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公开(公告)号：US11610423B2
公开(公告)日：2023-03-21
申请号：US17099642
申请日：2020-11-16
Applicant: Waymo LLC
Inventor： Junhua Mao , Jiyang Gao , Yukai Liu , Congcong Li , Zhishuai Zhang , Dragomir Anguelov
IPC: G06V40/10 , G06K9/62 , B60W30/095 , G06V10/25
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for processing point cloud data using spatio-temporal-interactive networks.
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公开(公告)号：US11609313B2
公开(公告)日：2023-03-21
申请号：US16229193
申请日：2018-12-21
Applicant: Waymo LLC
Inventor： Caner Onal , David Schleuning , Brendan Hermalyn , Simon Verghese , Alex McCauley , Brandyn White , Ury Zhilinsky
IPC: G01S7/48 , G01S17/89 , G06T1/00 , G01S7/4865 , G01S7/481 , G01S17/931
Abstract: The present disclosure relates to systems and methods that provide both an image of a scene and depth information for the scene. An example system includes at least one time-of-flight (ToF) sensor and an imaging sensor. The ToF sensor and the imaging sensor are configured to receive light from a scene. The system also includes at least one light source and a controller that carries out operations. The operations include causing the at least one light source to illuminate at least a portion of the scene with illumination light according to an illumination schedule. The operations also include causing the at least one ToF sensor to provide information indicative of a depth map of the scene based on the illumination light. The operations additionally include causing the imaging sensor to provide information indicative of an image of the scene based on the illumination light.
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公开(公告)号：US20230082264A1
公开(公告)日：2023-03-16
申请号：US17474266
申请日：2021-09-14
Applicant: Waymo LLC
Inventor： Valerio Varricchio
IPC: G05D1/02
Abstract: A system includes a memory device, and a processing device, operatively coupled to the memory device, to receive a set of input data including a representation of a drivable space for an autonomous vehicle (AV), generate, based on the representation of the drivable space, a motion planning blueprint from a flow field modeling the drivable space, and identify, using the motion planning blueprint, a driving path of the AV within the drivable space.
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公开(公告)号：US11605173B2
公开(公告)日：2023-03-14
申请号：US17137243
申请日：2020-12-29
Applicant: Waymo LLC
Inventor： Colin Andrew Braley
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for labeling point clouds using distance field data. One of the methods includes obtaining a point cloud characterizing a region of the environment, the point cloud comprising a plurality of points; obtaining distance field data specifying, for each of a plurality of locations in the region of the environment, a distance from the location to a nearest static object in the environment; determining, using the distance field data and for each of the plurality of points, a respective distance from the point to a nearest static object in the environment to the point; and identifying, based on the respective distances for the plurality of points in the point cloud, one or more of the points as candidate dynamic object points that are likely to be measurements of a dynamic object in the environment.
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公开(公告)号：US20230064179A1
公开(公告)日：2023-03-02
申请号：US17410022
申请日：2021-08-24
Applicant: Waymo LLC
Inventor： Xu Dong , Jonathan Lee Pedersen , Jakob Robert Zwiener
Abstract: The technology involves pullover maneuvers for vehicles operating in an autonomous driving mode. A vehicle operating in an autonomous driving mode is able to identify parking locations that may be occluded or otherwise not readily visible. A best case estimation for any potential parking locations, including partially or fully occluded areas, is compared against predictions for identified visible parking locations. This can include calculating a cost for each potential parking location and comparing that cost to a baseline cost. Upon determining that an occluded location would provide a more viable option than any visible parking locations, the vehicle is able to initiate a driving adjustment (e.g., slow down) prior to arriving at the occluded location. This enables the vehicle to minimize passenger discomfort while also providing notice to other road users of an intent to pull over.
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Patent Agency Ranking
公开(公告)号：US11594650B2
公开(公告)日：2023-02-28
申请号：US17191459
申请日：2021-03-03
Applicant: Waymo LLC
Inventor： Caner Onal , Simon Verghese , Pierre-Yves Droz
IPC: H01L31/0352 , H01L31/107 , H01L31/18 , H01L27/144 , G01S17/89 , G01S7/486 , G01S7/4863
Abstract: Example embodiments relate to controlling detection time in photodetectors. An example embodiment includes a device. The device includes a substrate. The device also includes a photodetector coupled to the substrate. The photodetector is arranged to detect light emitted from a light source that irradiates a top surface of the device. A depth of the substrate is at most 100 times a diffusion length of a minority carrier within the substrate so as to mitigate dark current arising from minority carriers photoexcited in the substrate based on the light emitted from the light source.
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公开(公告)号：US11592827B1
公开(公告)日：2023-02-28
申请号：US16719609
申请日：2019-12-18
Applicant: Waymo LLC
Inventor： Chi Pang Lam , Stephane Ross
IPC: G05D1/02 , G06N20/00 , B60W30/095 , G06K9/62
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for predicting how likely it is that a target agent in an environment will yield to another agent when the pair of agents are predicted to have overlapping future paths. In one aspect, a method comprises obtaining a first trajectory prediction specifying a predicted future path for a target agent in an environment; obtaining a second trajectory prediction specifying a predicted future path for another agent in the environment; determining that, at an overlapping region, the predicted future path for the target agent overlaps with the predicted future path for the other agent; and in response: providing as input to a machine learning model respective features for the target agent and the other agent; and obtaining the likelihood score as output from the machine learning model.
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公开(公告)号：US20230059417A1
公开(公告)日：2023-02-23
申请号：US17485955
申请日：2021-09-27
Applicant: Waymo LLC
Inventor： Maria Moon , Matthew Hall , Peter Crandall , Orlee Smith , Dean Harding
Abstract: The technology relates to providing an enhanced user experience for riders in autonomous vehicles. Two or more displays may be arranged at different locations within a vehicle to provide notifications, alerts and control options. Information may be dynamically and automatically switched between these displays, as well as a rider's own personal communication device(s). What information to present on each screen can depend on factors including how many riders are in the vehicle, their seating within the vehicle, how their attention is focused and/or display location and size. Certain information may be mirrored or otherwise duplicated among multiple screens while other information can be presented asymmetrically on different screens. Presented information may include a “monologue” from the vehicle explaining why a driving action is taken or not taken, alerts about important conditions, buttons to control certain functionality of the vehicle, or other information that may be of interest to the rider.
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公开(公告)号：US20230055071A1
公开(公告)日：2023-02-23
申请号：US17982078
申请日：2022-11-07
Applicant: Waymo LLC
Inventor： Pierre-Yves Droz , David Neil Hutchison , James Dunphy , Nathaniel Golshan , Ralph Hamilton Shepard
Abstract: One example system comprises a light source configured to emit light. The system also comprises a waveguide configured to guide the emitted light from a first end of the waveguide toward a second end of the waveguide. The waveguide has an output surface between the first end and the second end. The system also comprises a plurality of mirrors including a first mirror and a second mirror. The first mirror reflects a first portion of the light toward the output surface. The second mirror reflects a second portion of the light toward the output surface. The first portion propagates out of the output surface toward a scene as a first transmitted light beam. The second portion propagates out of the output surface toward the scene as a second transmitted light beam.
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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
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.
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