US 12,130,147 B2
Quality scoring for pullovers for autonomous vehicles
Salil Pandit, Palo Alto, CA (US); Daniella Gutlansky, San Francisco, CA (US); Eamonn Doherty, Mountain View, CA (US); Eric Friedman, Menlo Park, CA (US); Jonathan Pedersen, San Francisco, CA (US); Andrew Chan, San Carlos, CA (US); Gaurav Agarwal, Sunnyvale, CA (US); and Bruce Mai, Sacramento, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Aug. 24, 2021, as Appl. No. 17/410,068.
Claims priority of provisional application 63/084,373, filed on Sep. 28, 2020.
Prior Publication US 2022/0099450 A1, Mar. 31, 2022
Int. Cl. G01C 21/34 (2006.01); B60W 30/095 (2012.01); B60W 60/00 (2020.01)
CPC G01C 21/3461 (2013.01) [B60W 30/095 (2013.01); B60W 60/0015 (2020.02); B60W 60/00253 (2020.02); G01C 21/3438 (2013.01); B60W 2552/45 (2020.02); B60W 2554/404 (2020.02); B60W 2554/80 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
receiving, by one or more processors, previous observations, by one or more autonomous vehicles of a fleet of autonomous vehicles, of how often and how long one or more first vehicles have previously parked at a predetermined pullover location for an autonomous vehicle of the fleet of autonomous vehicles;
determining, by the one or more processors based on the previous observations, a likelihood that one or more second vehicles parked at the predetermined pullover location will begin to unpark from the predetermined pullover location;
determining, by the one or more processors based on the likelihood, a pullover quality value for the predetermined pullover location; and
enabling the autonomous vehicle to select a pullover location for the autonomous vehicle by providing, by the one or more processors, the pullover quality value to the autonomous vehicle.