公开(公告)号：US12260650B2

公开(公告)日：2025-03-25

申请号：US18503422

申请日：2023-11-07

Applicant: WAYMO LLC

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

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

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：US20240061425A1

公开(公告)日：2024-02-22

申请号：US18498149

申请日：2023-10-31

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

CPC classification number: G05D1/0088 ,  G01S17/86 ,  B60W60/001 ,  G06V20/58 ,  B60W10/18 ,  B60W10/20 ,  G01S7/02 ,  G01S7/4813 ,  G01S13/867 ,  G01S13/89 ,  G01S17/89 ,  G05D1/0214 ,  H04N23/74 ,  G01S7/027 ,  B60S1/56

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：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：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：US11587334B2

公开(公告)日：2023-02-21

申请号：US17239972

申请日：2021-04-26

Applicant: WAYMO LLC

Inventor： Kimberly Toth ,  Giulia Guidi ,  Choon Ping Chng

IPC: B60Q1/00 ,  G06V20/59 ,  G05D1/00 ,  B60R1/00 ,  G08B21/24 ,  H04N5/58 ,  H04N5/225

Abstract: The technology provides an interior camera sensing system for self-driving vehicles. The sensor system includes image sensors and infrared illuminators to see the vehicle's cabin and storage areas in all ambient lighting conditions. The system can monitor the vehicle for safety purposes, to detect the cleanliness of the cabin and storage areas, as well as to detect whether packages or other objects have been inadvertently left in the vehicle. The cameras are arranged to focus on selected regions in the vehicle cabin and the system carries out certain actions in response to information evaluated for those regions. The interior space is divided into multiple zones assigned different coverage priorities. Regardless of vehicle size or configuration, certain actions are performed according to various ride checklists and the imagery detected by the interior cameras. The checklists include pre-ride, mid-ride, and post-ride checklists.

公开(公告)号：US11557127B2

公开(公告)日：2023-01-17

申请号：US16737263

申请日：2020-01-08

Applicant: WAYMO LLC

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

IPC: G06V20/58 ,  G01S17/931 ,  G01S17/894 ,  B60R11/04 ,  H04N5/232

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：US20210295069A1

公开(公告)日：2021-09-23

申请号：US17239972

申请日：2021-04-26

Applicant: WAYMO LLC

Inventor： Kimberly Toth ,  Giulia Guidi ,  Choon Ping Chng

IPC: G06K9/00 ,  G05D1/00 ,  B60R1/00 ,  G08B21/24 ,  H04N5/58 ,  H04N5/225

Abstract: The technology provides an interior camera sensing system for self-driving vehicles. The sensor system includes image sensors and infrared illuminators to see the vehicle's cabin and storage areas in all ambient lighting conditions. The system can monitor the vehicle for safety purposes, to detect the cleanliness of the cabin and storage areas, as well as to detect whether packages or other objects have been inadvertently left in the vehicle. The cameras are arranged to focus on selected regions in the vehicle cabin and the system carries out certain actions in response to information evaluated for those regions. The interior space is divided into multiple zones assigned different coverage priorities. Regardless of vehicle size or configuration, certain actions are performed according to various ride checklists and the imagery detected by the interior cameras. The checklists include pre-ride, mid-ride, and post-ride checklists.

公开(公告)号：US20210201054A1

公开(公告)日：2021-07-01

申请号：US16737263

申请日：2020-01-08

Applicant: WAYMO LLC

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

IPC: G06K9/00 ,  G01S17/931 ,  G01S17/894 ,  H04N5/232 ,  B60R11/04

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.