公开(公告)号：US11561552B2

公开(公告)日：2023-01-24

申请号：US17021828

申请日：2020-09-15

Applicant: Waymo LLC

Inventor： David Harrison Silver ,  Carlos Hernandez Esteban ,  Michael Montemerlo ,  Peter Pawlowski ,  David Yonchar Margines

IPC: G05D1/02 ,  G06V10/75 ,  G06V20/56 ,  H04W4/46

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for processing data characterizing a first region in an environment to generate a prediction characterizing a second region in the environment. One of the methods includes obtaining surfel data comprising a plurality of surfels; obtaining sensor data for a plurality of locations in a first region of the environment; determining, from the surfel data, a plurality of first surfels corresponding to respective locations in the first region of the environment; determining, using the first surfels and the sensor data, a difference between i) a first representation of the first region of the environment corresponding to the first surfels and ii) a second representation of the first region of the environment corresponding to the sensor data; and generating a respective object prediction for one or more locations in a second region of the environment.

公开(公告)号：US20230019817A1

公开(公告)日：2023-01-19

申请号：US17377261

申请日：2021-07-15

Applicant: Waymo LLC

Inventor： TsengChan Stephan Huang ,  Stacy Janes ,  Joshua Foust

IPC: H04L29/06 ,  H04L29/08

Abstract: An illicit signal is detected on an in-vehicle communication network of an autonomous vehicle. A severity level corresponding to the illicit signal is identified, among multiple severity levels, based on one or more characteristics associated with the illicit signal. The severity level is indicative of a level of adverse impact on safety related to an autonomous vehicle environment. The adverse impact is to be caused by the autonomous vehicle when the autonomous vehicle is compromised by the illicit signal. A security operation is selected from multiple security operations based on the identified severity level. The security operation is performed to mitigate the adverse impact on safety related to the autonomous vehicle environment.

公开(公告)号：US20230015218A1

公开(公告)日：2023-01-19

申请号：US17305361

申请日：2021-07-06

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  Pablo Hopman

IPC: G01S17/931 ,  G01S7/48 ,  G01S7/484 ,  G01S7/486

Abstract: The subject matter of this specification can be implemented in, among other things, systems and methods that enable lidar devices capable of detecting and processing multiple optical modes present in a beam reflected from a target object. Different received optical modes can be spatially separated and electronic signals can be generated that are representative of a coherence information contained in various optical modes. Multiple generated electronic signals can be amplified, phase-shifted, mixed, etc., to identify signals, individually or in a combination, that can be used for identification of a range and velocity of the target object with the highest accuracy.

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：US11554756B2

公开(公告)日：2023-01-17

申请号：US16944194

申请日：2020-07-31

Applicant: Waymo LLC

Inventor： Graham Doorley ,  Paul Thomas Hansen Karplus ,  Peter Avram

IPC: B60S1/56 ,  B60S1/48 ,  B60S1/08 ,  H02P7/06 ,  B08B1/04 ,  B08B1/00 ,  B60S1/34 ,  G02B27/00

Abstract: A system includes a dome, a wiper assembly, a position sensor and a control device. The wiper assembly includes a wiper blade configured to rotate around the dome. The position sensor may be configured to send a signal to a control device when a wiper blade passes the position sensor. The control device may include one or more processors configured to receive the signal from the position sensor and determine a location of the wiper blade relative to the dome based on the received signal.

公开(公告)号：US20230008777A1

公开(公告)日：2023-01-12

申请号：US17371486

申请日：2021-07-09

Applicant: Waymo LLC

Inventor： David Seetapun

IPC: G06N3/04

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for performing an accelerated convolution on sparse inputs. In one aspect, a method comprises receiving sensor data input comprising input features for input spatial locations; and processing the sensor data input using a convolutional neural network having a first convolutional layer with a filter having multiple filter spatial locations to generate a network output comprising output features for output spatial locations, wherein processing the sensor data input comprises: obtaining a rule book tensor that identifies for each filter spatial location (i) a subset of the input features, and (ii) for each input feature in the subset, a respective output feature; for each particular filter spatial location: generating input tile, filter tile, and output tile sets in accordance with the rule book tensor; and generating the output features in the output tile set based on the tile sets.

公开(公告)号：US11551458B1

公开(公告)日：2023-01-10

申请号：US16925716

申请日：2020-07-10

Applicant: Waymo LLC

Inventor： David Ian Franklin Ferguson ,  David Harrison Silver ,  Hyman Jack Murveit

IPC: G06K9/00 ,  G06V20/58 ,  G06K9/62 ,  G05D1/02 ,  G06V10/75

Abstract: Aspects of the disclosure relate to classifying the status of objects. For examples, one or more computing devices detect an object from an image of a vehicle's environment. The object is associated with a location. The one or more computing devices receive data corresponding to the surfaces of objects in the vehicle's environment and identifying data within a region around the location of the object. The one or more computing devices also determine whether the data within the region corresponds to a planar surface extending away from an edge of the object. Based on this determination, the one or more computing devices classify the status of the object.

公开(公告)号：US20230004159A1

公开(公告)日：2023-01-05

申请号：US17941142

申请日：2022-09-09

Applicant: Waymo LLC

Inventor： Peter Lombrozo ,  Eric Teller ,  Bradley Templeton

IPC: G05D1/00 ,  B60W30/12 ,  B60W30/16 ,  G01C21/26 ,  G01C21/30 ,  G06V20/58 ,  B60W40/00 ,  B60W30/09 ,  G01S13/88 ,  G01S15/88 ,  G01S17/88

Abstract: A vehicle configured to operate in an autonomous mode can obtain sensor data from one or more sensors observing one or more aspects of an environment of the vehicle. At least one aspect of the environment of the vehicle that is not observed by the one or more sensors could be inferred based on the sensor data. The vehicle could be controlled in the autonomous mode based on the at least one inferred aspect of the environment of the vehicle.

公开(公告)号：US11537133B2

公开(公告)日：2022-12-27

申请号：US15931012

申请日：2020-05-13

Applicant: Waymo LLC

Inventor： Nathaniel Fairfield ,  Joshua Seth Herbach

IPC: G05D1/02 ,  G01C21/20 ,  G01C21/34 ,  G01C21/36 ,  G08G1/0968

Abstract: A route for a trip to a destination is generated using map information. A set of no-go roadway segments, where the vehicle is not able to drive in an autonomous mode, relevant to the route from the plurality of no-go roadway segments is identified from the map information. A local region around a current location of the vehicle is determined. A local map region including roadway segments of the map information that correspond to locations within the local region is determined. The set of the plurality of no-go roadway segments is filtered from the roadway segments of the local map region. A cost value is assigned to each roadway segment of the filtered roadway segments of the local map region. Any assigned cost values are used to determining a plan for maneuvering the vehicle for a predetermined period into the future. The vehicle is maneuvered according to the plan.

公开(公告)号：US11536809B1

公开(公告)日：2022-12-27

申请号：US16778707

申请日：2020-01-31

Applicant: Waymo LLC

Inventor： Pierre-yves Droz ,  Drew E. Ulrich

IPC: G02B7/18 ,  G01S7/481 ,  G02B26/12

Abstract: Rotatable mirror assemblies and light detection and ranging systems containing rotatable mirror assemblies are described herein. An example rotatable mirror assembly may include (1) a housing having a top end, a bottom end, and a longitudinal axis intersecting the top and bottom ends, and (2) a set of reflective surfaces, where each reflective surface in the set is coupled to the top end of the housing and the bottom end of the housing such that each reflective surface possesses limited freedom of movement with respect to the housing.