公开(公告)号：US11513196B2

公开(公告)日：2022-11-29

申请号：US16145647

申请日：2018-09-28

Applicant: Waymo LLC

Inventor： Mark Alexander Shand

IPC: G01S7/48 ,  G01S7/484 ,  G01S17/931

Abstract: The present disclosure relates to systems and methods involving Light Detection and Ranging (LIDAR or lidar) systems. Namely, an example method includes causing a light source of a LIDAR system to emit light along an emission vector. The method also includes adjusting the emission vector of the emitted light and determining an elevation angle component of the emission vector. The method further includes dynamically adjusting a per pulse energy of the emitted light based on the determined elevation angle component. An example system includes a vehicle and a light source coupled to the vehicle. The light source is configured to emit light along an emission vector toward an environment of the vehicle. The system also includes a controller operable to determine an elevation angle component of the emission vector and dynamically adjust a per pulse energy of the emitted light based on the determined elevation angle component.

公开(公告)号：US20220187448A1

公开(公告)日：2022-06-16

申请号：US17376611

申请日：2021-07-15

Applicant: Waymo LLC

Inventor： Mark Alexander Shand ,  Lucas Peeters ,  Rui Wu ,  Blaise Gassend ,  Stephen Osborn ,  Paul Karplus ,  Georges Goetz

IPC: G01S13/931 ,  G06K9/00 ,  G01S7/4861

Abstract: Computing devices, systems, and methods described in various embodiments herein may relate to a light detection and ranging (lidar) system. An example computing device could include a controller having at least one processor and at least one memory. The at least one processor is configured to execute program instructions stored in the at least one memory so as to carry out operations. The operations include receiving information identifying an environmental condition surrounding a vehicle, the environmental condition being at least one of fog, mist, snow, dust, or rain. The operations also include determining a range of interest within a field of view of the lidar system based on the received information. The operations also include adjusting at least one of: a return light detection time period, sampling rate, or filtering threshold, for at least a portion of the field of view based on the determined range of interest.

公开(公告)号：US20210405155A1

公开(公告)日：2021-12-30

申请号：US16916031

申请日：2020-06-29

Applicant: Waymo LLC

Inventor： Mark Alexander Shand

IPC: G01S7/48 ,  G01S7/481 ,  G01S17/931 ,  G01S17/10

Abstract: Example embodiments relate to selective deactivation of light emitters for interference mitigation in light detection and ranging (lidar) devices. An example method includes deactivating one or more light emitters within a lidar device during a firing cycle. The method also includes identifying whether interference is influencing measurements made by the lidar device. Identifying whether interference is influencing measurements made by the lidar device includes determining, for each light detector of the lidar device that is associated with the one or more light emitters deactivated during the firing cycle, whether a light signal was detected during the firing cycle.

公开(公告)号：US20210203864A1

公开(公告)日：2021-07-01

申请号：US17186121

申请日：2021-02-26

Applicant: Waymo LLC

Inventor： Blaise Gassend ,  Benjamin Ingram ,  Andreas Wendel ,  Mark Alexander Shand

IPC: H04N5/353 ,  G06T7/521 ,  H04N5/235 ,  H04N5/247 ,  H04N5/341 ,  G01S17/89 ,  H04N5/225 ,  H04N5/232 ,  G01S17/42 ,  G01S17/86

Abstract: One example system comprises a LIDAR sensor that rotates about an axis to scan an environment of the LIDAR sensor. The system also comprises one or more cameras that detect external light originating from one or more external light sources. The one or more cameras together provide a plurality of rows of sensing elements. The rows of sensing elements are aligned with the axis of rotation of the LIDAR sensor. The system also comprises a controller that operates the one or more cameras to obtain a sequence of image pixel rows. A first image pixel row in the sequence is indicative of external light detected by a first row of sensing elements during a first exposure time period. A second image pixel row in the sequence is indicative of external light detected by a second row of sensing elements during a second exposure time period.

公开(公告)号：US10754033B2

公开(公告)日：2020-08-25

申请号：US15638607

申请日：2017-06-30

Applicant: Waymo LLC

Inventor： Mark Alexander Shand

IPC: G01S17/10 ,  G01S7/483 ,  G01S17/89 ,  G01S7/4865 ,  G01S17/42 ,  G01S7/484 ,  G01S17/931

Abstract: A computing system may operate a LIDAR device to emit light pulses in accordance with a time sequence including a time-varying dither. The system may then determine that the LIDAR detected return light pulses during corresponding detection periods for each of two or more emitted light pulses. Responsively, the system may determine that the detected return light pulses have (i) detection times relative to corresponding emission times of a plurality of first emitted light pulses that are indicative of a first set of ranges and (ii) detection times relative to corresponding emission times of a plurality of second emitted light pulses that are indicative of a second set of ranges. Given this, the system may select between using the first set of ranges as a basis for object detection and using the second set of ranges as a basis for object detection, and may then engage in object detection accordingly.

公开(公告)号：US12248100B2

公开(公告)日：2025-03-11

申请号：US18412820

申请日：2024-01-15

Applicant: Waymo LLC

Inventor： Mark Alexander Shand

IPC: G01S7/4865 ,  G01S17/10 ,  G01S17/42 ,  G01S17/931

Abstract: A computing system may operate a LIDAR device to emit and detect light pulses in accordance with a time sequence including standard detection period(s) that establish a nominal detection range for the LIDAR device and extended detection period(s) having durations longer than those of the standard detection period(s). The system may then make a determination that the LIDAR detected return light pulse(s) during extended detection period(s) that correspond to particular emitted light pulse(s). Responsively, the computing system may determine that the detected return light pulse(s) have detection times relative to corresponding emission times of particular emitted light pulse(s) that are indicative of one or more ranges. Given this, the computing system may make a further determination of whether or not the one or more ranges indicate that an object is positioned outside of the nominal detection range, and may then engage in object detection in accordance with the further determination.

公开(公告)号：US12133005B2

公开(公告)日：2024-10-29

申请号：US18150249

申请日：2023-01-05

Applicant: Waymo LLC

Inventor： Blaise Gassend ,  Benjamin Ingram ,  Andreas Wendel ,  Mark Alexander Shand

IPC: H04N5/353 ,  G01S17/42 ,  G01S17/86 ,  G01S17/89 ,  G06T7/521 ,  G06T7/90 ,  G06T17/05 ,  H04N5/225 ,  H04N5/232 ,  H04N5/235 ,  H04N5/247 ,  H04N5/341 ,  H04N23/45 ,  H04N23/698 ,  H04N23/71 ,  H04N23/73 ,  H04N23/90 ,  H04N25/40 ,  H04N25/531

CPC classification number: H04N25/531 ,  G01S17/42 ,  G01S17/86 ,  G01S17/89 ,  G06T7/521 ,  H04N23/45 ,  H04N23/698 ,  H04N23/71 ,  H04N23/73 ,  H04N23/90 ,  H04N25/40 ,  G06T7/90 ,  G06T17/05 ,  G06T2207/10028 ,  G06T2207/10144 ,  G06T2207/10152

Abstract: One example system comprises a LIDAR sensor that rotates about an axis to scan an environment of the LIDAR sensor. The system also comprises one or more cameras that detect external light originating from one or more external light sources. The one or more cameras together provide a plurality of rows of sensing elements. The rows of sensing elements are aligned with the axis of rotation of the LIDAR sensor. The system also comprises a controller that operates the one or more cameras to obtain a sequence of image pixel rows. A first image pixel row in the sequence is indicative of external light detected by a first row of sensing elements during a first exposure time period. A second image pixel row in the sequence is indicative of external light detected by a second row of sensing elements during a second exposure time period.

公开(公告)号：US20240094727A1

公开(公告)日：2024-03-21

申请号：US18514086

申请日：2023-11-20

Applicant: Waymo LLC

Inventor： Stephanie McArthur ,  Mark Alexander Shand ,  Colin Braley

IPC: G05D1/00 ,  G01C21/20 ,  G01S7/40 ,  G01S7/497 ,  G01S7/52 ,  G05D1/02

CPC classification number: G05D1/0055 ,  G01C21/20 ,  G01S7/40 ,  G01S7/497 ,  G01S7/52004 ,  G05D1/0255 ,  G05D1/0257 ,  G05D1/0259

Abstract: An example method involves detecting a sensor-testing trigger. Detecting the sensor-testing trigger may comprise determining that a vehicle is within a threshold distance to a target in an environment of the vehicle. The method also involves obtaining sensor data collected by a sensor of the vehicle after the detection of the sensor-testing trigger. The sensor data is indicative of a scan of a region of the environment that includes the target. The method also involves comparing the sensor data with previously-collected sensor data indicating detection of the target by one or more sensors during one or more previous scans of the environment. The method also involves generating performance metrics related to the sensor of the vehicle based on the comparison.

公开(公告)号：US11841464B2

公开(公告)日：2023-12-12

申请号：US17659674

申请日：2022-04-19

Applicant: Waymo LLC

Inventor： Mark Alexander Shand

IPC: G01S7/48 ,  G01S7/484 ,  G01S17/89 ,  G01S7/481 ,  G01S7/4861 ,  G01S1/10 ,  G01S17/931

CPC classification number: G01S7/484 ,  G01S1/10 ,  G01S7/4813 ,  G01S7/4815 ,  G01S7/4861 ,  G01S17/89 ,  G01S17/931

Abstract: The present disclosure relates to systems and methods that facilitate light detection and ranging operations. An example method includes determining, for at least one light-emitter device of a plurality of light-emitter devices, a light pulse schedule. The plurality of light-emitter devices is operable to emit light along a plurality of emission vectors. The light pulse schedule is based on a respective emission vector of the at least one light-emitter device and a three-dimensional map of an external environment. The light pulse schedule includes at least one light pulse parameter and a listening window duration. The method also includes causing the at least one light-emitter device of the plurality of light-emitter devices to emit a light pulse according to the light pulse schedule. The light pulse interacts with an external environment.

公开(公告)号：US11774590B2

公开(公告)日：2023-10-03

申请号：US16989509

申请日：2020-08-10

Applicant: Waymo LLC

Inventor： Mark Alexander Shand

IPC: G01S17/10 ,  G01S7/483 ,  G01S17/89 ,  G01S7/4865 ,  G01S17/42 ,  G01S7/484 ,  G01S17/931

CPC classification number: G01S17/10 ,  G01S7/483 ,  G01S7/484 ,  G01S7/4865 ,  G01S17/42 ,  G01S17/89 ,  G01S17/931

Abstract: A computing system may operate a LIDAR device to emit light pulses in accordance with a time sequence including a time-varying dither. The system may then determine that the LIDAR detected return light pulses during corresponding detection periods for each of two or more emitted light pulses. Responsively, the system may determine that the detected return light pulses have (i) detection times relative to corresponding emission times of a plurality of first emitted light pulses that are indicative of a first set of ranges and (ii) detection times relative to corresponding emission times of a plurality of second emitted light pulses that are indicative of a second set of ranges. Given this, the system may select between using the first set of ranges as a basis for object detection and using the second set of ranges as a basis for object detection, and may then engage in object detection accordingly.