公开(公告)号：US12003894B1

公开(公告)日：2024-06-04

申请号：US17136940

申请日：2020-12-29

Applicant: Waymo LLC

Inventor： Vlad Constantin Cardei ,  Lucian Ion

IPC: H04N7/18 ,  G06V20/58 ,  H04N23/54 ,  H04N23/61 ,  H04N23/65 ,  H04N23/695

CPC classification number: H04N7/188 ,  G06V20/58 ,  H04N23/54 ,  H04N23/61 ,  H04N23/651 ,  H04N23/695

Abstract: Systems, apparatus, and methods are presented for event detection. One method may include receiving event data from an event capture device while the event capture device is in a stationary state. The event capture device may be coupled to a vehicle. The method may also include generating a command and sending the command to the event capture device. The command is configured to cause the event capture device to change from the stationary state to a non-stationary state.

公开(公告)号：US11999269B2

公开(公告)日：2024-06-04

申请号：US17245352

申请日：2021-04-30

Applicant: Waymo LLC

Inventor： YooJung Ahn ,  David Tse-Zhou Lu ,  Min Li Chan ,  Brian Douglas Cullinane ,  Adam Lee Frost ,  Philippe Robert Agostino Holland ,  Hassan Rashid Mir ,  Marcos Aniceto Villalón Caro ,  Isaac Lopes Nogueras

IPC: B60N2/01 ,  B60N2/20 ,  B60N2/22 ,  B60N2/30 ,  B60N2/874 ,  B60N2/90 ,  B60N3/06 ,  B60R7/04 ,  B60R11/00

CPC classification number: B60N2/01 ,  B60N2/206 ,  B60N2/2222 ,  B60N2/3011 ,  B60N2/3065 ,  B60N2/874 ,  B60N2/91 ,  B60N3/06 ,  B60R7/04 ,  B60R2011/0007

Abstract: Aspects of the disclosure relate to vehicles capable of autonomous driving. These vehicles may include seats for accommodating different numbers of passengers. In some cases, the seats may be reconfigurable. For instance, a vehicle may include a first row of seating having a first, passenger use configuration. The first row may allow a passenger to sit in a seat of the first row of seating and access user input controls for the vehicle. The first row of seating may also have a second, folded configuration where the first row is in a folded configuration and no longer usable for passenger seating. The vehicle may also have a second row of seating. When the first row of seating is in the second, folded configuration, the second row of seating may still be usable for seating and may include additional legroom for the passenger as compared to when the first row of seating is in the first passenger use configuration.

公开(公告)号：US11994802B2

公开(公告)日：2024-05-28

申请号：US17464185

申请日：2021-09-01

Applicant: Waymo LLC

Inventor： James Dunphy ,  David Hutchison

IPC: G03F7/20 ,  G03F7/00 ,  G03F7/26 ,  G02B5/08

CPC classification number: G03F7/201 ,  G03F7/0005 ,  G03F7/2008 ,  G03F7/2014 ,  G03F7/26 ,  G03F7/7015 ,  G02B5/0891

Abstract: Systems and methods described herein relate to the manufacture of optical elements and optical systems. An example system may include an optical component configured to direct light from a light source to illuminate a photoresist material at a desired angle and to expose at least a portion of an angled structure in the photoresist material, where the photoresist material overlays at least a portion of a top surface of a substrate. The optical component includes a container containing an light-coupling material that is selected based in part on the desired angle. The optical component also includes a mirror arranged to reflect at least a portion of the light to illuminate the photoresist material at the desired angle.

公开(公告)号：US11989116B1

公开(公告)日：2024-05-21

申请号：US17834389

申请日：2022-06-07

Applicant: Waymo LLC

Inventor： Carl Nygaard ,  Alexander Ruben Stacey McCarthy ,  James Stout

IPC: G06F11/36

CPC classification number: G06F11/3664 ,  G06F11/3684

Abstract: The disclosure relates to testing software for operating an autonomous vehicle. For instance, a first simulation may be run. The simulation may be run using the software to control a simulated vehicle and at least one agent. During the running of the first simulation, whether a particular type of interaction between the simulated vehicle and the at least one agent has occurred may be determined. In response to this determination, a second simulation may be run using the log data by replacing the at least one agent with a model agent that simulates a road user capable of responding to actions performed by the simulated vehicle. The second simulation may be used to determine in order to determine whether the software is able to complete the second simulation without the particular type of interaction between a second simulated vehicle and the model agent occurring.

公开(公告)号：US20240157979A1

公开(公告)日：2024-05-16

申请号：US18511710

申请日：2023-11-16

Applicant: Waymo LLC

Inventor： Chiyu Jiang ,  Andre Liang Cornman ,  Cheolho Park ,  Benjamin Sapp ,  Yin Zhou ,  Dragomir Anguelov

IPC: B60W60/00 ,  B60W50/00 ,  B60W50/06

CPC classification number: B60W60/00276 ,  B60W50/0097 ,  B60W50/06 ,  B60W2552/20 ,  B60W2554/4044 ,  B60W2556/10

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generating trajectory predictions for one or more target agents, e.g., a vehicle, a cyclist, or a pedestrian, in an environment. In one aspect, one of the methods include: obtaining scene context data characterizing a scene at a current time point in an environment that includes multiple target agents; generating, from the scene context data, an encoded representation of the scene in the environment; and generating, by a diffusion model based on the encoded representation, a respective trajectory prediction output that predicts a respective future trajectory for each of the multiple target agents after the current time point.

公开(公告)号：US11983015B2

公开(公告)日：2024-05-14

申请号：US17463418

申请日：2021-08-31

Applicant: Waymo LLC

Inventor： Bradley Templeton

IPC: G05D1/02 ,  B60W30/06 ,  B60W30/182 ,  B60W40/08 ,  B60W50/08 ,  B60W50/14 ,  B60W60/00 ,  G01C21/34 ,  G05D1/00

CPC classification number: G05D1/0278 ,  B60W30/06 ,  B60W30/182 ,  B60W40/08 ,  B60W50/082 ,  B60W50/14 ,  B60W60/0053 ,  B60W60/0059 ,  G01C21/3423 ,  G01C21/3446 ,  G01C21/3461 ,  G05D1/0255 ,  G05D1/0272 ,  B60W2040/0818 ,  B60W2050/146 ,  B60W2420/403 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2540/21 ,  B60W2540/24 ,  B60W2540/26 ,  B60W2554/80 ,  B60W2556/00 ,  B60W2556/35 ,  B60W2756/10

Abstract: A vehicle configured to operate in an autonomous mode is provided. The vehicle is configured to obtain an indication of a final destination, and, if the final destination is not on a pre-approved road for travel by the vehicle, the vehicle is configured to determine a route from the vehicle's current location to an intermediary destination. The vehicle is further configured to determine a means for the vehicle user to reach the final destination from the intermediate destination.

公开(公告)号：US20240151544A1

公开(公告)日：2024-05-09

申请号：US18513884

申请日：2023-11-20

Applicant: Waymo LLC

Inventor： Xu Dong ,  Jonathan Lee Pedersen ,  Jakob Robert Zwiener

IPC: G01C21/34 ,  B60W30/08 ,  B60W60/00

CPC classification number: G01C21/3461 ,  B60W30/08 ,  B60W60/0015 ,  B60W2554/4048 ,  B60W2554/80

Abstract: The technology involves pullover maneuvers for vehicles operating in an autonomous driving mode. A vehicle operating in an autonomous driving mode is able to identify parking locations that may be occluded or otherwise not readily visible. A best case estimation for any potential parking locations, including partially or fully occluded areas, is compared against predictions for identified visible parking locations. This can include calculating a cost for each potential parking location and comparing that cost to a baseline cost. Upon determining that an occluded location would provide a more viable option than any visible parking locations, the vehicle is able to initiate a driving adjustment (e.g., slow down) prior to arriving at the occluded location. This enables the vehicle to minimize passenger discomfort while also providing notice to other road users of an intent to pull over.

公开(公告)号：US11972342B2

公开(公告)日：2024-04-30

申请号：US17346738

申请日：2021-06-14

Applicant: Waymo LLC

Inventor： Lucian Ion ,  Vlad Constantin Cardei ,  Carl Warren Craddock

IPC: H01L27/146 ,  G06N3/02 ,  G06N3/04 ,  G06N3/063 ,  G06N3/067 ,  G06N3/08 ,  G06V10/25 ,  G06V10/764 ,  G06V10/82 ,  H04N5/232 ,  H04N5/341 ,  H04N23/80 ,  H04N25/40

CPC classification number: G06N3/063 ,  G06N3/02 ,  G06N3/04 ,  G06N3/067 ,  G06N3/0675 ,  G06N3/08 ,  G06V10/25 ,  G06V10/764 ,  G06V10/82 ,  H01L27/14605 ,  H01L27/14609 ,  H01L27/14634 ,  H04N23/80 ,  H04N25/40 ,  H01L2224/73261

Abstract: A image sensor includes a first integrated circuit layer including pixel sensors that are grouped based on position into pixel sensor groups, a second integrated circuit layer in electrical communication with the first integrated circuit layer, the second integrated circuit layer including image processing circuitry groups that are configured to each receive pixel information from a corresponding pixel sensor group, the image processing circuitry groups further configured to perform image processing operations on the pixel information to provide processed pixel information during operation of the image sensor, a third integrated circuit layer in electrical communication with the second integrated circuit layer, and the third integrated circuit layer including neural network circuitry groups that are configured to each receive the processed pixel information from a corresponding image processing circuitry group and perform analysis for object detection on the processed pixel information during operation of the image sensor.

公开(公告)号：US11971716B2

公开(公告)日：2024-04-30

申请号：US17567219

申请日：2022-01-03

Applicant: Waymo LLC

Inventor： Joshua Seth Herbach ,  Michael Epstein ,  Mishika Vora ,  Guillaume Dupre ,  Kevin Rawlings

IPC: G05D1/00 ,  G05D1/02 ,  G06Q10/02 ,  G06Q10/047 ,  G06Q30/06 ,  G06Q50/30

CPC classification number: G05D1/0088 ,  G05D1/0274 ,  G06Q10/02 ,  G06Q10/047 ,  G06Q30/06 ,  G06Q50/30

Abstract: Aspects of the disclosure relate to controlling a vehicle in an autonomous driving mode. For instance, a first location corresponding to a location where the vehicle is to pick up or drop off a passenger is received. A first cost for the vehicle to reach the first location is determined. A second location based on the first location is identified, and a second cost is determined based on a cost for the vehicle to reach the second location and a cost for the passenger to reach the second location. The first cost is compared to the second cost, and a notification is sent based on the notification. In response to sending the notification, instructions to proceed to the second location are received, and in response to receiving the instructions, the vehicle is controlled in the autonomous driving mode to the second location to pick up or drop off the passenger.

公开(公告)号：US20240135727A1

公开(公告)日：2024-04-25

申请号：US18403316

申请日：2024-01-03

Applicant: WAYMO LLC

Inventor： Romain Thibaux ,  David Harrison Silver ,  Congrui Hetang

IPC: G06V20/56 ,  B60W30/18 ,  G06F18/214 ,  G06F18/2413 ,  G06V10/25

CPC classification number: G06V20/588 ,  B60W30/181 ,  B60W30/18154 ,  G06F18/214 ,  G06F18/24147 ,  G06V10/25 ,  B60W2420/403

Abstract: The technology relates to approaches for determining appropriate stopping locations at intersections for vehicles operating in a self-driving mode. While many intersections have stop lines painted on the roadway, many others have no such lines. Even if a stop line is present, the physical location may not match what is in store map data, which may be out of date due to construction or line repainting. Aspects of the technology employ a neural network that utilizes input training data and detected sensor data to perform classification, localization and uncertain estimation processes. Based on these processes, the system is able to evaluate distribution information for possible stop locations. The vehicle uses such information to determine an optimal stop point, which may or may not correspond to a stop line in the map data. This information is also used to update the existing map data, which can be shared with other vehicles.