公开(公告)号：US20210362687A1

公开(公告)日：2021-11-25

申请号：US17314100

申请日：2021-05-07

Applicant: Waymo LLC

Inventor： Arthur Safira

IPC: B60S1/48 ,  G01S7/481 ,  G01S17/931 ,  G01S17/89 ,  G05D1/00 ,  G05D1/02 ,  B08B3/04

Abstract: Aspects of the disclosure relate to systems for cleaning a LIDAR sensor. For example, the LIDAR sensor may include a housing and internal sensor components housed within the housing. The housing may also have a sensor input surface through which light may pass. The internal sensor components may be configured to generate light of a particular wavelength. In order to clean the LIDAR sensor, a cleaning fluid may be used. The cleaning fluid may be configured to be opaque to the particular wavelength. In this regard, when the cleaning fluid is applied to the sensor input surface, the cleaning fluid absorbs light of the particular wavelength.

公开(公告)号：US12153437B2

公开(公告)日：2024-11-26

申请号：US18132040

申请日：2023-04-07

Applicant: Waymo LLC

Inventor： Nicholas Armstrong-Crews ,  Arthur Safira

IPC: G01S17/58 ,  G01P5/26 ,  G01S17/88 ,  G05D1/00 ,  B60W40/02

Abstract: Aspects and implementations of the present disclosure address shortcomings of the existing technology by enabling lidar-assisted segmentation and identification of particulate matter in autonomous vehicle (AV) applications, by: obtaining, by a sensing system of the AV, a plurality of return points, each return point having one or more velocity values and one or more coordinates of a reflecting region that reflects a signal emitted by the sensing system, identifying, in view of the one or more velocity values of each of a first set of the return points of the plurality of return points, that the first set of the return points is associated with a particulate matter in an environment of the AV, and causing a driving path of the AV to be determined in view of the particulate matter.

公开(公告)号：US20230244242A1

公开(公告)日：2023-08-03

申请号：US18132040

申请日：2023-04-07

Applicant: Waymo LLC

Inventor： Nicholas Armstrong-Crews ,  Arthur Safira

IPC: G05D1/02 ,  G01P5/26 ,  G01S17/88 ,  G01S17/58

CPC classification number: G05D1/0231 ,  G01P5/26 ,  G01S17/88 ,  G05D1/0223 ,  G01S17/58 ,  G05D2201/0213

Abstract: Aspects and implementations of the present disclosure address shortcomings of the existing technology by enabling lidar-assisted segmentation and identification of particulate matter in autonomous vehicle (AV) applications, by: obtaining, by a sensing system of the AV, a plurality of return points, each return point having one or more velocity values and one or more coordinates of a reflecting region that reflects a signal emitted by the sensing system, identifying, in view of the one or more velocity values of each of a first set of the return points of the plurality of return points, that the first set of the return points is associated with a particulate matter in an environment of the AV, and causing a driving path of the AV to be determined in view of the particulate matter.

公开(公告)号：US11656629B1

公开(公告)日：2023-05-23

申请号：US17247353

申请日：2020-12-08

Applicant: Waymo LLC

Inventor： Nicholas Armstrong-Crews ,  Arthur Safira

IPC: G01S17/88 ,  G05D1/02 ,  G01P5/26 ,  G01S17/58

CPC classification number: G05D1/0231 ,  G01P5/26 ,  G01S17/58 ,  G01S17/88 ,  G05D1/0223 ,  G05D2201/0213

Abstract: Aspects and implementations of the present disclosure address shortcomings of the existing technology by enabling lidar-assisted segmentation and identification of particulate matter in autonomous vehicle (AV) applications, by: obtaining, by a sensing system of the AV, a plurality of return points, each return point having one or more velocity values and one or more coordinates of a reflecting region that reflects a signal emitted by the sensing system, identifying, in view of the one or more velocity values of each of a first set of the return points of the plurality of return points, that the first set of the return points is associated with a particulate matter in an environment of the AV, and causing a driving path of the AV to be determined in view of the particulate matter.

公开(公告)号：US11514343B2

公开(公告)日：2022-11-29

申请号：US16916384

申请日：2020-06-30

Applicant: Waymo LLC

Inventor： Nicholas Armstrong-Crews ,  Arthur Safira ,  Alex Mccauley ,  Ruffin Evans

IPC: G06N5/04 ,  B60W50/00 ,  G06N20/00 ,  G01S7/48 ,  G01S7/02

Abstract: Simulated degraded sensor data may be generated for use in training a model. For instance, first sensor data collected by a sensor of a perception system of an autonomous vehicle may be received and converted into the simulated degraded sensor data for a particular degrading condition, such as a weather-related degrading condition. Then, the simulated degraded sensor data may be used to train a model for evaluating performance of the perception system to detect objects external to the autonomous vehicle under one or more conditions.