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    MIRRORS TO EXTEND SENSOR FIELD OF VIEW IN SELF-DRIVING VEHICLES
    1.
    发明申请
    MIRRORS TO EXTEND SENSOR FIELD OF VIEW IN SELF-DRIVING VEHICLES 有权

    公开(公告)号：US20220317254A1

    公开(公告)日：2022-10-06

    申请号：US17843292

    申请日：2022-06-17

    Applicant: Waymo LLC

    Inventor： Mingcheng Chen ,  Benjamin Pitzer ,  Pierre-Yves Droz ,  William Grossman

    IPC: G01S7/481 ,  G05D1/02 ,  G01S7/03 ,  B60W10/04 ,  B60W10/20 ,  B60W10/18 ,  B60W30/18 ,  B60R1/06 ,  B60R1/12 ,  G05D1/00

    Abstract: The technology relates to enhancing or extending the field of view of sensors for vehicles configured to operate in an autonomous driving mode. One or more mirrors are used to reflect or redirect beams emitted from onboard sensors that would otherwise be wasted, for instance due to obstruction by a portion of the vehicle or because they are emitted at high pitch angles to the side. The mirrors are also used to redirect incoming beams from the external environment toward one or more of the onboard sensors. Using mirrors for such redirection can reduce or eliminate blind spots around the vehicle. A calibration system may be employed to account for mirror movement due to vibration or wind drag. Each mirror may be a front surface mirror. The mirrors may be positioned on the vehicle body, on a faring, or extending from a sensor housing on the vehicle.

    Lidar-based Trailer Tracking
    2.
    发明申请
    Lidar-based Trailer Tracking 有权

    公开(公告)号：US20210382174A1

    公开(公告)日：2021-12-09

    申请号：US17411120

    申请日：2021-08-25

    Applicant: Waymo LLC

    Inventor： Mingcheng Chen ,  Christian Lauterbach ,  Benjamin Pitzer ,  Peter Morton

    IPC: G01S17/66 ,  G01S17/42 ,  G05D1/02 ,  B60W10/20 ,  B60W10/04 ,  B60W30/18 ,  G01S17/88

    Abstract: The technology relates to autonomous vehicles having articulating sections such as the trailer of a tractor-trailer. Aspects include approaches for tracking the pose of the trailer, including its orientation relative to the tractor unit. Sensor data is analyzed from one or more onboard sensors to identify and track the pose. The pose information is usable by on-board perception and/or planning systems when driving the vehicle in an autonomous mode. By way of example, on-board sensors such as Lidar sensors are used to detect the real-time pose of the trailer based on Lidar point cloud data. The orientation of the trailer is estimated based on the point cloud data, and the pose is determined according to the orientation and other information about the trailer. Aspects also include determining which side of the trailer the sensor data is coming from. A camera may also detect trailer marking information to supplement the analysis.

    Lidar-based trailer tracking
    3.
    发明授权
    Lidar-based trailer tracking 有权

    公开(公告)号：US11125881B2

    公开(公告)日：2021-09-21

    申请号：US16214838

    申请日：2018-12-10

    Applicant: Waymo LLC

    Inventor： Mingcheng Chen ,  Christian Lauterbach ,  Benjamin Pitzer ,  Peter Morton

    IPC: G01S17/66 ,  G01S17/42 ,  G05D1/02 ,  B60W10/20 ,  B60W10/04 ,  B60W30/18 ,  G01S17/88

    Abstract: The technology relates to autonomous vehicles having articulating sections such as the trailer of a tractor-trailer. Aspects include approaches for tracking the pose of the trailer, including its orientation relative to the tractor unit. Sensor data is analyzed from one or more onboard sensors to identify and track the pose. The pose information is usable by on-board perception and/or planning systems when driving the vehicle in an autonomous mode. By way of example, on-board sensors such as Lidar sensors are used to detect the real-time pose of the trailer based on Lidar point cloud data. The orientation of the trailer is estimated based on the point cloud data, and the pose is determined according to the orientation and other information about the trailer. Aspects also include determining which side of the trailer the sensor data is coming from. A camera may also detect trailer marking information to supplement the analysis.

    Independently Actuated Wheel Sets for Large Autonomous Self-Driving Vehicles
    4.
    发明申请
    Independently Actuated Wheel Sets for Large Autonomous Self-Driving Vehicles 有权

    公开(公告)号：US20210080961A1

    公开(公告)日：2021-03-18

    申请号：US16863450

    申请日：2020-04-30

    Applicant: Waymo LLC

    Inventor： Nolan Shenai ,  Nathaniel Fairfield ,  Benjamin Pitzer

    IPC: G05D1/02 ,  B62D7/14 ,  B62D7/15 ,  G05D1/00

    Abstract: The technology relates to fine maneuver control of large autonomous vehicles that employ multiple sets of independently actuated wheels. The control is able to optimize the turning radius, effectively negotiate curves, turns, and clear static objects of varying heights. Each wheel or wheel set is configured to adjust individually via control of an on-board computer system. Received sensor data and a physical model of the vehicle can be used for route planning and selecting maneuver operations in accordance with the additional degrees of freedom provided by the independently actuated wheels. This can include making turns, moving into or out of parking spaces, driving along narrow or congested roads, construction zones, loading docks, etc. A given maneuver may include maintaining a minimum threshold distance from a neighboring vehicle or other object.

    Sensor integration for large autonomous vehicles
    5.
    发明授权
    Sensor integration for large autonomous vehicles 有权

    公开(公告)号：US12248323B2

    公开(公告)日：2025-03-11

    申请号：US18542837

    申请日：2023-12-18

    Applicant: Waymo LLC

    Inventor： William Grossman ,  Benjamin Pitzer

    IPC: G05D1/00 ,  B60R1/12 ,  G01S7/481 ,  G01S13/86 ,  G01S17/86 ,  G01S17/87 ,  G01S17/931 ,  G05D1/247 ,  G05D1/249 ,  G01S13/931

    Abstract: The technology relates to autonomous vehicles for transporting cargo and/or people between locations. Distributed sensor arrangements may not be suitable for vehicles such as large trucks, busses or construction vehicles. Side view mirror assemblies are provided that include a sensor suite of different types of sensors, including LIDAR, radar, cameras, etc. Each side assembly is rigidly secured to the vehicle by a mounting element. The sensors within the assembly may be aligned or arranged relative to a common axis or physical point of the housing. This enables self-referenced calibration of all sensors in the housing. Vehicle-level calibration can also be performed between the sensors on the left and right sides of the vehicle. Each side view mirror assembly may include a conduit that provides one or more of power, data and cooling to the sensors in the housing.

    Independently actuated wheel sets for large autonomous self-driving vehicles
    6.
    发明授权
    Independently actuated wheel sets for large autonomous self-driving vehicles 有权

    公开(公告)号：US11675357B2

    公开(公告)日：2023-06-13

    申请号：US16863450

    申请日：2020-04-30

    Applicant: Waymo LLC

    Inventor： Nolan Shenai ,  Nathaniel Fairfield ,  Benjamin Pitzer

    IPC: G05D1/02 ,  B62D7/14 ,  G05D1/00 ,  B62D7/15

    CPC classification number: G05D1/0214 ,  B62D7/144 ,  B62D7/1509 ,  G05D1/0088 ,  G05D2201/0213

    Abstract: The technology relates to fine maneuver control of large autonomous vehicles that employ multiple sets of independently actuated wheels. The control is able to optimize the turning radius, effectively negotiate curves, turns, and clear static objects of varying heights. Each wheel or wheel set is configured to adjust individually via control of an on-board computer system. Received sensor data and a physical model of the vehicle can be used for route planning and selecting maneuver operations in accordance with the additional degrees of freedom provided by the independently actuated wheels. This can include making turns, moving into or out of parking spaces, driving along narrow or congested roads, construction zones, loading docks, etc. A given maneuver may include maintaining a minimum threshold distance from a neighboring vehicle or other object.

    Systems and Methods for Measuring Trailer Wheel Rotational Speed
    7.
    发明申请
    Systems and Methods for Measuring Trailer Wheel Rotational Speed 有权

    公开(公告)号：US20210197815A1

    公开(公告)日：2021-07-01

    申请号：US17120199

    申请日：2020-12-13

    Applicant: Waymo LLC

    Inventor： Benjamin Pitzer

    IPC: B60W30/14 ,  G01S13/58 ,  G01S13/88 ,  B60W40/105

    Abstract: Example embodiments relate to measuring rotational speeds of trailer wheels using radar. A computing device may cause a vehicle radar unit to transmit radar signals toward a wheel of trailer being pulled by the vehicle. The computing device may receive radar reflections corresponding to radar signals that reflected off the wheel and determine a rotational speed of the wheel based on the radar reflections. For instance, the computing device may identify the highest or lowest frequency in the frequency spectrum of the radar reflections and use the frequency and the wheel's radius to calculate the rotational speed of the wheel. The computing device can use rotational speed measurements for trailer wheels to monitor performance of the trailer and adjust vehicle navigation accordingly. In some instances, the computing device may determine that one of the trailer wheels requires servicing based on monitoring the rotational speeds of the trailer wheels.

    Independently Actuated Wheel Sets for Large Autonomous Self-Driving Vehicles
    9.
    发明申请
    Independently Actuated Wheel Sets for Large Autonomous Self-Driving Vehicles 有权

    公开(公告)号：US20240393789A1

    公开(公告)日：2024-11-28

    申请号：US18795346

    申请日：2024-08-06

    Applicant: Waymo LLC

    Inventor： Nolan Shenai ,  Nathaniel Fairfield ,  Benjamin Pitzer

    IPC: G05D1/00 ,  B62D7/14 ,  B62D7/15

    Abstract: The technology relates to fine maneuver control of large autonomous vehicles that employ multiple sets of independently actuated wheels. The control is able to optimize the turning radius, effectively negotiate curves, turns, and clear static objects of varying heights. Each wheel or wheel set is configured to adjust individually via control of an on-board computer system. Received sensor data and a physical model of the vehicle can be used for route planning and selecting maneuver operations in accordance with the additional degrees of freedom provided by the independently actuated wheels. This can include making turns, moving into or out of parking spaces, driving along narrow or congested roads, construction zones, loading docks, etc. A given maneuver may include maintaining a minimum threshold distance from a neighboring vehicle or other object.

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