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公开(公告)号：US11415680B2
公开(公告)日：2022-08-16
申请号：US16851987
申请日：2020-04-17
Applicant: Waymo LLC
Inventor： Mark Alexander Shand
IPC: G01S17/10 , G01S17/42 , G01S17/931 , G01S7/4865
Abstract: A computing system may operate a LIDAR device to emit and detect light pulses in accordance with a time sequence including standard detection period(s) that establish a nominal detection range for the LIDAR device and extended detection period(s) having durations longer than those of the standard detection period(s). The system may then make a determination that the LIDAR detected return light pulse(s) during extended detection period(s) that correspond to particular emitted light pulse(s). Responsively, the computing system may determine that the detected return light pulse(s) have detection times relative to corresponding emission times of particular emitted light pulse(s) that are indicative of one or more ranges. Given this, the computing system may make a further determination of whether or not the one or more ranges indicate that an object is positioned outside of the nominal detection range, and may then engage in object detection in accordance with the further determination.
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公开(公告)号：US20210270967A1
公开(公告)日：2021-09-02
申请号：US17186448
申请日：2021-02-26
Applicant: Waymo LLC
Inventor： Mark Alexander Shand , Ming Zou
Abstract: Computing devices, systems, and methods described in various embodiments herein may relate to light detection and ranging (LIDAR or lidar) systems. An example computing device could include a controller having at least one processor and at least one memory. The at least one processor is configured to execute program instructions stored in the at least one memory so as to carry out operations. The operations include receiving information indicative of transmit light emitted from a lidar system along a light-emission axis. The operations also include determining, based on the received information, a maximum instrumented distance. The maximum instrumented distance includes a known unobstructed region defined by a ray segment extending between the lidar system and a point along the light-emission axis.
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23.发明申请公开(公告)号：US20200371235A1
公开(公告)日：2020-11-26
申请号：US16989509
申请日：2020-08-10
Applicant: Waymo LLC
Inventor： Mark Alexander Shand
IPC: G01S17/10 , G01S7/483 , G01S17/89 , G01S7/4865 , G01S17/42 , G01S7/484 , G01S17/931
Abstract: A computing system may operate a LIDAR device to emit light pulses in accordance with a time sequence including a time-varying dither. The system may then determine that the LIDAR detected return light pulses during corresponding detection periods for each of two or more emitted light pulses. Responsively, the system may determine that the detected return light pulses have (i) detection times relative to corresponding emission times of a plurality of first emitted light pulses that are indicative of a first set of ranges and (ii) detection times relative to corresponding emission times of a plurality of second emitted light pulses that are indicative of a second set of ranges. Given this, the system may select between using the first set of ranges as a basis for object detection and using the second set of ranges as a basis for object detection, and may then engage in object detection accordingly.
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公开(公告)号：US20200019160A1
公开(公告)日：2020-01-16
申请号：US16035576
申请日：2018-07-13
Applicant: Waymo LLC
Inventor： Stephanie McArthur , Mark Alexander Shand , Colin Braley
Abstract: An example method involves detecting a sensor-testing trigger. Detecting the sensor-testing trigger may comprise determining that a vehicle is within a threshold distance to a target in an environment of the vehicle. The method also involves obtaining sensor data collected by a sensor of the vehicle after the detection of the sensor-testing trigger. The sensor data is indicative of a scan of a region of the environment that includes the target. The method also involves comparing the sensor data with previously-collected sensor data indicating detection of the target by one or more sensors during one or more previous scans of the environment. The method also involves generating performance metrics related to the sensor of the vehicle based on the comparison.
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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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Patent Agency Ranking
26.发明申请公开(公告)号：US20190041503A1
公开(公告)日：2019-02-07
申请号：US15665591
申请日：2017-08-01
Applicant: Waymo LLC
Inventor： Mark Alexander Shand
Abstract: A computing system may operate a LIDAR device to emit and detect light pulses in accordance with a time sequence including standard detection period(s) that establish a nominal detection range for the LIDAR device and extended detection period(s) having durations longer than those of the standard detection period(s). The system may then make a determination that the LIDAR detected return light pulse(s) during extended detection period(s) that correspond to particular emitted light pulse(s). Responsively, the computing system may determine that the detected return light pulse(s) have detection times relative to corresponding emission times of particular emitted light pulse(s) that are indicative of one or more ranges. Given this, the computing system may make a further determination of whether or not the one or more ranges indicate that an object is positioned outside of the nominal detection range, and may then engage in object detection in accordance with the further determination.
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公开(公告)号：US12283988B2
公开(公告)日：2025-04-22
申请号：US18168771
申请日：2023-02-14
Applicant: Waymo LLC
IPC: H04B10/112 , G01S17/89 , G01S17/931 , H04B10/11 , H04B10/524 , H04B10/67
Abstract: Systems and methods for performing operations based on LIDAR communications are described. An example device may include one or more processors and a memory coupled to the one or more processors. The memory includes instructions that, when executed by the one or more processors, cause the device to receive data associated with a modulated optical signal emitted by a transmitter of a first LIDAR device and received by a receiver of a second LIDAR device coupled to a vehicle and the device, generate a rendering of an environment of the vehicle based on information from one or more LIDAR devices coupled to the vehicle, and update the rendering based on the received data. Updating the rendering includes updating an object rendering of an object in the environment of the vehicle. The instructions further cause the device to provide the updated rendering for display on a display coupled to the vehicle.
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公开(公告)号：US12270904B2
公开(公告)日：2025-04-08
申请号：US17186448
申请日：2021-02-26
Applicant: Waymo LLC
Inventor： Mark Alexander Shand , Ming Zou
Abstract: Computing devices, systems, and methods described in various embodiments herein may relate to light detection and ranging (LIDAR or lidar) systems. An example computing device could include a controller having at least one processor and at least one memory. The at least one processor is configured to execute program instructions stored in the at least one memory so as to carry out operations. The operations include receiving information indicative of transmit light emitted from a lidar system along a light-emission axis. The operations also include determining, based on the received information, a maximum instrumented distance. The maximum instrumented distance includes a known unobstructed region defined by a ray segment extending between the lidar system and a point along the light-emission axis.
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公开(公告)号：US12222452B2
公开(公告)日：2025-02-11
申请号：US18500659
申请日：2023-11-02
Applicant: Waymo LLC
Inventor： Mark Alexander Shand
IPC: G01S7/48 , G01S1/10 , G01S7/481 , G01S7/484 , G01S7/4861 , G01S17/10 , G01S17/89 , G01S17/931
Abstract: The present disclosure relates to systems and methods that facilitate light detection and ranging operations. An example method includes determining, for at least one light-emitter device of a plurality of light-emitter devices, a light pulse schedule. The plurality of light-emitter devices is operable to emit light along a plurality of emission vectors. The light pulse schedule is based on a respective emission vector of the at least one light-emitter device and a three-dimensional map of an external environment. The light pulse schedule includes at least one light pulse parameter and a listening window duration. The method also includes causing the at least one light-emitter device of the plurality of light-emitter devices to emit a light pulse according to the light pulse schedule. The light pulse interacts with an external environment.
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公开(公告)号：US12038539B2
公开(公告)日：2024-07-16
申请号：US18051581
申请日：2022-11-01
Applicant: Waymo LLC
Inventor： Mark Alexander Shand
IPC: G01S7/48 , G01S7/484 , G01S17/931
CPC classification number: G01S7/484 , G01S17/931
Abstract: The present disclosure relates to systems and methods involving Light Detection and Ranging (LIDAR or lidar) systems. Namely, an example method includes causing a light source of a LIDAR system to emit light along an emission vector. The method also includes adjusting the emission vector of the emitted light and determining an elevation angle component of the emission vector. The method further includes dynamically adjusting a per pulse energy of the emitted light based on the determined elevation angle component. An example system includes a vehicle and a light source coupled to the vehicle. The light source is configured to emit light along an emission vector toward an environment of the vehicle. The system also includes a controller operable to determine an elevation angle component of the emission vector and dynamically adjust a per pulse energy of the emitted light based on the determined elevation angle component.
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