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.

公开(公告)号：US11868133B1

公开(公告)日：2024-01-09

申请号：US16779811

申请日：2020-02-03

Applicant: Waymo LLC

Inventor： Dmitri A Dolgov ,  Christopher Paul Urmson

IPC: G05D1/02 ,  B60W30/08 ,  B60W30/09 ,  B60W30/095 ,  B60W30/16 ,  B60W50/00 ,  G01C21/26 ,  G05D1/00 ,  G08G1/16 ,  B60W30/12

CPC classification number: G05D1/0214 ,  B60W30/08 ,  B60W30/09 ,  B60W30/095 ,  B60W30/0956 ,  B60W30/12 ,  B60W30/16 ,  B60W50/0097 ,  G01C21/26 ,  G05D1/0061 ,  G05D1/0088 ,  G08G1/16 ,  G08G1/166 ,  G08G1/167 ,  B60W2554/00 ,  B60W2720/10

Abstract: Aspects of the disclosure relate generally to detecting and avoiding blind spots of other vehicles when maneuvering an autonomous vehicle. Blind spots may include both areas adjacent to another vehicle in which the driver of that vehicle would be unable to identify another object as well as areas that a second driver in a second vehicle may be uncomfortable driving. In one example, a computer of the autonomous vehicle may identify objects that may be relevant for blind spot detecting and may determine the blind spots for these other vehicles. The computer may predict the future locations of the autonomous vehicle and the identified vehicles to determine whether the autonomous vehicle would drive in any of the determined blind spots. If so, the autonomous driving system may adjust its speed to avoid or limit the autonomous vehicle's time in any of the blind spots.

公开(公告)号：US20230419678A1

公开(公告)日：2023-12-28

申请号：US17808244

申请日：2022-06-22

Applicant: Waymo LLC

Inventor： Maya Kabkab ,  Yu-Han Chen ,  Zhibo Yang ,  Xia Chen

IPC: G06V20/58 ,  G06V20/70 ,  G06V10/774 ,  G06V10/82

CPC classification number: G06V20/58 ,  G06V20/70 ,  G06V10/774 ,  G06V10/82

Abstract: A method includes obtaining an image representing road objects belonging to a particular class, and generating, based on the image, feature maps that represent visual features of the image. The method also includes determining, based on the feature maps and for each respective road object of the plurality of road objects, a corresponding location at which the respective road object has been detected within the image and a corresponding tag value associated with the respective road object. The method additionally includes determining groups of the road objects based on the tag value of each respective road object, and identifying, for each respective group, a corresponding road condition based on the corresponding locations of the road objects in the respective group and the particular class. The method further includes generating an output that represents the corresponding road condition of each respective group.

公开(公告)号：US11852753B1

公开(公告)日：2023-12-26

申请号：US16593531

申请日：2019-10-04

Applicant: Waymo LLC

Inventor： William Grossman ,  Troy Scott Storz ,  Matthew Carroll

IPC: G01S7/497 ,  G01S7/481

CPC classification number: G01S7/497 ,  G01S7/4813 ,  G01S2007/4977

Abstract: A sensor (e.g., an optical sensor) is disposed in an enclosure that separates it from an external environment. The enclosure includes an aperture comprising a transparent material. A laminate comprising a plurality of transparent films is coupled to the aperture such that the sensor has a field of view of the external environment through the transparent material of the aperture and the plurality of transparent films. The laminate includes an exposed transparent film that is exposed to the external environment and that is removable to expose an underlying film in the laminate when dirt, debris, or other obscuring material has collected on it. A laminate module that includes the laminate, a laminate sensor, and a peeling mechanism may be removably mounted on the aperture. The laminate sensor can sense the number of transparent films remaining in the laminate. The peeling mechanism can peel away individual transparent films in the laminate.

公开(公告)号：US11851086B2

公开(公告)日：2023-12-26

申请号：US16912976

申请日：2020-06-26

Applicant: Waymo LLC

Inventor： Brian Cohen ,  Guillaume Dupre ,  Jared Russell ,  Eric Schoenfeld

IPC: B60W60/00 ,  G05D1/00 ,  G01C21/34 ,  G01C22/00

CPC classification number: B60W60/0011 ,  B60W60/0013 ,  G01C21/3407 ,  G01C21/3453 ,  G01C22/00 ,  G05D1/0088 ,  G05D2201/0213

Abstract: A simulation may be used to determine a difference between progress of a manually-driven vehicle and progress of a simulated autonomous vehicle. The method includes retrieving log data collected for the manually-driven vehicle driving along a route, generating a plurality of path segments for a portion of the route. The plurality of path segments corresponds to points in a lane that the manually-driven vehicle traveled through on the portion of the route. The method also includes running, using a software of the autonomous vehicle, a simulation of the autonomous vehicle driving along the plurality of path segments, extracting metrics from the log data and the simulation, and determining the difference between a first progress of the manually-driven vehicle and a second progress of the simulated autonomous vehicle based on the metrics.

公开(公告)号：US11851077B2

公开(公告)日：2023-12-26

申请号：US18073201

申请日：2022-12-01

Applicant: Waymo LLC

Inventor： Philip Nemec ,  Keith Hutchings ,  Julien Mercay ,  Annissa Al-Alusi ,  Saswat Panigrahi ,  Cristi Landy ,  Matthew Schwall

IPC: B60W50/10 ,  B60W50/14 ,  B60W40/105 ,  G05D1/00 ,  B60W50/00

CPC classification number: B60W50/10 ,  B60W40/105 ,  B60W50/14 ,  G05D1/0061 ,  G05D1/0088 ,  B60W2050/0073 ,  B60W2050/146 ,  G05D2201/0213

Abstract: Aspects of the disclosure provide for determining when to provide and providing secondary disengage alerts for a vehicle having autonomous and manual driving modes. For instance, while the vehicle is being controlled in the autonomous driving mode, user input is received at one or more user input devices of the vehicle. In response to receiving the user input, the vehicle may be transitioned from the autonomous driving mode to a manual driving mode and provide a primary disengage alert to an occupant of the vehicle regarding the transition. Whether to provide a secondary disengage alert may be determined based on at least circumstances of the user input. After the transition, the secondary disengage alert may be provided based on the determination.

公开(公告)号：US11851033B2

公开(公告)日：2023-12-26

申请号：US18079949

申请日：2022-12-13

Applicant: Waymo LLC

Inventor： Graham Doorley ,  Paul Thomas Hansen Karplus ,  Peter Avram

IPC: B60S1/56 ,  B60S1/48 ,  B60S1/08 ,  B08B1/04 ,  B08B1/00 ,  B60S1/34 ,  G02B27/00 ,  H02P7/06

CPC classification number: B60S1/56 ,  B08B1/00 ,  B08B1/04 ,  B60S1/08 ,  B60S1/0848 ,  B60S1/0896 ,  B60S1/3404 ,  B60S1/482 ,  B60S1/486 ,  B60S1/566 ,  G02B27/0006 ,  H02P7/06

Abstract: A system includes a dome, a wiper assembly, a position sensor and a control device. The wiper assembly includes a wiper blade configured to rotate around the dome. The position sensor may be configured to send a signal to a control device when a wiper blade passes the position sensor. The control device may include one or more processors configured to receive the signal from the position sensor and determine a location of the wiper blade relative to the dome based on the received signal.