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公开(公告)号：US20250076058A1
公开(公告)日：2025-03-06
申请号：US18953761
申请日：2024-11-20
Applicant: Waymo LLC
Inventor： Peter Colijn , Joshua Seth Herbach , Matthew Paul McNaughton
Abstract: Aspects of the disclosure provide systems and methods for providing suggested locations for pick up and destination locations. Pick up locations may include locations where an autonomous vehicle can pick up a passenger, while destination locations may include locations where the vehicle can wait for an additional passenger, stop and wait for a passenger to perform some task and return to the vehicle, or for the vehicle to drop off a passenger. As such, a request for a vehicle may be received from a client computing device. The request may identify a first location. A set of one or more suggested locations may be selected by comparing the predetermined locations to the first location. The set may be provided to the client computing device.
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公开(公告)号：US12241996B1
公开(公告)日：2025-03-04
申请号：US17375707
申请日：2021-07-14
Applicant: Waymo LLC
Inventor： Ryan Fan , Kenneth Ho
Abstract: An example method for using antenna array calibration to adjust radar unit operation involves receiving radar data from a radar unit coupled to a vehicle during vehicle operation in an environment, where the radar unit receives the radar data from the environment via an antenna array of the radar unit. The method also involves detecting an object in the environment based on the radar data, determining that the detected object satisfies a set of conditions, and, in response to the set of conditions being satisfied, estimating a first phase array offset for the antenna array. The method also involves comparing the first phase array offset with a second phase array offset that represents a prior calibration for the radar unit, and, based on a difference between the first and second phase array offsets exceeding a threshold difference, adjusting operation of the radar unit according to the first phase array offset.
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公开(公告)号：USD1063982S1
公开(公告)日：2025-02-25
申请号：US29803214
申请日：2021-08-11
Applicant: Waymo LLC
Designer： Peter Crandall , Nirmal Patel
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公开(公告)号：US12230140B2
公开(公告)日：2025-02-18
申请号：US18490520
申请日：2023-10-19
Applicant: Waymo LLC
Inventor： David I. Ferguson , Jiajun Zhu
Abstract: Methods and devices for actively modifying a field of view of an autonomous vehicle in view of constraints are disclosed. In one embodiment, an example method is disclosed that includes causing a sensor in an autonomous vehicle to sense information about an environment in a first field of view, where a portion of the environment is obscured in the first field of view. The example method further includes determining a desired field of view in which the portion of the environment is not obscured and, based on the desired field of view and a set of constraints for the vehicle, determining a second field of view in which the portion of the environment is less obscured than in the first field of view. The example method further includes modifying a position of the vehicle, thereby causing the sensor to sense information in the second field of view.
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公开(公告)号：US12228928B1
公开(公告)日：2025-02-18
申请号：US18220628
申请日：2023-07-11
Applicant: WAYMO LLC
Inventor： Jiajun Zhu , Christopher Paul Urmson , Dirk Haehnel , Nathaniel Fairfield , Russell Leigh Smith
IPC: G06K9/00 , B60R1/00 , B60T7/22 , B60T8/00 , B60T8/17 , B60T8/88 , B60T17/18 , B60T17/22 , B60W30/08 , B60W40/06 , B60W50/14 , G01C21/36 , G01S17/86 , G01S17/931 , G05D1/00 , G06Q10/02 , G06Q30/02 , G06Q30/0207 , G06Q40/08 , G06T7/20 , G06T7/223 , G06T7/231 , G06T7/521 , G06T7/73 , G06V20/58 , G06V20/64 , G07C9/00 , B60W30/186 , B60W50/029 , B62D6/00 , G01S13/86 , G06V10/20 , G06V20/56
Abstract: A method and apparatus are provided for optimizing one or more object detection parameters used by an autonomous vehicle to detect objects in images. The autonomous vehicle may capture the images using one or more sensors. The autonomous vehicle may then determine object labels and their corresponding object label parameters for the detected objects. The captured images and the object label parameters may be communicated to an object identification server. The object identification server may request that one or more reviewers identify objects in the captured images. The object identification server may then compare the identification of objects by reviewers with the identification of objects by the autonomous vehicle. Depending on the results of the comparison, the object identification server may recommend or perform the optimization of one or more of the object detection parameters.
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Patent Agency Ranking
公开(公告)号：US12228683B1
公开(公告)日：2025-02-18
申请号：US18498179
申请日：2023-10-31
Applicant: Waymo LLC
Inventor： Joshua Jones , Gregory Hall , Alexander Zbrozek
IPC: G01S7/4861 , G01S17/931 , H02J50/12 , H02J50/80
Abstract: A method for operating a light detection and ranging (LIDAR) device is provided. The method includes driving, by an LLC resonant power converter, a wireless power signal at a primary winding of a transformer disposed on a first platform. The method includes transmitting the wireless power signal across a gap separating the first platform and a second platform. The second platform is configured to rotate relative to the first platform. The method includes receiving the wireless power signal at a secondary winding of the transformer. The secondary winding is disposed on the second platform. The method includes operating, by the LLC resonant power converter at a unity gain operating point and in an open loop mode without feedback control, a device mounted on the second platform based on the secondary winding receiving the wireless power signal.
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公开(公告)号：US12223831B2
公开(公告)日：2025-02-11
申请号：US18508354
申请日：2023-11-14
Applicant: Waymo LLC
Inventor： David Harrison Silver , Angus Leigh , Benjamin Ingram , Jennifer Taylor , Vaibhav Nangia
IPC: G08G1/0965 , G06F16/68 , G06F16/683 , G08G1/16 , H04R3/00 , G08G1/0962
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：US12221118B2
公开(公告)日：2025-02-11
申请号：US17013298
申请日：2020-09-04
Applicant: Waymo LLC
Inventor： Minfa Wang , Kai Ding , Haoyu Chen , Wei Chai , Maher Mneimneh
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for performing knowledge distillation for autonomous vehicles. One of the methods includes obtaining sensor data characterizing an environment, wherein the sensor data has been captured by one or more sensors on-board a vehicle in the environment; processing, for each of one or more surrounding agents in the environment, a network input generated from the sensor data using a neural network to generate an agent discomfort prediction that characterizes a level of discomfort of the agent; combining the one or more agent discomfort predictions to generate an aggregated discomfort score; and providing the aggregated discomfort score to a path planning system of the vehicle in order to generate a future path of the vehicle.
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公开(公告)号：US12211269B2
公开(公告)日：2025-01-28
申请号：US17314925
申请日：2021-05-07
Applicant: Waymo LLC
Inventor： Yulai Shen , Henrik Kretzschmar , Jeffrey Sham , Jeffrey Carlson , Lo Po Tsui , Dragomir Anguelov
Abstract: Methods, computer systems, and apparatus, including computer programs encoded on computer storage media, for generating and editing object track labels for objects detected in video data. One of the methods includes obtaining a video segment comprising multiple image frames associated with multiple time points; obtaining object track data specifying a set of object tracks; providing, for presentation to a user, a user interface for modifying the object track data, the user interface displaying object timeline representations of the object tracks; receiving one or more user inputs that indicate one or more modifications to the object timeline representations; updating the object timeline representations displayed in the timeline display area; and updating the object track data according to the updated object timeline representations.
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公开(公告)号：US20250026352A1
公开(公告)日：2025-01-23
申请号：US18905849
申请日：2024-10-03
Applicant: Waymo LLC
Inventor： David I. Ferguson , Nathaniel Fairfield , Anthony Levandowski
Abstract: Methods and devices for detecting traffic signals and their associated states are disclosed. In one embodiment, an example method includes a scanning a target area using one or more sensors of a vehicle to obtain target area information. The vehicle may be configured to operate in an autonomous mode, and the target area may be a type of area where traffic signals are typically located. The method may also include detecting a traffic signal in the target area information, determining a location of the traffic signal, and determining a state of the traffic signal. Also, a confidence in the traffic signal may be determined. For example, the location of the traffic signal may be compared to known locations of traffic signals. Based on the state of the traffic signal and the confidence in the traffic signal, the vehicle may be controlled in the autonomous mode.
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