公开(公告)号：US20250117640A1

公开(公告)日：2025-04-10

申请号：US18911400

申请日：2024-10-10

Applicant: Waymo LLC

Inventor： Lucian Ion ,  Vlad Constantin Cardei

IPC: G06N3/063 ,  G06T7/00 ,  G06V10/764 ,  G06V10/82 ,  G06V10/94

Abstract: A method includes obtaining multiple images captured by pixel sensors of an image sensor, analyzing, using neural network circuitry integrated in the image sensor, the multiple images for object detection, generating, for each of the multiple images using the neural network circuitry integrated in the image sensor, neural network output data related to results of the analysis of the multiple images for object detection, and transmitting, from the image sensor, the neural network output data for each of the multiple images and image data for a subset of the multiple images instead of image data of each of the multiple images.

公开(公告)号：US20250117286A1

公开(公告)日：2025-04-10

申请号：US18989086

申请日：2024-12-20

Applicant: Waymo LLC

Inventor： Kaushik Kannan ,  David Sobel

IPC: G06F11/10 ,  G06F11/07 ,  G06F11/30 ,  G06F13/42

Abstract: Example embodiments relate to low-overhead, bidirectional error checking for a serial peripheral interface. An example device includes an integrated circuit. The device also includes a serial peripheral interface (SPI) with a Master In Slave Out (MISO) channel and a Master Out Slave In (MOSI) channel. The MOSI channel is configured to receive a write address, payload data, and a forward error-checking code usable to identify data corruption within the write address or the payload data. The integrated circuit is configured to calculate and provide a reverse error-checking code usable to identify data corruption within the write address or the payload data. Additionally, the integrated circuit is configured to compare the forward error-checking code to the reverse error-checking code. Further, the integrated circuit is configured to write, to the write address if the forward error-checking code matches the reverse error-checking code, the payload data.

公开(公告)号：US20250111681A1

公开(公告)日：2025-04-03

申请号：US18978766

申请日：2024-12-12

Applicant: Waymo LLC

Inventor： Ingrid Fiedler ,  David Margines

IPC: G06V20/58 ,  B60Q5/00 ,  G06V20/56

Abstract: Example embodiments relate to pedestrian countdown signal classification to increase pedestrian behavior legibility. An example embodiment includes a method that includes obtaining, by a computing system of a vehicle, a camera image patch. The method further includes determining, by the computing system, using the camera image patch and a pedestrian countdown signal classifier model, a state of a pedestrian countdown signal. The method also includes determining, by the computing system based on the state of the pedestrian countdown signal, a prediction of whether a pedestrian will enter a crosswalk governed by the pedestrian countdown signal. And the method includes, based on the prediction, causing, by the computing system, the vehicle to perform an invitation action that invites a pedestrian to enter the crosswalk.

公开(公告)号：US20250110218A1

公开(公告)日：2025-04-03

申请号：US18979939

申请日：2024-12-13

Applicant: Waymo LLC

Inventor： Luke Wachter ,  Pierre-Yves Droz ,  Clayton Kunz

IPC: G01S7/4861 ,  G01S7/497 ,  G01S17/04 ,  G01S17/931

Abstract: Systems and methods are disclosed to identify a presence of a volumetric medium in an environment associated with a LIDAR system. In some implementations, the LIDAR system may emit a light pulse into the environment, receive a return light pulse corresponding to reflection of the emitted light pulse by a surface in the environment, and determine a pulse width of the received light pulse. The LIDAR system may compare the determined pulse width with a reference pulse width, and determine an amount of pulse elongation of the received light pulse. The LIDAR system may classify the surface as either an object to be avoided by a vehicle or as air particulates associated with the volumetric medium based, at least in part, on the determined amount of pulse elongation.

公开(公告)号：US20250102679A1

公开(公告)日：2025-03-27

申请号：US18372454

申请日：2023-09-25

Applicant: WAYMO LLC

Inventor： Colin Braley ,  Antonio Teran Espinoza ,  William Baxter ,  Michael Marx ,  Luke Wachter

IPC: G01S17/931 ,  B60S1/56 ,  B60W60/00 ,  G01S7/497

Abstract: Aspects of the disclosure provide for controlling behaviors of autonomous vehicles based on evaluation of sensors of those vehicles. For instance, sensor data including distance and intensity information for a point in an environment of an autonomous vehicle may be received. An expected intensity value from a pre-stored fair weather reference map may be identified based on a location of the point. An effective detection range for the sensor may be dynamically determined based on the expected intensity and the intensity information for the point. A behavior of the autonomous vehicle may be controlled based on the effective detection range.

公开(公告)号：US20250095485A1

公开(公告)日：2025-03-20

申请号：US18966262

申请日：2024-12-03

Applicant: Waymo LLC

Inventor： David Harrison Silver ,  Angus Leigh ,  Benjamin Ingram ,  Jennifer Taylor ,  Vaibhav Nangia

IPC: G08G1/0965 ,  G06F16/68 ,  G06F16/683 ,  G08G1/0962 ,  G08G1/16 ,  H04R3/00

Abstract: The technology relates to detecting and responding to emergency vehicles. This may include using a plurality of microphones to detect a siren noise corresponding to an emergency vehicle and to estimate a bearing of the emergency vehicle. This estimated bearing is compared to map information to identify a portion of roadway on which the emergency vehicle is traveling. In addition, information identifying a set of objects in the vehicle's environment as well as characteristics of those objects is received from a perception system is used to determine whether one of the set of objects corresponds to the emergency vehicle. How to respond to the emergency vehicle is determined based on the estimated bearing and identified road segments and the determination of whether one of the set of objects corresponds to the emergency vehicle. This determined response is then used to control the vehicle in an autonomous driving mode.

公开(公告)号：US12252157B2

公开(公告)日：2025-03-18

申请号：US18497277

申请日：2023-10-30

Applicant: Waymo LLC

Inventor： Aishwarya Parasuram ,  Xin Liu ,  Luyuan Lin ,  Brandon Douglas Luders

IPC: B60W60/00 ,  G05D1/00

Abstract: Sensor data identifying an emergency vehicle approaching the autonomous vehicle may be received. A predicted trajectory for the emergency vehicle may be received. Whether the autonomous vehicle is impeding the emergency vehicle may be determined based on the predicted trajectory and map information identifying a road on which the autonomous vehicle is currently traveling. Based on a determination that the autonomous vehicle is impeding the emergency vehicle, the autonomous vehicle may be controlled in an autonomous driving mode in order to respond to the emergency vehicle.

公开(公告)号：US20250087094A1

公开(公告)日：2025-03-13

申请号：US18955364

申请日：2024-11-21

Applicant: Waymo LLC

Inventor： Cindy Cao Butler

IPC: G08G1/00 ,  B62D6/00 ,  G06F30/20 ,  G06F119/02

Abstract: Aspects of the disclosure provide for the evaluation of a scheduling system software for managing autonomous vehicle scheduling and dispatching. For instance, a problem condition for a simulation may be identified. The simulation may be run using the identified problem condition. The simulation may include a plurality of simulated autonomous vehicles each utilizing its own autonomous vehicle control software and map information common to each simulated autonomous vehicle. The problem condition may relate to a particular simulated autonomous vehicle of the plurality. Output of the simulation may be analyzed to determine a score for the scheduling system software. The scheduling system software may be evaluated using the score.

公开(公告)号：US12250447B2

公开(公告)日：2025-03-11

申请号：US18413521

申请日：2024-01-16

Applicant: Waymo LLC

Inventor： Andreas Wendel ,  Jeremy Dittmer ,  Brendan Hermalyn ,  Benjamin Ingram

IPC: H04N5/335 ,  H04N23/45 ,  H04N23/61 ,  H04N23/73 ,  H04N23/741

Abstract: Example embodiments relate to multiple operating modes to expand dynamic range. An example embodiment includes a camera system. The camera system may include a first image sensor having a first dynamic range corresponding to a first range of luminance levels in a scene. The system may also include a second image sensor having a second dynamic range corresponding to a second range of luminance levels in the scene. The camera system may further include a processor coupled to the first image sensor and the second image sensor. The processor may be configured to execute instructions to identify objects of a first type in a first image of the scene captured by the first image sensor and identify objects of a second object type in a second image of the scene captured by the second image sensor.

公开(公告)号：US20250076467A1

公开(公告)日：2025-03-06

申请号：US18885058

申请日：2024-09-13

Applicant: WAYMO LLC

Inventor： Yi-Hui Bruce-Wen ,  YooJung Ahn ,  Jared S. Gross ,  Joshua Newby ,  Jerry Chen ,  Ralph Hamilton Shepard ,  Adam Brown

IPC: G01S7/481 ,  B60R11/00 ,  B60R11/04 ,  G01S7/02 ,  G01S7/52 ,  G01S13/86 ,  G01S13/931 ,  G01S15/931 ,  G01S17/08 ,  G01S17/931

Abstract: The technology employs a contrasting color scheme on different surfaces for sensor housing assemblies mounted on exterior parts of a vehicle that is configured to operate in an autonomous driving mode. Lighter and darker colors may be chosen on different surfaces according to a thermal budget for a given sensor housing assembly, due to the different types of sensors arranged along particular surfaces, or to provide color contrast for different regions of the assembly. For instance, differing colors such as black/white or blue/white, and different finishes such as matte or glossy, may be selected to enhance certain attributes or to minimize issues associated with a sensor housing assembly.