公开(公告)号：US11882416B2

公开(公告)日：2024-01-23

申请号：US17902187

申请日：2022-09-02

Applicant: WAYMO LLC

Inventor： Choon Ping Chng ,  Cheng-Han Wu ,  Ganesh Balachandran ,  Peter Strohm

IPC: H04R3/00 ,  H04R1/40 ,  H04R1/08

CPC classification number: H04R3/005 ,  H04R1/083 ,  H04R1/406

Abstract: A system includes multiple microphone arrays positioned at different locations on a roof of an autonomous vehicle. Each microphone array includes two or more microphones. Internal clocks of each microphone array are synchronized by a processor and used to generate timestamps indicating when microphones capture a sound. Based on the timestamps, the processor is configured to localize a source of the sound.

公开(公告)号：US11594037B1

公开(公告)日：2023-02-28

申请号：US16914803

申请日：2020-06-29

Applicant: Waymo LLC

Inventor： William Grossman ,  Peter Strohm

IPC: G06V20/56 ,  B60W60/00 ,  H04W4/40 ,  G06T7/80

Abstract: Systems and methods for automated vehicle sensor calibration and verification are provided. One example method involves monitoring a vehicle using one or more external sensors of a vehicle calibration facility. The sensor data may be indicative of a relative position of the vehicle in the vehicle calibration facility. The method also involves causing the vehicle to navigate in an autonomous driving mode, based on the sensor data, from a current position of the vehicle to a first calibration position in the vehicle calibration facility. The method also involves causing a first sensor of the vehicle to perform a first calibration measurement while the vehicle is at the first calibration position. The method also involves calibrating the first sensor based on at least the first calibration measurement.

公开(公告)号：US20220417657A1

公开(公告)日：2022-12-29

申请号：US17902187

申请日：2022-09-02

Applicant: WAYMO LLC

Inventor： Choon Ping Chng ,  Cheng-Han Wu ,  Ganesh Balachandran ,  Peter Strohm

IPC: H04R3/00 ,  H04R1/40 ,  H04R1/08

Abstract: A system includes multiple microphone arrays positioned at different locations on a roof of an autonomous vehicle. Each microphone array includes two or more microphones. Internal clocks of each microphone array are synchronized by a processor and used to generate timestamps indicating when microphones capture a sound. Based on the timestamps, the processor is configured to localize a source of the sound.

公开(公告)号：US20220060822A1

公开(公告)日：2022-02-24

申请号：US16999830

申请日：2020-08-21

Applicant: WAYMO LLC

Inventor： Choon Ping Chng ,  Dennis Wu ,  Ganesh Balachandran ,  Peter Strohm

IPC: H04R3/00 ,  H04R1/08 ,  H04R1/40

Abstract: A system includes multiple microphone arrays positioned at different locations on a roof of an autonomous vehicle. Each microphone array includes two or more microphones. Internal clocks of each microphone array are synchronized by a processor and used to generate timestamps indicating when microphones capture a sound. Based on the timestamps, the processor is configured to localize a source of the sound.