公开(公告)号：US20230367320A1

公开(公告)日：2023-11-16

申请号：US18134641

申请日：2023-04-14

Applicant: Waymo LLC

Inventor： Nolan Shenai ,  Nathaniel Fairfield ,  Benjamin Pitzer

IPC: G05D1/02 ,  B62D7/14 ,  G05D1/00 ,  B62D7/15

CPC classification number: G05D1/0214 ,  B62D7/144 ,  G05D1/0088 ,  B62D7/1509 ,  G05D2201/0213

Abstract: The technology relates to fine maneuver control of large autonomous vehicles that employ multiple sets of independently actuated wheels. The control is able to optimize the turning radius, effectively negotiate curves, turns, and clear static objects of varying heights. Each wheel or wheel set is configured to adjust individually via control of an on-board computer system. Received sensor data and a physical model of the vehicle can be used for route planning and selecting maneuver operations in accordance with the additional degrees of freedom provided by the independently actuated wheels. This can include making turns, moving into or out of parking spaces, driving along narrow or congested roads, construction zones, loading docks, etc. A given maneuver may include maintaining a minimum threshold distance from a neighboring vehicle or other object.

公开(公告)号：US20220244737A1

公开(公告)日：2022-08-04

申请号：US17724559

申请日：2022-04-20

Applicant: WAYMO LLC

Inventor： William Grossman ,  Benjamin Pitzer

IPC: G05D1/02 ,  G01S17/87 ,  G01S17/86 ,  G01S17/931 ,  B60R1/12 ,  G01S7/481 ,  G01S13/86

Abstract: The technology relates to autonomous vehicles for transporting cargo and/or people between locations. Distributed sensor arrangements may not be suitable for vehicles such as large trucks, busses or construction vehicles. Side view mirror assemblies are provided that include a sensor suite of different types of sensors, including LIDAR, radar, cameras, etc. Each side assembly is rigidly secured to the vehicle by a mounting element. The sensors within the assembly may be aligned or arranged relative to a common axis or physical point of the housing. This enables self-referenced calibration of all sensors in the housing. Vehicle-level calibration can also be performed between the sensors on the left and right sides of the vehicle. Each side view mirror assembly may include a conduit that provides one or more of power, data and cooling to the sensors in the housing.

公开(公告)号：US20200341118A1

公开(公告)日：2020-10-29

申请号：US16396176

申请日：2019-04-26

Applicant: Waymo LLC

Inventor： Mingcheng Chen ,  Benjamin Pitzer ,  Pierre-Yves Droz ,  William Grossman

IPC: G01S7/481 ,  G05D1/00 ,  G05D1/02 ,  G01S7/03 ,  B60W10/04 ,  B60W10/20 ,  B60W10/18 ,  B60W30/18 ,  B60R1/06 ,  B60R1/12

Abstract: The technology relates to enhancing or extending the field of view of sensors for vehicles configured to operate in an autonomous driving mode. One or more mirrors are used to reflect or redirect beams emitted from onboard sensors that would otherwise be wasted, for instance due to obstruction by a portion of the vehicle or because they are emitted at high pitch angles to the side. The mirrors are also used to redirect incoming beams from the external environment toward one or more of the onboard sensors. Using mirrors for such redirection can reduce or eliminate blind spots around the vehicle. A calibration system may be employed to account for mirror movement due to vibration or wind drag. Each mirror may be a front surface mirror. The mirrors may be positioned on the vehicle body, on a faring, or extending from a sensor housing on the vehicle.