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公开(公告)号：US20250130569A1
公开(公告)日：2025-04-24
申请号：US18990426
申请日：2024-12-20
Applicant: Waymo LLC
Inventor： Nicholas Armstrong-Crews , Bryce Remesch
Abstract: Aspects and implementations of the present disclosure enabling predictions of a motion change in a moving vehicle, predictions of an onset of a motion of an idling vehicle, and classification of vehicles based, at least in part, on vibrometry data obtained using light detection and ranging devices.
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公开(公告)号：US12263865B1
公开(公告)日：2025-04-01
申请号：US17940384
申请日：2022-09-08
Applicant: Waymo LLC
Inventor： Nicholas Armstrong-Crews , Mayank Singal
IPC: B60W60/00
Abstract: A method includes obtaining, by a processing device, radar sensor data from a driving environment of an autonomous vehicle (AV). The radar sensor data corresponds to a field-of-view (FOV) of a radar sensor of the AV. The method further includes identifying, by the processing device from the radar sensor data, a potential occlusion within the driving environment, obtaining, by the processing device, non-radar sensor data from the driving environment, the non-radar sensor data corresponding to a FOV of a non-radar sensor of the AV, determining, by the processing device from the non-radar sensor data, whether the potential occlusion is a false occlusion, and in response to determining that the potential occlusion is a false occlusion, removing, by the processing device, the false occlusion from the FOV of the radar sensor.
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公开(公告)号：US12216474B1
公开(公告)日：2025-02-04
申请号：US17302486
申请日：2021-05-04
Applicant: Waymo LLC
Inventor： Nicholas Armstrong-Crews , Bryce Remesch
Abstract: Aspects and implementations are related to systems and techniques enabling predictions of a motion change in a moving vehicle, predictions of an onset of a motion of an idling vehicle, and classification of vehicles based, at least in part, on vibrometry data obtained using light detection and ranging devices.
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公开(公告)号：US20250028322A1
公开(公告)日：2025-01-23
申请号：US18909493
申请日：2024-10-08
Applicant: Waymo LLC
Inventor： Nicholas Armstrong-Crews , Christian Lauterbach , Scott McCloskey , Peter Morton
Abstract: The technology relates to developing a highly accurate understanding of a vehicle's sensor fields of view in relation to the vehicle itself. A training phase is employed to gather sensor data in various situations and scenarios, and a modeling phase takes such information and identifies self-returns and other signals that should either be excluded from analysis during real-time driving or accounted for to avoid false positives. The result is a sensor field of view model for a particular vehicle, which can be extended to other similar makes and models of that vehicle. This approach enables a vehicle to determine when sensor data is of the vehicle or something else. As a result, the detailed modeling allowing the on-board computing system to make driving decisions and take other actions based on accurate sensor information.
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25.发明申请公开(公告)号：US20250004126A1
公开(公告)日：2025-01-02
申请号：US18885049
申请日：2024-09-13
Applicant: Waymo LLC
Inventor： Nicholas Armstrong-Crews , Filip Perich , Timothy Campbell
Abstract: Example embodiments relate to radar image video compression techniques using per-pixel Doppler measurements, which can involve initially receiving radar data from a radar unit to generate a radar representation that represents surfaces in the environment. Based on Doppler scores in the radar representation, a range rate can be determined for each pixel that indicates a radial direction motion for a surface represented by the pixel. The range rates and backscatter values can then be used to estimate a radar representation prediction for subsequent radar data received from the radar unit, which enables a generation of a compressed radar data file that represents the difference between the radar representation prediction and the actual representation determined for the subsequent radar data. The compressed radar data file can be stored in memory, transmitted to other devices, and decompressed and used to train models via machine learning.
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Patent Agency Ranking
公开(公告)号：US12153437B2
公开(公告)日：2024-11-26
申请号：US18132040
申请日：2023-04-07
Applicant: Waymo LLC
Inventor： Nicholas Armstrong-Crews , Arthur Safira
Abstract: Aspects and implementations of the present disclosure address shortcomings of the existing technology by enabling lidar-assisted segmentation and identification of particulate matter in autonomous vehicle (AV) applications, by: obtaining, by a sensing system of the AV, a plurality of return points, each return point having one or more velocity values and one or more coordinates of a reflecting region that reflects a signal emitted by the sensing system, identifying, in view of the one or more velocity values of each of a first set of the return points of the plurality of return points, that the first set of the return points is associated with a particulate matter in an environment of the AV, and causing a driving path of the AV to be determined in view of the particulate matter.
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公开(公告)号：US12085647B2
公开(公告)日：2024-09-10
申请号：US17131594
申请日：2020-12-22
Applicant: Waymo LLC
Inventor： Paul Karplus , Blaise Gassend , Nicholas Armstrong-Crews , Scott McCloskey
CPC classification number: G01S17/18 , G01S7/484 , G01S7/486 , G01S7/4817
Abstract: The present disclosure relates to systems and methods for occlusion detection. One example method involves a light detection and ranging (LIDAR) device scanning at least a portion of an external structure within a field-of-view (FOV) of the LIDAR device. The LIDAR device is physically coupled to the external structure. The scanning comprises transmitting light pulses toward the external structure through an optical window, and receiving reflected light pulses through the optical window. The reflected light pulses comprise reflections of the transmitted light pulses returning back to the LIDAR device from the external structure. The method also involves detecting presence of an occlusion that at least partially occludes the LIDAR device from scanning the FOV based on at least the scan of the at least portion of the external structure.
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公开(公告)号：US11841439B2
公开(公告)日：2023-12-12
申请号：US17087464
申请日：2020-11-02
Applicant: Waymo LLC
Inventor： Nicholas Armstrong-Crews , Mingcheng Chen , Xiaoxiang Hu
IPC: G01S17/931 , G01S17/58 , G01S17/89 , B60W60/00 , B60W30/09 , B60W30/095 , G01S17/06 , G01S17/50 , G01S17/04
CPC classification number: G01S17/931 , B60W30/09 , B60W30/0956 , B60W60/001 , G01S17/06 , G01S17/50 , G01S17/58 , G01S17/89 , B60W2420/52 , B60W2554/20 , B60W2554/4029 , G01S17/04
Abstract: Aspects and implementations of the present disclosure address shortcomings of the existing technology by enabling Doppler-assisted segmentation of points in a point cloud for efficient object identification and tracking in autonomous vehicle (AV) applications, by: obtaining, by a sensing system of the AV, a plurality of return points comprising one or more velocity values and one or more coordinates of a reflecting region that reflects a signal emitted by the sensing system, the one or more velocity values and the one or more coordinates obtained for the same instance of time, identifying that the set of the return points is associated with an object in an environment, and causing a driving path of the AV to be determined in view of the object.
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公开(公告)号：US20230288941A1
公开(公告)日：2023-09-14
申请号：US18200243
申请日：2023-05-22
Applicant: Waymo LLC
Inventor： Nicholas Armstrong-Crews , Christian Lauterbach , Scott McCloskey , Peter Morton
CPC classification number: G05D1/0248 , G05D1/0088 , G05D1/0257 , B60W10/20 , B60W10/04 , B60W30/18145 , G05D1/0276 , H04Q9/00 , G05D1/0291 , G05D2201/0213 , B60W2420/52 , B60W2420/42 , B60W2710/20 , B60W2720/106 , B60R11/04
Abstract: The technology relates to developing a highly accurate understanding of a vehicle's sensor fields of view in relation to the vehicle itself. A training phase is employed to gather sensor data in various situations and scenarios, and a modeling phase takes such information and identifies self-returns and other signals that should either be excluded from analysis during real-time driving or accounted for to avoid false positives. The result is a sensor field of view model for a particular vehicle, which can be extended to other similar makes and models of that vehicle. This approach enables a vehicle to determine when sensor data is of the vehicle or something else. As a result, the detailed modeling allowing the on-board computing system to make driving decisions and take other actions based on accurate sensor information.
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公开(公告)号：US20230244242A1
公开(公告)日：2023-08-03
申请号：US18132040
申请日：2023-04-07
Applicant: Waymo LLC
Inventor： Nicholas Armstrong-Crews , Arthur Safira
CPC classification number: G05D1/0231 , G01P5/26 , G01S17/88 , G05D1/0223 , G01S17/58 , G05D2201/0213
Abstract: Aspects and implementations of the present disclosure address shortcomings of the existing technology by enabling lidar-assisted segmentation and identification of particulate matter in autonomous vehicle (AV) applications, by: obtaining, by a sensing system of the AV, a plurality of return points, each return point having one or more velocity values and one or more coordinates of a reflecting region that reflects a signal emitted by the sensing system, identifying, in view of the one or more velocity values of each of a first set of the return points of the plurality of return points, that the first set of the return points is associated with a particulate matter in an environment of the AV, and causing a driving path of the AV to be determined in view of the particulate matter.
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