公开(公告)号：US20240067134A1

公开(公告)日：2024-02-29

申请号：US18502130

申请日：2023-11-06

Applicant: Waymo LLC

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

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

CPC classification number: B60S1/56 ,  B08B1/00 ,  B08B1/04 ,  B60S1/08 ,  B60S1/0848 ,  B60S1/0896 ,  B60S1/3404 ,  B60S1/482 ,  B60S1/486 ,  B60S1/566 ,  G02B27/0006 ,  H02P7/06

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：US20240061425A1

公开(公告)日：2024-02-22

申请号：US18498149

申请日：2023-10-31

Applicant: WAYMO LLC

Inventor： Peter Avram ,  Kimberly Toth ,  Jeremy Dittmer ,  Giulia Guidi

IPC: G05D1/00 ,  G01S17/86 ,  B60W60/00 ,  G06V20/58 ,  B60W10/18 ,  B60W10/20 ,  G01S7/02 ,  G01S7/481 ,  G01S13/86 ,  G01S13/89 ,  G01S17/89 ,  G05D1/02 ,  H04N23/74

CPC classification number: G05D1/0088 ,  G01S17/86 ,  B60W60/001 ,  G06V20/58 ,  B60W10/18 ,  B60W10/20 ,  G01S7/02 ,  G01S7/4813 ,  G01S13/867 ,  G01S13/89 ,  G01S17/89 ,  G05D1/0214 ,  H04N23/74 ,  G01S7/027 ,  B60S1/56

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：US11887378B2

公开(公告)日：2024-01-30

申请号：US18081260

申请日：2022-12-14

Applicant: WAYMO LLC

Inventor： Kimberly Toth ,  Jeremy Dittmer ,  Giulia Guidi ,  Peter Avram

IPC: G06V20/58 ,  G01S17/931 ,  G01S17/894 ,  B60R11/04 ,  H04N23/80

CPC classification number: G06V20/58 ,  B60R11/04 ,  G01S17/894 ,  G01S17/931 ,  H04N23/80 ,  B60R2300/301 ,  B60R2300/802 ,  B60R2300/8093

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：US11880200B2

公开(公告)日：2024-01-23

申请号：US17958556

申请日：2022-10-03

Applicant: WAYMO LLC

Inventor： Peter Avram ,  Kimberly Toth ,  Jeremy Dittmer ,  Giulia Guidi

IPC: G05D1/00 ,  G01S17/86 ,  B60W60/00 ,  G06V20/58 ,  B60W10/18 ,  B60W10/20 ,  G01S7/02 ,  G01S7/481 ,  G01S13/86 ,  G01S13/89 ,  G01S17/89 ,  G05D1/02 ,  H04N23/74 ,  B60S1/56 ,  G06F18/25

CPC classification number: G05D1/0088 ,  B60W10/18 ,  B60W10/20 ,  B60W60/001 ,  G01S7/02 ,  G01S7/4813 ,  G01S13/867 ,  G01S13/89 ,  G01S17/86 ,  G01S17/89 ,  G05D1/0214 ,  G06V20/58 ,  H04N23/74 ,  B60S1/56 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2710/18 ,  B60W2710/20 ,  B60W2720/10 ,  G01S7/027 ,  G05D2201/0213 ,  G06F18/25

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：US11851033B2

公开(公告)日：2023-12-26

申请号：US18079949

申请日：2022-12-13

Applicant: Waymo LLC

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

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

CPC classification number: B60S1/56 ,  B08B1/00 ,  B08B1/04 ,  B60S1/08 ,  B60S1/0848 ,  B60S1/0896 ,  B60S1/3404 ,  B60S1/482 ,  B60S1/486 ,  B60S1/566 ,  G02B27/0006 ,  H02P7/06

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：US20230113678A1

公开(公告)日：2023-04-13

申请号：US18079949

申请日：2022-12-13

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：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：US20210201054A1

公开(公告)日：2021-07-01

申请号：US16737263

申请日：2020-01-08

Applicant: WAYMO LLC

Inventor： Kimberly Toth ,  Jeremy Dittmer ,  Giulia Guidi ,  Peter Avram

IPC: G06K9/00 ,  G01S17/931 ,  G01S17/894 ,  H04N5/232 ,  B60R11/04

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：US10120079B2

公开(公告)日：2018-11-06

申请号：US15714326

申请日：2017-09-25

Applicant: Waymo LLC

Inventor： Gaetan Pennecot ,  Zachary Morriss ,  Samuel Lenius ,  Ionut Iordache ,  Daniel Gruver ,  Pierre-Yves Droz ,  Luke Wachter ,  Drew Ulrich ,  William McCann ,  Rahim Pardhan ,  Bernard Fidric ,  Anthony Levandowski ,  Peter Avram

IPC: G01C3/08 ,  G01S17/93 ,  G01S17/10 ,  G01S17/42 ,  G01S17/66 ,  G01S17/87 ,  G01S17/89 ,  G01S7/48 ,  G01S7/481 ,  G01C3/02 ,  G01S17/02

Abstract: A vehicle is provided that includes one or more wheels positioned at a bottom side of the vehicle. The vehicle also includes a first light detection and ranging device (LIDAR) positioned at a top side of the vehicle opposite to the bottom side. The first LIDAR is configured to scan an environment around the vehicle based on rotation of the first LIDAR about an axis. The first LIDAR has a first resolution. The vehicle also includes a second LIDAR configured to scan a field-of-view of the environment that extends away from the vehicle along a viewing direction of the second LIDAR. The second LIDAR has a second resolution. The vehicle also includes a controller configured to operate the vehicle based on the scans of the environment by the first LIDAR and the second LIDAR.