US 12,296,828 B2
Physics-informed optimization for autonomous driving systems
David Smith, Sunnyvale, CA (US); and Kevin Yoon, Oakland, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Nov. 16, 2023, as Appl. No. 18/511,793.
Application 18/511,793 is a continuation of application No. 17/116,314, filed on Dec. 9, 2020, granted, now 11,851,062.
Prior Publication US 2024/0083435 A1, Mar. 14, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B60W 30/18 (2012.01); B60W 60/00 (2020.01); G01C 21/34 (2006.01)
CPC B60W 30/18109 (2013.01) [B60W 60/001 (2020.02); G01C 21/3461 (2013.01); G01C 21/3492 (2013.01); B60W 2510/18 (2013.01); B60W 2710/18 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
identifying map data embedded with driving constraint data comprising acceleration data for a route of an autonomous vehicle (AV), the map data being of a road network associated with the route of the AV, the driving constraint data being based on physical vehicle data;
while the AV is travelling the route, identifying current environmental sensing data for a portion of the route; and
causing, based on the map data comprising the driving constraint data for the route and the current environmental sensing data associated with the portion of the route, the AV to travel the portion of the route.