公开(公告)号：US11902648B2

公开(公告)日：2024-02-13

申请号：US17557653

申请日：2021-12-21

Applicant: Waymo LLC

Inventor： Shashank Sharma

IPC: H04N23/57 ,  H04N23/51 ,  H04N23/55 ,  G03B17/55

CPC classification number: H04N23/57 ,  H04N23/51 ,  H04N23/55 ,  G03B17/55

Abstract: An apparatus includes a lens assembly that includes at least one lens that defines an optical axis, a lens holder coupled to the lens assembly, a substrate, an image sensor disposed on the substrate, and an actuator coupled between the lens holder and the substrate and configured to adjust a position of the substrate relative to the lens assembly to reposition the image sensor along the optical axis. The apparatus also includes a position sensor that includes a magnet and a magnetic field sensor. The position sensor is coupled to the substrate and the lens holder. The magnetic field sensor is configured to generate magnetic field data indicating a position of the substrate relative to the lens holder. The apparatus additionally includes circuitry configured to control the actuator based on the magnetic field data to place the image sensor within a depth of focus of the lens assembly.

公开(公告)号：US11900697B2

公开(公告)日：2024-02-13

申请号：US17958711

申请日：2022-10-03

Applicant: WAYMO LLC

Inventor： Romain Thibaux ,  David Harrison Silver ,  Congrui Hetang

IPC: G06V20/56 ,  B60W30/18 ,  G06K9/62 ,  G06V10/25 ,  G06F18/214 ,  G06F18/2413

CPC classification number: G06V20/588 ,  B60W30/181 ,  B60W30/18154 ,  G06F18/214 ,  G06F18/24147 ,  G06V10/25 ,  B60W2420/42

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 Even if a stop line is present, the physical location may not match what is in store map data, which may be out of date due to construction or line repainting.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.

公开(公告)号：US11893524B2

公开(公告)日：2024-02-06

申请号：US18112047

申请日：2023-02-21

Applicant: Waymo LLC

Inventor： David Margines ,  Tacettin Guney ,  Saksiri Tanphaichitr ,  Jeffrey Min ,  Laurens Feenstra ,  Peter Pawlowski ,  Dirk Haehnel

IPC: G06Q10/06 ,  G06Q10/08 ,  G06Q10/0631 ,  G06Q10/02 ,  H04W4/40 ,  G08G1/00 ,  H04W4/021 ,  G06Q50/30

CPC classification number: G06Q10/06312 ,  G06Q10/02 ,  G06Q10/06315 ,  G06Q50/30 ,  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.

公开(公告)号：US11892307B2

公开(公告)日：2024-02-06

申请号：US17381276

申请日：2021-07-21

Applicant: Waymo LLC

Inventor： Austin Abrams

IPC: G01C21/34 ,  G06F30/20

CPC classification number: G01C21/3461 ,  G01C21/3438 ,  G06F30/20

Abstract: Aspects of the disclosure provide for identifying problematic areas within a service area for an autonomous vehicle transportation service. For instance, a starting location within the service area corresponding to a potential pickup location for passengers or cargo for the service may be identified. A destination within the service area may be identified. A simulation may be run in order to determine a route for a simulated vehicle to travel between the starting location and the destination. That the route includes a particular type of maneuver may be determined. A new simulation without allowing the simulated vehicle to complete the particular type of maneuver may be run. Whether the simulated vehicle reaches the destination in the new simulation may be determined. Based on the determination of whether the simulated vehicle reaches the destination in the new simulation, the starting location and destination location may be flagged as potentially problematic areas.

公开(公告)号：US11887378B2

公开(公告)日：2024-01-30

申请号：US18081260

申请日：2022-12-14

Applicant: WAYMO LLC

Inventor： Kimberly Toth ,  Jeremy Dittmer ,  Giulia Guidi ,  Peter Avram

IPC: G06V20/58 ,  G01S17/931 ,  G01S17/894 ,  B60R11/04 ,  H04N23/80

CPC classification number: G06V20/58 ,  B60R11/04 ,  G01S17/894 ,  G01S17/931 ,  H04N23/80 ,  B60R2300/301 ,  B60R2300/802 ,  B60R2300/8093

Abstract: The technology relates to an exterior sensor system for a vehicle configured to operate in an autonomous driving mode. The technology includes a close-in sensing (CIS) camera system to address blind spots around the vehicle. The CIS system is used to detect objects within a few meters of the vehicle. Based on object classification, the system is able to make real-time driving decisions. Classification is enhanced by employing cameras in conjunction with lidar sensors. The specific arrangement of multiple sensors in a single sensor housing is also important to object detection and classification. Thus, the positioning of the sensors and support components are selected to avoid occlusion and to otherwise prevent interference between the various sensor housing elements.

公开(公告)号：US11884291B2

公开(公告)日：2024-01-30

申请号：US16983594

申请日：2020-08-03

Applicant: Waymo LLC

Inventor： Xiang Gao ,  Ajay Joshi ,  Gabriel Wolosin

IPC: G06Q10/0631 ,  B60W30/18 ,  G06Q50/30 ,  B60W60/00 ,  G06Q10/047 ,  G06N20/00 ,  G06N5/04

CPC classification number: B60W60/001 ,  B60W30/18163 ,  G06N5/04 ,  G06N20/00 ,  G06Q10/047 ,  G06Q10/06311 ,  G06Q10/06315 ,  G06Q50/30

Abstract: Aspects of the disclosure provide for the determining whether to assign a driver to a trip. For instance, a route for a trip between a pickup location and a destination location for a passenger may be determined. Branch routes for the route may be determined based on one or more lane changes of the route. A probability of following each determined branch route may be determined. A probability of requiring assistance for each determined branch route may be determined. Whether to assign a driver to the trip may be determined based on the probabilities for each determined branch route. A vehicle of a fleet of vehicles may be assigned to the trip based on the determine of whether to assign a driver.

公开(公告)号：US11880200B2

公开(公告)日：2024-01-23

申请号：US17958556

申请日：2022-10-03

Applicant: WAYMO LLC

Inventor： Peter Avram ,  Kimberly Toth ,  Jeremy Dittmer ,  Giulia Guidi

IPC: G05D1/00 ,  G01S17/86 ,  B60W60/00 ,  G06V20/58 ,  B60W10/18 ,  B60W10/20 ,  G01S7/02 ,  G01S7/481 ,  G01S13/86 ,  G01S13/89 ,  G01S17/89 ,  G05D1/02 ,  H04N23/74 ,  B60S1/56 ,  G06F18/25

CPC classification number: G05D1/0088 ,  B60W10/18 ,  B60W10/20 ,  B60W60/001 ,  G01S7/02 ,  G01S7/4813 ,  G01S13/867 ,  G01S13/89 ,  G01S17/86 ,  G01S17/89 ,  G05D1/0214 ,  G06V20/58 ,  H04N23/74 ,  B60S1/56 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2710/18 ,  B60W2710/20 ,  B60W2720/10 ,  G01S7/027 ,  G05D2201/0213 ,  G06F18/25

Abstract: The technology relates to an exterior sensor system for a vehicle configured to operate in an autonomous driving mode. The technology includes a close-in sensing (CIS) camera system to address blind spots around the vehicle. The CIS system is used to detect objects within a few meters of the vehicle. Based on object classification, the system is able to make real-time driving decisions. Classification is enhanced by employing cameras in conjunction with lidar sensors. The specific arrangement of multiple sensors in a single sensor housing is also important to object detection and classification. Thus, the positioning of the sensors and support components are selected to avoid occlusion and to otherwise prevent interference between the various sensor housing elements.

公开(公告)号：US20240017738A1

公开(公告)日：2024-01-18

申请号：US17862658

申请日：2022-07-12

Applicant: Waymo LLC

Inventor： Steven Vozar ,  Ioan-Alexandru Sucan ,  Jory Denny ,  Jens-Steffen Ralf Gutmann ,  Ryan Luna ,  Jonathan Daudelin ,  Tian Jin

IPC: B60W60/00 ,  G01C21/34

CPC classification number: B60W60/001 ,  G01C21/3453 ,  B60W2520/10 ,  B60W2520/105 ,  B60W2520/06

Abstract: Aspects of the disclosure provide for controlling an autonomous vehicle. For example, a set of potential stopping locations may be identified based on a current location of an autonomous vehicle. A set of potential states may be identified for the autonomous vehicle. A fallback cost for each potential state of the set of potential states to reach each potential stopping location of the set of potential stopping locations may be determined. A trajectory for an autonomous vehicle may be planned based on a route to a destination and the determined fallback costs. The autonomous vehicle may be controlled according to at least a portion of the trajectory.

公开(公告)号：US11873043B1

公开(公告)日：2024-01-16

申请号：US17245594

申请日：2021-04-30

Applicant: Waymo LLC

Inventor： YooJung Ahn ,  Jared S. Gross ,  Xintao Chen

IPC: B62D63/02 ,  B60N2/005

CPC classification number: B62D63/025 ,  B60N2/005

Abstract: Because of the nature of autonomous vehicles, and in particular that they do not require manual inputs from a driver or passenger to control braking and steering, autonomous vehicle can include features that may not necessarily be useful or practical in a typical non-autonomous (or semi-autonomous vehicle) that would require such manual input.

公开(公告)号：US11868286B1

公开(公告)日：2024-01-09

申请号：US18045015

申请日：2022-10-07

Applicant: Waymo LLC

Inventor： Sabareeshkumar Ravikumar ,  Shishuang Sun ,  Feng Wang ,  Ji Zhang

IPC: G06F13/16 ,  G06F12/02 ,  G06F13/42

CPC classification number: G06F13/1668 ,  G06F12/0246 ,  G06F13/4234 ,  G06F2212/7209

Abstract: One example method of testing an electrical device comprises transmitting a data pattern to a memory device of the electrical device by a controller of the electrical device to provide a written data pattern to the memory device, wherein the data pattern replicates a resonant frequency of at least a portion of the electrical device, reading the written data pattern from the memory device with the controller, and comparing the written data pattern to the data pattern.