vehicle may be activated based on the turning event and the determination.
    Type: Application
    Filed: June 24, 2020
    Publication date: October 15, 2020
    Inventor: Tobias Kunz
  • Publication number: 20200272161
    Abstract: 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: Application
    Filed: March 13, 2020
    Publication date: August 27, 2020
    Inventors: Jens-Steffen Ralf Gutmann, Tobias Kunz, Vadim Furman
  • Publication number: 20200148204
    Abstract: Aspects of the disclosure relate to controlling a first vehicle in an autonomous driving mode. While doing so, a second vehicle may be identified. This vehicle may be determined to be a tailgating vehicle. An initial allowable discomfort value representing expected discomfort of an occupant of the first vehicle and expected discomfort of an occupant of the second vehicle may be identified. Determining a speed profile for a future trajectory of the first vehicle that meets the value may be attempted based on a set of factors corresponding to a reaction of the tailgating 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: Application
    Filed: November 13, 2018
    Publication date: May 14, 2020
    Inventor: Tobias Kunz
  • Patent number: 10640111
    Abstract: 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: Grant
    Filed: September 7, 2016
    Date of Patent: May 5, 2020
    Assignee: Waymo LLC
    Inventors: Jens-Steffen Ralf Gutmann, Vadim Furman, Tobias Kunz
  • Patent number: 10627825
    Abstract: 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: Grant
    Filed: November 22, 2017
    Date of Patent: April 21, 2020
    Assignee: WAYMO LLC
    Inventors: Jens-Steffen Ralf Gutmann, Tobias Kunz, Vadim Furman
  • Publication number: 20190155292
    Abstract: 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: Application
    Filed: November 22, 2017
    Publication date: May 23, 2019
    Inventors: Jens-Steffen Ralf Gutmann, Tobias Kunz, Vadim Furman
  • Patent number: 9959105
    Abstract: A platform executing on a computer system identifies a capability to be used by an application based on an application descriptor for the application and determines a component that provides the capability based on a component descriptor of the component. The platform identifies an additional capability to be used by the component based on the component descriptor and determines an additional component that provides the additional capability. The platform determines that the application descriptor further specifies that the application will use the additional capability provided by the additional component and determines that a single instance of the additional component will provide the additional capability to both the application and the component. The platform then groups the application, component, and additional component for deployment based on constraints associated with the application, component, and additional component.
    Type: Grant
    Filed: May 26, 2017
    Date of Patent: May 1, 2018
    Assignee: Red Hat, Inc.
    Inventors: Tobias Kunze, Ram Ranganathan, Krishna Raman, Rajat Chopra
  • Publication number: 20170262270
    Abstract: A platform executing on a computer system identifies a capability to be used by an application based on an application descriptor for the application and determines a component that provides the capability based on a component descriptor of the component. The platform identifies an additional capability to be used by the component based on the component descriptor and determines an additional component that provides the additional capability. The platform determines that the application descriptor further specifies that the application will use the additional capability provided by the additional component and determines that a single instance of the additional component will provide the additional capability to both the application and the component. The platform then groups the application, component, and additional component for deployment based on constraints associated with the application, component, and additional component.
    Type: Application
    Filed: May 26, 2017
    Publication date: September 14, 2017
    Inventors: Tobias Kunze, Ram Ranganathan, Krishna Raman, Rajat Chopra