Waymo

[enemji]

Are you asking about Tesla's Autopilot because this is the Waymo thread?

Does it matter? How does Waymo handle the steering?

 

[diplomat33]

Does it matter? How does Waymo handle the steering?

Based on the path from the Planner, the Controls move the steering wheel the right amount to follow the path.

Here is an example of a left turn and you can see the wheel movement:

 

[Doggydogworld]

Thanks for wasting my time. Neither of those videos showed the Waymo vehicle anywhere near construction zones.

Does this count?

Waymo on Instagram: "Wait for it…🦺🛑 📱: Waymo Software Engineer @daylenyang"

29K likes, 345 comments - waymoSeptember 6, 2022 on : "Wait for it…🦺🛑 📱: Waymo Software Engineer @daylenyang"

www.instagram.com

 

[ThomasD]

The interiors on these cars will be nasty dirty busted up piles of poo once they are opened up to everyone. Wet muddy seats. Sticky door handles and seats. Broken and torn interiors and horrible smells. Will the cars not drive if someone with kids gets in the car and they don't have car seats?

 

[diplomat33]

The interiors on these cars will be nasty dirty busted up piles of poo once they are opened up to everyone. Wet muddy seats. Sticky door handles and seats. Broken and torn interiors and horrible smells.

No. Waymo has already been open to everyone in Chandler for a couple years now and the car interiors are fine. Waymo employees clean the cars on a regular basis. Same will be true for the I-Pace when it is available to everyone. Waymo employees will clean them to make sure the interiors are always nice for customers. Waymo is not going to send out nasty robotaxis.

 

[willow_hiller]

Does this count?

Waymo on Instagram: "Wait for it…🦺🛑 📱: Waymo Software Engineer @daylenyang"

29K likes, 345 comments - waymoSeptember 6, 2022 on : "Wait for it…🦺🛑 📱: Waymo Software Engineer @daylenyang"

www.instagram.com

Best example yet, but I was hoping for a scenario that would recreate what happened to JJRicks. Where the vehicle wants to enter a lane that's presently occupied by construction, and it needs to make a decision on how to reroute.

This is a good example of the Waymo driver finding the bounds of the lane it's already in as defined by cones.

 

[ThomasD]

Some people don't care about their own vehicles let alone something that doesn't belong to them Some cars may need to be cleaned 2 to 3 times a day. If this person didn't care about their Tesla I doubt they would care about a self driving car.

Tesla Model X News and Reviews | InsideEVs

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insideevs.com

 

[diplomat33]

Some people don't care about their own vehicles let alone something that doesn't belong to them Some cars may need to be cleaned 2 to 3 times a day. If this person didn't care about their Tesla I doubt they would care about a self driving car.

Tesla Model X News and Reviews | InsideEVs

Get the latest on new Tesla Model X models including first drives, in-depth reviews, concept car photos, new features, recalls and more.

insideevs.com

Yes. That is why Waymo cleans the cars.

 

[diplomat33]

Does this count?

Waymo on Instagram: "Wait for it…🦺🛑 📱: Waymo Software Engineer @daylenyang"

29K likes, 345 comments - waymoSeptember 6, 2022 on : "Wait for it…🦺🛑 📱: Waymo Software Engineer @daylenyang"

www.instagram.com

Pretty cool that the Waymo handled the construction worker with the stop sign so well. The car not just stopped when it saw the hand held stop sign but also immediately moved again when the worker flipped the stop sign.

 

[ThomasD]

Does it just see the shape of the sign and knows what is supposed to do? Or does it actually read the sign and knows what to do? Say a Yield for a traffic sign in the form of arrows would the car automatically Yield to traffic?

 

[diplomat33]

Does it just see the shape of the sign and knows what is supposed to do? Or does it actually read the sign and knows what to do? Say a Yield for a traffic sign in the form of arrows would the car automatically Yield to traffic?

View attachment 849732

Waymo can read signs and know what they mean. That is a required feature in any true AV.

 

[Daniel in SD]

Does it just see the shape of the sign and knows what is supposed to do? Or does it actually read the sign and knows what to do? Say a Yield for a traffic sign in the form of arrows would the car automatically Yield to traffic?

View attachment 849732

My guess is that it has rules about how to behave with a person holding a standardized sign like that. If it was a piece of cardboard that said STOP on it it would probably call for remote assistance.

 

[enemji]

Based on the path from the Planner, the Controls move the steering wheel the right amount to follow the path.

Here is an example of a left turn and you can see the wheel movement:

So it has calibrated the software to the steering rack. That allows it command the exact amount of steering turns for a given turn.

 

[mycroftxxx]

So it has calibrated the software to the steering rack. That allows it command the exact amount of steering turns for a given turn.

That’s basic undergrad control systems engineering; your forward path command will, in the absence of errors and uncertainty, achieve the desired tracking of the trajectory command. But that’s never enough in the real world; you have to have feedback of how well you are actually tracking the desired trajectory, and the difference between the desired vs actual tracking generates a correction signal that is combined with the forward path command. That’s still basic undergrad control systems engineering. It gets harder when you have to guarantee stability, disturbance rejection, robustness, etc., which any safety-critical control system must do.

 

[diplomat33]

So it has calibrated the software to the steering rack. That allows it command the exact amount of steering turns for a given turn.

In simple terms yes.

 

[enemji]

That’s basic undergrad control systems engineering; your forward path command will, in the absence of errors and uncertainty, achieve the desired tracking of the trajectory command. But that’s never enough in the real world; you have to have feedback of how well you are actually tracking the desired trajectory, and the difference between the desired vs actual tracking generates a correction signal that is combined with the forward path command. That’s still basic undergrad control systems engineering. It gets harder when you have to guarantee stability, disturbance rejection, robustness, etc., which any safety-critical control system must do.

Of course. But I was curious if Waymo went ahead and did a real time 360 feedback observe and react to make a turn or did the basic associate level process.

 

[diplomat33]

Timelapse of 1 hr driverless ride. It includes the perception visualization so we can see what the car sees and it's planning:

 

[powertoold]

can see what the car sees

I want to correct a misconception here. We're mostly seeing the lidar point cloud and the path planner. The lidar point cloud != perception. The perception is the vibrating blobs under the cars (for example).

 

[diplomat33]

Bellevue, WA gets 161 days of rain per year. So Waymo will be testing there for the next 6 months to test in rain:

https://twitter.com/x/status/1568288678975533057

Waymo on Instagram: "Thanks for the warm welcome, Bellevue! It might be sunny this week, but on average the city gets 161 days of precipitation per year. We’ll be here with our fifth-generation Waymo Driver over the next six months to conduct a varie

605 likes, 18 comments - waymoSeptember 9, 2022 on : "Thanks for the warm welcome, Bellevue! It might be sunny this week, but on average the city gets 161 days of precipitation per year. We�..."

www.instagram.com

 

[AlanSubie4Life]

Bellevue, WA gets 161 days of rain per year. So Waymo will be testing there for the next 6 months to test in rain:

https://twitter.com/x/status/1568288678975533057

Waymo on Instagram: "Thanks for the warm welcome, Bellevue! It might be sunny this week, but on average the city gets 161 days of precipitation per year. We’ll be here with our fifth-generation Waymo Driver over the next six months to conduct a varie

605 likes, 18 comments - waymoSeptember 9, 2022 on : "Thanks for the warm welcome, Bellevue! It might be sunny this week, but on average the city gets 161 days of precipitation per year. We�..."

www.instagram.com

There’s no way this will work; lidar can’t handle rain. This is the end for Waymo and they will revert to vision only.