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21.发明授权公开(公告)号：US11341667B2
公开(公告)日：2022-05-24
申请号：US16987501
申请日：2020-08-07
Applicant: Waymo LLC
Inventor： Andreas Wendel , Benjamin Ingram
IPC: G06T7/593 , G06V10/147 , G06V10/20 , G06V20/58 , B60W30/095 , G05D1/02
Abstract: The technology relates to camera systems for vehicles having an autonomous driving mode. An example system includes a first camera mounted on a vehicle in order to capture images of the vehicle's environment. The first camera has a first exposure time and being without an ND filter. The system also includes a second camera mounted on the vehicle in order to capture images of the vehicle's environment and having an ND filter. The system also includes one or more processors configured to capture images using the first camera and the first exposure time, capture images using the second camera and the second exposure time, use the images captured using the second camera to identify illuminated objects, use the images captured using the first camera to identify the locations of objects, and use the identified illuminated objects and identified locations of objects to control the vehicle in an autonomous driving mode.
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22.发明申请公开(公告)号：US20210012521A1
公开(公告)日：2021-01-14
申请号：US16987501
申请日：2020-08-07
Applicant: Waymo LLC
Inventor： Andreas Wendel , Benjamin Ingram
Abstract: The technology relates to camera systems for vehicles having an autonomous driving mode. An example system includes a first camera mounted on a vehicle in order to capture images of the vehicle's environment. The first camera has a first exposure time and being without an ND filter. The system also includes a second camera mounted on the vehicle in order to capture images of the vehicle's environment and having an ND filter. The system also includes one or more processors configured to capture images using the first camera and the first exposure time, capture images using the second camera and the second exposure time, use the images captured using the second camera to identify illuminated objects, use the images captured using the first camera to identify the locations of objects, and use the identified illuminated objects and identified locations of objects to control the vehicle in an autonomous driving mode.
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公开(公告)号：US10788571B2
公开(公告)日：2020-09-29
申请号：US16828773
申请日：2020-03-24
Applicant: Waymo LLC
Inventor： Benjamin Ingram , Pierre-Yves Droz , Luke Wachter , Scott McCloskey , Blaise Gassend , Gaetan Pennecot
Abstract: The present disclosure relates to systems and methods that facilitate light detection and ranging operations. An example transmit block includes at least one substrate with a plurality of angled facets. The plurality of angled facets provides a corresponding plurality of elevation angles. A set of angle differences between adjacent elevation angles includes at least two different angle difference values. A plurality of light-emitter devices is configured to emit light into an environment along the plurality of elevation angles toward respective target locations so as to provide a desired resolution and/or a respective elevation angle. The present disclosure also relates to adjusting shot power and a shot schedule based on the desired resolution and/or a respective elevation angle.
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公开(公告)号：US10757320B2
公开(公告)日：2020-08-25
申请号：US16199998
申请日：2018-11-26
Applicant: Waymo LLC
Inventor： Andreas Wendel , Jeremy Dittmer , Brendan Hermalyn , Benjamin Ingram
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.
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25.发明授权公开(公告)号：US10453208B2
公开(公告)日：2019-10-22
申请号：US15613546
申请日：2017-06-05
Applicant: Waymo LLC
Inventor： Andreas Wendel , Benjamin Ingram
Abstract: The technology relates to camera systems for vehicles having an autonomous driving mode. An example system includes a first camera mounted on a vehicle in order to capture images of the vehicle's environment. The first camera has a first exposure time and being without an ND filter. The system also includes a second camera mounted on the vehicle in order to capture images of the vehicle's environment and having an ND filter. The system also includes one or more processors configured to capture images using the first camera and the first exposure time, capture images using the second camera and the second exposure time, use the images captured using the second camera to identify illuminated objects, use the images captured using the first camera to identify the locations of objects, and use the identified illuminated objects and identified locations of objects to control the vehicle in an autonomous driving mode.
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Patent Agency Ranking
公开(公告)号：US10365351B2
公开(公告)日：2019-07-30
申请号：US15900189
申请日：2018-02-20
Applicant: Waymo LLC
Inventor： Benjamin Ingram , Pierre-Yves Droz , Luke Wachter , Scott McCloskey , Blaise Gassend , Gaetan Pennecot
Abstract: The present disclosure relates to systems and methods that facilitate light detection and ranging operations. An example transmit block includes at least one substrate with a plurality of angled facets. The plurality of angled facets provides a corresponding plurality of elevation angles. A set of angle differences between adjacent elevation angles includes at least two different angle difference values. A plurality of light-emitter devices is configured to emit light into an environment along the plurality of elevation angles toward respective target locations so as to provide a desired resolution and/or a respective elevation angle. The present disclosure also relates to adjusting shot power and a shot schedule based on the desired resolution and/or a respective elevation angle.
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公开(公告)号：US20190208111A1
公开(公告)日：2019-07-04
申请号：US16199998
申请日：2018-11-26
Applicant: Waymo LLC
Inventor： Andreas Wendel , Jeremy Dittmer , Brendan Hermalyn , Benjamin Ingram
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.
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公开(公告)号：US20190098233A1
公开(公告)日：2019-03-28
申请号：US15719366
申请日：2017-09-28
Applicant: Waymo LLC
Inventor： Blaise Gassend , Benjamin Ingram , Andreas Wendel , Mark Alexander Shand
Abstract: One example system comprises a LIDAR sensor that rotates about an axis to scan an environment of the LIDAR sensor. The system also comprises one or more cameras that detect external light originating from one or more external light sources. The one or more cameras together provide a plurality of rows of sensing elements. The rows of sensing elements are aligned with the axis of rotation of the LIDAR sensor. The system also comprises a controller that operates the one or more cameras to obtain a sequence of image pixel rows. A first image pixel row in the sequence is indicative of external light detected by a first row of sensing elements during a first exposure time period. A second image pixel row in the sequence is indicative of external light detected by a second row of sensing elements during a second exposure time period.
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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.
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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.
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