公开(公告)号：US20200072612A1

公开(公告)日：2020-03-05

申请号：US16674159

申请日：2019-11-05

Applicant: Waymo LLC

Inventor： Craig Robinson ,  John Tisdale ,  Seth LaForge ,  Paul Karplus

IPC: G01C21/20 ,  G01C21/18 ,  G01C19/34

Abstract: In one example, a vehicle includes a platform and a yaw sensor mounted on the platform. The yaw sensor provides an indication of a yaw rate of rotation of the yaw sensor. The vehicle also includes an actuator that rotates the platform. The vehicle also includes a controller coupled to the yaw sensor and the actuator. The controller receives the indication of the yaw rate from the yaw sensor. The controller also causes the actuator to rotate the platform (i) along a direction of rotation opposite to a direction of the rotation of the yaw sensor and (ii) at a rate of rotation based on the yaw rate of the yaw sensor. The controller also estimates a direction of motion of the vehicle in an environment of the vehicle based on at least the rate of rotation of the platform.

公开(公告)号：US10108192B1

公开(公告)日：2018-10-23

申请号：US15883266

申请日：2018-01-30

Applicant: Waymo LLC

Inventor： Seth Michael LaForge ,  Craig Lewin Robinson ,  John Tisdale ,  Russell Smith

IPC: G05D1/00 ,  G05D1/02

Abstract: Example systems and methods are disclosed for determining vehicle pose data for an autonomous vehicle. The vehicle computer system may receive pose data from multiple pose measurement systems of the autonomous vehicle. Each pose measurement system may include one or more corresponding sensors of the autonomous vehicle. The vehicle computer system may determine a pose data quality for the received pose data for each pose measurement system. The vehicle computer system may set the vehicle pose data to the pose data of the pose measurement system with the highest pose data quality. The vehicle computer system may control the autonomous vehicle based on the vehicle pose data.