公开(公告)号：US20240310520A1

公开(公告)日：2024-09-19

申请号：US18674242

申请日：2024-05-24

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  Michael Marx ,  Ethan Stark

IPC: G01S17/10 ,  G01S7/481 ,  G01S7/484 ,  G01S17/89 ,  G01S17/931

CPC classification number: G01S17/10 ,  G01S7/4815 ,  G01S7/4817 ,  G01S7/484 ,  G01S17/89 ,  G01S17/931

Abstract: A light detection and ranging (LIDAR) device includes a light emitter configured to emit light pulses into a field of view and a detector configured to detect light in the field of view. The light emitter emits a first light pulse. The detector detects, during a first measurement period, at least one reflected light pulse that is indicative of reflection by a retroreflector based on a shape of a reflected light pulse, a magnitude of a reflected light pulse, and/or a time separation between two reflected light pulses. In response to detecting the at least one reflected light pulse indicative of reflection by a retroreflector, the light emitter is deactivated for one or more subsequent measurement periods. Additionally, the LIDAR device may inform one or more other LIDAR devices by transmitting to a computing device information indicative of the retroreflector being within the field of view of the light emitter.

公开(公告)号：US11124202B1

公开(公告)日：2021-09-21

申请号：US15716888

申请日：2017-09-27

Applicant: Waymo LLC

Inventor： Ethan Stark ,  Daniel Trawick Egnor ,  Ryan Cash

IPC: B60W50/06 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20 ,  B60W30/10 ,  B60W50/00

Abstract: Aspects of the disclosure relate to controlling a vehicle in an autonomous driving mode. For instance, a trajectory is identified. The trajectory defines a future desired path for the vehicle and includes a control requirement having a corresponding point in time. A command for achieving the control requirement is generated. A fixed delay value corresponding to a delay caused by transmission of the command to an actuator of the vehicle is generated. A variable delay value corresponding to a delay caused by an amount of time to change a physical state of the actuator to a desired state according to the command is generated. The command is then sent to the actuator based on the fixed delay value, the variable delay value, and so that the actuator causes the vehicle to move according to the command.

公开(公告)号：US11008011B2

公开(公告)日：2021-05-18

申请号：US16563017

申请日：2019-09-06

Applicant: Waymo LLC

Inventor： Ethan Stark ,  Daniel Trawick Egnor ,  Ryan Cash ,  Nolan McPeek-Bechtold

IPC: G01C22/00 ,  B60W30/188 ,  G05D1/00 ,  B60W10/06 ,  B60W10/02 ,  G05D1/02

Abstract: Aspects of the disclosure relate to stopping a vehicle. For instance, a vehicle is controlled in an autonomous driving mode by generating first commands for acceleration control and sending the first commands to an acceleration and/or steering actuator of an acceleration system of the vehicle in order to cause the vehicle to accelerate. Acceleration and/or orientation of the vehicle is monitored while the vehicle is being operated in an autonomous driving mode. The monitored acceleration and/or orientation is compared with the first commands. An error with the acceleration and/or steering system is determined based on the comparison. When the error is determined, the vehicle is controlled in the autonomous driving mode by generating second commands which do not require any acceleration and/or steering.

公开(公告)号：US10493992B2

公开(公告)日：2019-12-03

申请号：US15718459

申请日：2017-09-28

Applicant: Waymo LLC

Inventor： Ethan Stark ,  Daniel Trawick Egnor ,  Ryan Cash

IPC: G01C22/00 ,  B60W30/188 ,  G05D1/00 ,  B60W10/06 ,  B60W10/02 ,  G05D1/02

Abstract: Aspects of the disclosure relate to stopping a vehicle. For instance, a vehicle is controlled in an autonomous driving mode by generating first commands for acceleration control and sending the first commands to an acceleration and/or steering actuator of an acceleration system of the vehicle in order to cause the vehicle to accelerate. Acceleration and/or orientation of the vehicle is monitored while the vehicle is being operated in an autonomous driving mode. The monitored acceleration and/or orientation is compared with the first commands. An error with the acceleration and/or steering system is determined based on the comparison. When the error is determined, the vehicle is controlled in the autonomous driving mode by generating second commands which do not require any acceleration and/or steering.

公开(公告)号：US20190092341A1

公开(公告)日：2019-03-28

申请号：US15716872

申请日：2017-09-27

Applicant: Waymo LLC

Inventor： Ethan Stark ,  Daniel Trawick Egnor ,  Ryan Cash ,  Katharine Patterson

IPC: B60W50/10 ,  G05D1/00 ,  G05D1/02 ,  B60W10/18 ,  B60W10/20 ,  B60W10/04 ,  B60W30/14 ,  B60W50/12

Abstract: Aspects of the present disclosure relate to vehicle systems including one or more control computing devices configured to send commands to one or more actuators of the vehicle in order to control deceleration, acceleration, and steering. The vehicle may include user input devices for allowing a driver to control the one or more actuators in order to control deceleration, acceleration, and steering. The computing devices are configured to operate in a manual driving mode where commands from the control computing devices are invalidated and ignored by the actuators, a first autonomous driving mode where the control computing devices are configured to send the commands to control the actuators and inputs from the user input devices are prioritized over the commands; and a second autonomous driving mode wherein the control computing devices are configured to send the commands to control the actuators and inputs from commands are prioritized over inputs from the user input devices.

公开(公告)号：US20190092332A1

公开(公告)日：2019-03-28

申请号：US15718459

申请日：2017-09-28

Applicant: Waymo LLC

Inventor： Ethan Stark ,  Daniel Trawick Egnor ,  Ryan Cash

IPC: B60W30/188 ,  G05D1/00 ,  G05D1/02 ,  B60W10/06 ,  B60W10/02

Abstract: Aspects of the disclosure relate to stopping a vehicle. For instance, a vehicle is controlled in an autonomous driving mode by generating first commands for acceleration control and sending the first commands to an acceleration and/or steering actuator of an acceleration system of the vehicle in order to cause the vehicle to accelerate. Acceleration and/or orientation of the vehicle is monitored while the vehicle is being operated in an autonomous driving mode. The monitored acceleration and/or orientation is compared with the first commands. An error with the acceleration and/or steering system is determined based on the comparison. When the error is determined, the vehicle is controlled in the autonomous driving mode by generating second commands which do not require any acceleration and/or steering.