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公开(公告)号：US11535204B1
公开(公告)日：2022-12-27
申请号：US15217298
申请日：2016-07-22
Applicant: Waymo LLC
Inventor： Peter Craig Lombrozo
Abstract: The technology relates to a system for clearing a sensor cover. The system may comprise a wiper comprising a wiper support, a wiper blade, and a sensor cover. The wiper blade may be configured to clear the sensor cover of debris, and the sensor cover may be configured to house one or more sensors. A wiper motor may rotate the wiper and a sensor motor may rotate the sensor cover. The system wiper blade may comprise a first edge attached to the wiper support and a second edge which may be configured to be in contact with the sensor cover. The wiper blade may extend in a corkscrew shape around the wiper support. The wiper motor may be configured to rotate the wiper in a first direction and the sensor motor may be configured to rotate the sensor cover in a second direction opposite the first direction.
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公开(公告)号：US20220392229A1
公开(公告)日：2022-12-08
申请号：US17703223
申请日：2022-03-24
Applicant: Waymo LLC
Inventor： Nirav Dharia , Xiaoli Lu
Abstract: A method includes receiving, from a sensing system of an autonomous vehicle (AV), image data including first image data and second image data. The method further includes determining, for a frame, whether an amount of image data matching between the first image data and the second image data satisfies a first threshold condition, in response to determining that the amount of image data matching satisfies a first threshold condition, identifying the frame as invalid, determining whether a number of consecutive frames determined to be invalid satisfies a second threshold condition, and in response to determining that the number of consecutive frames determined to be invalid satisfies the second threshold condition, generating a notification that the sensing system is outputting invalid data.
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公开(公告)号：US20220390550A1
公开(公告)日：2022-12-08
申请号：US17092665
申请日：2020-11-09
Applicant: Waymo LLC
Inventor： Matthew Markel , Timothy Campbell , Alessandro Temil
IPC: G01S7/02 , G01S13/931
Abstract: Example embodiments relate to methods and systems for implementing radar electronic support measure operations. A vehicle's processing unit may receive information relating to electromagnetic energy radiating in an environment of the vehicle that is detected using a vehicle radar system. The electromagnetic energy originated from one or more external emitters, such as radar signals transmitted by other vehicles. The processing unit may determine a spectrum occupancy representation that indicates spectral regions occupied by the electromagnetic energy and subsequently adjust operation of the vehicle radar system based on the spectrum occupancy representation to reduce or mitigate interference with the external emitters in the vehicle's environment. In some examples, the vehicle radar system may be switched to a passive receive-only mode to measure the electromagnetic energy radiating in the environment from other emitters.
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公开(公告)号：US11522330B2
公开(公告)日：2022-12-06
申请号：US16998158
申请日：2020-08-20
Applicant: Waymo LLC
Inventor： Mark Shand
IPC: G01S17/931 , G01S7/481 , G01S7/484 , G02B26/10 , H01S3/00 , G05D1/02 , G08G1/0967 , G05D1/00
Abstract: Systems and methods are described that relate to a scanning laser system configured to emit laser light and an interlock circuit communicatively coupled to the scanning laser system. The interlock circuit may carry out certain operations. The operations include, as the scanning laser system emits laser light into one or more regions of an environment around the scanning laser system, determining a respective predicted dosage amount for each region based on the emitted laser light. The operations further include detecting an interlock condition. The interlock condition includes a predicted dosage amount for at least one region being greater than a threshold dose. In response to detecting the interlock condition, the operations include controlling the scanning laser system to reduce a subsequent dosage amount in the at least one region.
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公开(公告)号：US11513198B2
公开(公告)日：2022-11-29
申请号：US16240126
申请日：2019-01-04
Applicant: Waymo LLC
Inventor： Luke Wachter , Pierre-Yves Droz , Clayton Kunz
IPC: G01S17/02 , G01S17/93 , G01S7/486 , G01S7/497 , G01S7/4861 , 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.
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Patent Agency Ranking
公开(公告)号：US20220375232A1
公开(公告)日：2022-11-24
申请号：US17817579
申请日：2022-08-04
Applicant: Waymo LLC
Inventor： Vadim Furman , Andrew Hughes Chatham , Abhijit Ogale , Dmitri Dolgov
IPC: G06V20/58 , G06V10/75 , H04N19/167 , H04N19/17 , H04N19/117 , H04N19/85 , G01C21/00 , G06T9/00 , B60R11/04 , H04N19/136
Abstract: A vehicle may receive one or more images of an environment of the vehicle. The vehicle may also receive a map of the environment. The vehicle may also match at least one feature in the one or more images with corresponding one or more features in the map. The vehicle may also identify a given area in the one or more images that corresponds to a a portion of the map that is within a threshold distance to the one or more features. The vehicle may also compress the one or more images to include a lower amount of details in areas of the one or more images other than the given area. The vehicle may also provide the compressed images to a remote system, and responsively receive operation instructions from the remote system.
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公开(公告)号：US11494533B2
公开(公告)日：2022-11-08
申请号：US16697428
申请日：2019-11-27
Applicant: Waymo LLC
Inventor： Xiaoyi Liu , Menghui Wang , Yang-hua Chu , Aleksandar Gabrovski
Abstract: The disclosure relates to testing software for operating an autonomous vehicle. In one instance, a simulation may be run using log data collected by a vehicle operating in an autonomous driving mode. The simulation may be run using the software to control a simulated vehicle and by modifying a characteristic of an agent identified in the log data. During the running of the simulation, that a first type of interaction between the first simulated vehicle and the modified agent will occur may be determined. In response to determining that the particular type of interaction will occur, the modified agent may be replaced by a interactive agent that simulates a road user corresponding to the modified agent that is capable of responding to actions performed by simulated vehicles. That the particular type of interaction between the simulated vehicle and the interactive agent has occurred in the simulation may be determined.
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公开(公告)号：US11491994B2
公开(公告)日：2022-11-08
申请号：US17024998
申请日：2020-09-18
Applicant: Waymo LLC
Inventor： Keith Hutchings , Julien Mercay , Philip Nemec , Hans-olav CaveLie , Saswat Panigrahi , Renaud-Roland Hubert , Johan Engstrom
Abstract: This technology relates to dynamically detecting, managing and mitigating driver fatigue in autonomous systems. For instance, interactions of a driver in a vehicle may be monitored to determine a distance or time when primary tasks associated with operation of the vehicle or secondary tasks issued by the vehicle computing were last performed. If primary tasks or secondary tasks are not performed within given distance thresholds or time limits, then one or more secondary tasks are initiated by the computing device of the vehicle. In another instance, potential driver fatigue, driver distraction or overreliance on an automated driving system is detected based on gaze direction or pattern of a driver. For example, a detected gaze direction or pattern may be compared to an expected gaze direction or pattern given the surrounding environment in a vicinity of the vehicle.
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公开(公告)号：US20220350006A1
公开(公告)日：2022-11-03
申请号：US17306327
申请日：2021-05-03
Applicant: Waymo LLC
Inventor： Michael Sleator
Abstract: A method of determining a distance between a vehicle and a sound source includes detecting, at a microphone of the vehicle, sounds from a sound source external to the vehicle. The sounds have a first frequency component at a first frequency and a second frequency component at a second frequency. The method also includes determining, at a processor of the vehicle, a classification of the sound source based on audio properties of the sounds. The method further includes determining a first energy level associated with the first frequency component and a second energy level associated with the second frequency component. The method also includes determining a ratio between the first energy level and the second energy level. The method further includes determining the distance between the vehicle and the sound source based on the ratio and the classification of the sound source.
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公开(公告)号：US20220349996A1
公开(公告)日：2022-11-03
申请号：US17246831
申请日：2021-05-03
Applicant: Waymo LLC
Inventor： Michael Fina
Abstract: Example embodiments relate to techniques for detecting adverse road conditions using radar. A computing device may generate a first radar representation that represents a field of view for a radar unit coupled to a vehicle and during clear weather conditions and store the first radar representation in memory. The computing device may receive radar data from the radar unit during navigation of the vehicle on a road and determine a second radar representation based on the radar data. The computing device may also perform a comparison between the first radar representation and the second radar representation and determine a road condition for the road based on the comparison. The road condition may represent a quantity of precipitation located on the road and provide control instructions to the vehicle based on the road condition for the road.
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