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公开(公告)号：US20240208475A1
公开(公告)日：2024-06-27
申请号：US18539643
申请日：2023-12-14
Applicant: Waymo LLC
CPC classification number: B60T8/92 , B60T8/1708 , B60T8/323 , B60T8/885 , B60T13/68 , B60T17/22 , B60T2210/30 , B60T2250/04 , B60T2270/413
Abstract: Example embodiments relate to triple redundant brake systems for trucks and other types of vehicles. Disclosed systems offer additional redundancy for braking applications by incorporating a third service brake actuator (e.g., a third ECU), which may be installed parallel to the second controller (e.g., a second ECU). In some examples, the third service brake actuator is an electronically activatable pressure valve and can be implemented using pneumatic select-high valves. These valves can be used to perform a mechanical max arbitration between pressure provided by the second controller and the third controller.
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公开(公告)号：US20240195950A1
公开(公告)日：2024-06-13
申请号：US18581042
申请日：2024-02-19
Applicant: Waymo LLC
Inventor： Benjamin Frevert , Shashank Sharma
IPC: H04N17/00 , B60S1/04 , B60S1/46 , B60S1/54 , G01N21/94 , G01S7/481 , G01S17/931 , G06T5/73 , H04N23/56 , H04N23/80
CPC classification number: H04N17/002 , B60S1/04 , B60S1/46 , B60S1/54 , G01N21/94 , G01S7/4817 , G01S17/931 , G06T5/73 , H04N23/56 , H04N23/80 , G06T2207/30168 , G06T2207/30248
Abstract: The present disclosure relates to contaminant detection systems and related optical systems and methods. An example contaminant detection system includes an optical coupler configured to couple light into and/or out of an optical element. The contaminant detection system also includes a plurality of light-emitter devices configured to emit emission light toward the optical coupler. The contaminant detection system additionally includes a plurality of detector devices configured to detect at least a portion of the emission light by way of the optical element and the optical coupler. The plurality of detector devices is also configured to provide detector signals indicative of a presence of a contaminant on the optical element.
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公开(公告)号：US20240191715A1
公开(公告)日：2024-06-13
申请号：US18364741
申请日：2023-08-03
Applicant: Waymo LLC
Inventor： Rutvik Acharya , Simon Ellgas , Benjamin Chen
CPC classification number: F04D1/00 , B60H1/00271 , B60H1/00521 , F01D25/28 , B60H2001/003
Abstract: Example embodiments relate to an air cooling system for an electronic spinning assembly. An example embodiment includes a plurality of vanes coupled to a static base. A vane cover is rotatably coupled to the static base. The vane cover includes at least one air inlet, at least one air duct extending from the vane cover, and at least one choke point disposed in the cover. The at least one choke point is configured to increase a pressure of the airflow.
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公开(公告)号：US20240190423A1
公开(公告)日：2024-06-13
申请号：US18588333
申请日：2024-02-27
Applicant: Waymo LLC
Inventor： Dong Li , Ioan-Alexandru Sucan , Victor Puchkarev
IPC: B60W30/09 , B60W30/095 , B60W40/12 , G06V10/44 , G06V20/58
CPC classification number: B60W30/09 , B60W30/0953 , B60W30/0956 , B60W40/12 , G06V10/44 , G06V20/58 , B60W2422/90 , B60W2554/00
Abstract: Aspects of the disclosure relate to controlling a vehicle having an autonomous driving mode or an autonomous vehicle. For instance, a polygon representative of the shape and location of a first object may be received. A polyline contour representation of a portion of a polygon representative of the shape and location of a second object may be received. The polyline contour representation may be in half-plane coordinates and including a plurality of vertices and line segments. Coordinates of the polygon representative of the first object may be converted to the half-plane coordinate system. A collision location between the polyline contour representation and the polygon representative of the first object may be determined using the converted coordinates. The autonomous vehicle may be controlled in the autonomous driving mode to avoid a collision based on the collision location.
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公开(公告)号：US20240183959A1
公开(公告)日：2024-06-06
申请号：US18438043
申请日：2024-02-09
Applicant: WAYMO LLC
Inventor： Gil SHOTAN , Luke WACHTER , Colin BRALEY , Christian LAUTERBACH , Xiaoxiang HU , Ming ZOU
IPC: G01S7/497 , G01S7/481 , G01S17/931
CPC classification number: G01S7/497 , G01S7/4813 , G01S7/4814 , G01S17/931 , G01S2007/4977
Abstract: One example method involves obtaining a plurality of scans of a field-of-view (FOV) of a light detection and ranging (LIDAR) device disposed inside a housing. Obtaining each scan of the plurality of scans comprises: transmitting, through a plurality of sections of the housing, a plurality of light pulses emitted from the LIDAR device in different directions toward the housing; and detecting a plurality of returning light pulses comprising reflected portions of the transmitted plurality of light pulses that are reflected back toward the LIDAR device. The method also involves detecting an obstruction that at least partially occludes the LIDAR device from scanning the FOV through the housing based on the plurality of scans.
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Patent Agency Ranking
公开(公告)号：US20240183519A1
公开(公告)日：2024-06-06
申请号：US18413494
申请日：2024-01-16
Applicant: Waymo LLC
Inventor： Choon Ping Chng , Cheng-Han Wu , Lucian Ion , Giulia Guidi
CPC classification number: F21V21/30 , B60K35/00 , B60Q3/51 , G01J1/00 , B60K2360/21 , B60K2360/332
Abstract: Example embodiments described herein involve a system for testing a light-emitting module. The light-emitting module may include a mounting platform configured to hold a light-emitting module for a camera. The mounting platform may also be configured to rotate. The system may further include a housing holding a plurality of photodiodes arranged in an array over at least a 90 degree arc of a hemisphere. The system may also include a controller configured to control the photodiodes and the rotation of the mounting platform.
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公开(公告)号：US11993288B2
公开(公告)日：2024-05-28
申请号：US17565232
申请日：2021-12-29
Applicant: Waymo LLC
Inventor： Pablo Abad , Aman Ved Kalia , Juan Gomez-Ramos , Jiayi Chen , Jasman Singh Malik , Joe Riggs
CPC classification number: B60W60/0027 , B60W50/0098 , G05B13/0265 , B60W2050/0031 , B60W2520/10 , B60W2520/12 , B60W2554/4042 , B60W2554/4043 , B60W2554/4045 , B60W2554/4046 , B60W2554/801 , B60W2554/802 , B60W2710/18 , B60W2720/10 , B60W2720/12
Abstract: Example embodiments relate to a method for cut-in identification and classification. An example embodiment includes a obtaining operational data about one or more vehicles; based on the operational data, identifying the presence of one or more cut-ins within the operational data; extracting, from the operational data, cut-in data that depicts one or more of the cut-ins identified within the operational data; and, based on the extracted cut-in data, training a model for controlling an autonomous vehicle. Identifying the presence of a given cut-in includes: determining that at least one vertex of a bounding box surrounding a vehicle was located more than a threshold distance within a lane being navigated by a given vehicle; and determining that the ability of the given vehicle to maintain its course and speed was impeded by the presence of the particular additional vehicle within the lane.
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公开(公告)号：US20240169290A1
公开(公告)日：2024-05-23
申请号：US18536372
申请日：2023-12-12
Applicant: Waymo LLC
Inventor： David Margines , Tacettin Guney , Saksiri Tanphaichitr , Jeffrey Min , Laurens Feenstra , Peter Pawlowski , Dirk Haehnel
CPC classification number: G06Q10/06312 , G06Q10/02 , G06Q10/06315 , G06Q50/40 , G08G1/202 , H04W4/021 , H04W4/40
Abstract: Aspects of the technology relate to providing service area maps for an autonomous vehicle transportation service having a fleet of vehicles. For instance, each vehicle of the fleet is associated with a polygon corresponding to a service area for that vehicle. A first location may be received from a client computing device, and a set of vehicles of the fleet of vehicles that are currently available to provide transportation services may be identified based on the first location. The polygons associated with each of the set of vehicles may be used to determine a first polygon having a geographic area. A first portion of map information corresponding to the geographic area of the first polygon may be identified, and the first portion may be provided to the client computing device for display to a user such that the portion represents a currently available service area for the user.
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公开(公告)号：US11987265B1
公开(公告)日：2024-05-21
申请号：US17387852
申请日：2021-07-28
Applicant: Waymo LLC
Inventor： Hang Zhao , Jiyang Gao , Chen Sun , Yi Shen , Yuning Chai , Cordelia Luise Schmid , Congcong Li , Benjamin Sapp , Dragomir Anguelov , Tian Lan , Yue Shen
CPC classification number: B60W60/001 , G06N3/02 , B60W2420/42 , B60W2554/4049
Abstract: A system obtains scene context data characterizing the environment. The scene context data includes data that characterizes a trajectory of an agent in a vicinity of a vehicle up to a current time point. The system identifies a plurality of initial target locations, and generates, for each of a plurality of target locations that each corresponds to one of the initial target locations, a respective predicted likelihood score that represents a likelihood that the target location will be an intended final location for a future trajectory of the agent. For each target location in a first subset of the target locations, the system generates a predicted future trajectory for the agent given that the target location is the intended final location for the future trajectory. The system further selects, as likely future trajectories of the agent, one or more of the predicted future trajectories.
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公开(公告)号：US11977165B2
公开(公告)日：2024-05-07
申请号：US16989434
申请日：2020-08-10
Applicant: Waymo LLC
Inventor： Mingcheng Chen , Xiaoxiang Hu , Richard Chaussee
IPC: G01S17/931 , G01S7/497 , G01S17/894 , G05D1/00
CPC classification number: G01S17/931 , G01S17/894 , G05D1/0088 , G01S7/497
Abstract: The technology relates to handling of self-reflections of sensor signals off of a portion of a vehicle that is operating in an autonomous driving mode. Vehicle pose information and sensor pose information are determined at a given point in time while operating in the autonomous driving mode. Return signals from one or more scans of the environment are received from onboard sensors such as lidar sensors. The system evaluates, based on the vehicle and sensor pose information, whether a segment between a given one of the one or more sensors and a received point from a selected one of the return signals crosses any surface of a 3D model of the vehicle. The received point is identified as a self-return point. In response to identifying the received point as a self-return point, the vehicle is able to perform a driving operation in the autonomous driving mode.
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