公开(公告)号：US11855691B1

公开(公告)日：2023-12-26

申请号：US17831084

申请日：2022-06-02

Applicant: Waymo LLC

Inventor： Michael Sleator

IPC: H04B10/11 ,  H04B10/112 ,  G05D1/00 ,  B60W30/18 ,  H04B10/50 ,  G05D1/02

CPC classification number: H04B10/1123 ,  B60W30/181 ,  G05D1/0022 ,  G05D1/0223 ,  G05D1/0231 ,  H04B10/1129 ,  H04B10/503 ,  H04B10/11

Abstract: The disclosure describes a system that includes a self-driving system for operating a vehicle autonomously, one or more optical transmitters mounted on the vehicle, and one or more computing devices in communication with the self-driving system and the one or more optical transmitters. The one or more computing devices are configured to operate the self-driving system to cause the vehicle to approach a designated location in proximity of a structure on which one or more receivers are mounted and determine that the one or more optical transmitters have an alignment with the one or more receivers. Then, the one or more computing devices are configured to operate the one or more optical transmitters to establish an optical communication link with the one or more receivers and transmit data to the one or more receivers over the optical communication link.

公开(公告)号：US11381308B1

公开(公告)日：2022-07-05

申请号：US17155161

申请日：2021-01-22

Applicant: Waymo LLC

Inventor： Michael Sleator

IPC: H04B10/11 ,  H04B10/112 ,  G05D1/02 ,  G05D1/00 ,  H04B10/50 ,  B60W30/18

Abstract: The disclosure describes a system that includes a self-driving system for operating a vehicle autonomously, one or more optical transmitters mounted on the vehicle, and one or more computing devices in communication with the self-driving system and the one or more optical transmitters. The one or more computing devices are configured to operate the self-driving system to cause the vehicle to approach a designated location in proximity of a structure on which one or more receivers are mounted and determine that the one or more optical transmitters have an alignment with the one or more receivers. Then, the one or more computing devices are configured to operate the one or more optical transmitters to establish an optical communication link with the one or more receivers and transmit data to the one or more receivers over the optical communication link.

公开(公告)号：US20210194575A1

公开(公告)日：2021-06-24

申请号：US17190985

申请日：2021-03-03

Applicant: Waymo LLC

Inventor： Zhe Li ,  Min Wang ,  Michael Sleator

IPC: H04B7/26 ,  H01Q1/32 ,  B60R16/023 ,  G01S7/00 ,  G01S17/931

Abstract: A communication system is disclosed. The system can include a first communication unit including a first antenna, a second communication unit including a second antenna and a dielectric waveguide cable, and a rotary joint configured to enable the first unit to rotate with respect to the second unit about an axis of rotation of the system. The dielectric waveguide cable can extend from the second antenna to the rotary joint, where a proximal end of the cable can be coupled to the second antenna and a distal end of the cable can be affixed to the second unit at a location bordering a space defined by the rotary joint. The first and second units can be configured to engage in two-way communication with each other. An axis of the distal end of the cable can be substantially aligned with the axis of rotation of the system.

公开(公告)号：US20200374000A1

公开(公告)日：2020-11-26

申请号：US16913163

申请日：2020-06-26

Applicant: Waymo LLC

Inventor： Zhe Li ,  Min Wang ,  Michael Sleator

IPC: H04B7/26 ,  G01S7/00 ,  H01Q1/32 ,  G01S17/931 ,  B60R16/023

Abstract: A communication system is disclosed. The system can include a first communication unit including a first antenna, a second communication unit including a second antenna and a dielectric waveguide cable, and a rotary joint configured to enable the first unit to rotate with respect to the second unit about an axis of rotation of the system. The dielectric waveguide cable can extend from the second antenna to the rotary joint, where a proximal end of the cable can be coupled to the second antenna and a distal end of the cable can be affixed to the second unit at a location bordering a space defined by the rotary joint. The first and second units can be configured to engage in two-way communication with each other. An axis of the distal end of the cable can be substantially aligned with the axis of rotation of the system.

公开(公告)号：US20220350006A1

公开(公告)日：2022-11-03

申请号：US17306327

申请日：2021-05-03

Applicant: Waymo LLC

Inventor： Michael Sleator

IPC: G01S11/14 ,  G01S3/808

Abstract: A method of determining a distance between a vehicle and a sound source includes detecting, at a microphone of the vehicle, sounds from a sound source external to the vehicle. The sounds have a first frequency component at a first frequency and a second frequency component at a second frequency. The method also includes determining, at a processor of the vehicle, a classification of the sound source based on audio properties of the sounds. The method further includes determining a first energy level associated with the first frequency component and a second energy level associated with the second frequency component. The method also includes determining a ratio between the first energy level and the second energy level. The method further includes determining the distance between the vehicle and the sound source based on the ratio and the classification of the sound source.

公开(公告)号：US10965367B2

公开(公告)日：2021-03-30

申请号：US16913163

申请日：2020-06-26

Applicant: Waymo LLC

Inventor： Zhe Li ,  Min Wang ,  Michael Sleator

IPC: H04B7/26 ,  G01S7/00 ,  H01Q1/32 ,  G01S17/931 ,  B60R16/023 ,  G05D1/02

Abstract: A communication system is disclosed. The system can include a first communication unit including a first antenna, a second communication unit including a second antenna and a dielectric waveguide cable, and a rotary joint configured to enable the first unit to rotate with respect to the second unit about an axis of rotation of the system. The dielectric waveguide cable can extend from the second antenna to the rotary joint, where a proximal end of the cable can be coupled to the second antenna and a distal end of the cable can be affixed to the second unit at a location bordering a space defined by the rotary joint. The first and second units can be configured to engage in two-way communication with each other. An axis of the distal end of the cable can be substantially aligned with the axis of rotation of the system.

公开(公告)号：US10931374B1

公开(公告)日：2021-02-23

申请号：US16678458

申请日：2019-11-08

Applicant: Waymo LLC

Inventor： Michael Sleator

IPC: H04B10/11 ,  H04B10/112 ,  H04B10/50 ,  B60W30/18 ,  G05D1/02 ,  G05D1/00

Abstract: The disclosure describes a system that includes a self-driving system for operating a vehicle autonomously, one or more optical transmitters mounted on the vehicle, and one or more computing devices in communication with the self-driving system and the one or more optical transmitters. The one or more computing devices are configured to operate the self-driving system to cause the vehicle to approach a designated location in proximity of a structure on which one or more receivers are mounted and determine that the one or more optical transmitters have an alignment with the one or more receivers. Then, the one or more computing devices are configured to operate the one or more optical transmitters to establish an optical communication link with the one or more receivers and transmit data to the one or more receivers over the optical communication link.

公开(公告)号：US10742315B1

公开(公告)日：2020-08-11

申请号：US16418628

申请日：2019-05-21

Applicant: Waymo LLC

Inventor： Zhe Li ,  Min Wang ,  Michael Sleator

IPC: H04B7/26 ,  H01Q1/32 ,  B60R16/023 ,  G01S7/00 ,  G01S17/931 ,  G05D1/02

Abstract: A communication system is disclosed. The system can include a first communication unit including a first antenna, a second communication unit including a second antenna and a dielectric waveguide cable, and a rotary joint configured to enable the first unit to rotate with respect to the second unit about an axis of rotation of the system. The dielectric waveguide cable can extend from the second antenna to the rotary joint, where a proximal end of the cable can be coupled to the second antenna and a distal end of the cable can be affixed to the second unit at a location bordering a space defined by the rotary joint. The first and second units can be configured to engage in two-way communication with each other. An axis of the distal end of the cable can be substantially aligned with the axis of rotation of the system.

公开(公告)号：US11804896B2

公开(公告)日：2023-10-31

申请号：US17190985

申请日：2021-03-03

Applicant: Waymo LLC

Inventor： Zhe Li ,  Min Wang ,  Michael Sleator

IPC: H04B1/26 ,  H04B7/26 ,  H01Q1/32 ,  B60R16/023 ,  G01S7/00 ,  G01S17/931 ,  G05D1/02

CPC classification number: H04B7/26 ,  B60R16/0231 ,  G01S7/003 ,  G01S17/931 ,  H01Q1/3233 ,  H01Q1/3291 ,  G05D1/0214 ,  G05D1/0274 ,  G05D1/0278

Abstract: A communication system is disclosed. The system can include a first communication unit including a first antenna, a second communication unit including a second antenna and a dielectric waveguide cable, and a rotary joint configured to enable the first unit to rotate with respect to the second unit about an axis of rotation of the system. The dielectric waveguide cable can extend from the second antenna to the rotary joint, where a proximal end of the cable can be coupled to the second antenna and a distal end of the cable can be affixed to the second unit at a location bordering a space defined by the rotary joint. The first and second units can be configured to engage in two-way communication with each other. An axis of the distal end of the cable can be substantially aligned with the axis of rotation of the system.

公开(公告)号：US11768283B2

公开(公告)日：2023-09-26

申请号：US17306327

申请日：2021-05-03

Applicant: Waymo LLC

Inventor： Michael Sleator

IPC: G01S11/14 ,  G01S3/808

CPC classification number: G01S11/14 ,  G01S3/8083

Abstract: A method of determining a distance between a vehicle and a sound source includes detecting, at a microphone of the vehicle, sounds from a sound source external to the vehicle. The sounds have a first frequency component at a first frequency and a second frequency component at a second frequency. The method also includes determining, at a processor of the vehicle, a classification of the sound source based on audio properties of the sounds. The method further includes determining a first energy level associated with the first frequency component and a second energy level associated with the second frequency component. The method also includes determining a ratio between the first energy level and the second energy level. The method further includes determining the distance between the vehicle and the sound source based on the ratio and the classification of the sound source.