公开(公告)号：US20220156483A1

公开(公告)日：2022-05-19

申请号：US17527653

申请日：2021-11-16

Applicant: Waymo LLC

Inventor： Pei Sun ,  Weiyue Wang ,  Yuning Chai ,  Xiao Zhang ,  Dragomir Anguelov

IPC: G06K9/00 ,  G06T7/194

Abstract: Methods, computer systems, and apparatus, including computer programs encoded on computer storage media, for performing object detection. The system obtains a respective range image corresponding to each point cloud in a set of point clouds captured by one or more sensors. The system processes each range image using a segmentation neural network to generate range image features and a segmentation output. The system generates a feature representation of the set of point clouds from only the feature representations of the foreground points. The system processes the feature representation of the set of point clouds using a prediction neural network to generate a prediction characterizing the set of point clouds.

公开(公告)号：US20220155450A1

公开(公告)日：2022-05-19

申请号：US17435288

申请日：2020-03-05

Applicant: WAYMO LLC

Inventor： Blaise GASSEND ,  Stephen OSBORN ,  Peter MORTON

IPC: G01S17/88 ,  G01S7/481 ,  G01S7/484 ,  G01S7/4865

Abstract: One example method involves repeatedly scanning a range of angles in a field-of-view (FOV) of a light detection and ranging (LIDAR) device. The method also involves detecting a plurality of light pulses intercepted for each scan of the range of angles. The method also involves comparing a first scan of the range of angles with a second scan subsequent to the first scan. The method also involves detecting onset of a saturation recovery period of the light detector during the first scan or the second scan based on the comparison.

公开(公告)号：US20220153297A1

公开(公告)日：2022-05-19

申请号：US16952930

申请日：2020-11-19

Applicant: Waymo LLC

Inventor： Mingcheng Chen ,  Yunshan Jiang ,  Xiaoxiang Hu

IPC: B60W60/00 ,  G06K9/00 ,  G01S13/931 ,  G01S13/50

Abstract: Aspects and implementations of the present disclosure relate to filtering of return points from a point cloud based on radial velocity measurements. An example method includes: receiving, by a sensing system of an autonomous vehicle (AV), data representative of a point cloud comprising a plurality of return points, each return point comprising a radial velocity value and position coordinates representative of a reflecting region that reflects a transmission signal emitted by the sensing system; applying, to each of the plurality of return points, at least one threshold condition related to the radial velocity value of a given return point to identify a subset of return points within the plurality of return points; removing the subset of return points from the point cloud to generate a filtered point cloud; and identifying objects represented by the remaining return points in the filtered point cloud.

公开(公告)号：US20220153286A1

公开(公告)日：2022-05-19

申请号：US17532547

申请日：2021-11-22

Applicant: Waymo LLC

Inventor： Emily Chi ,  Ryan Joseph Andrade

IPC: B60W50/029 ,  G05D1/00 ,  G08G1/00 ,  B60W60/00

Abstract: The disclosure provides for a method for determining a pullover spot for a vehicle. The method includes using a computing device to detect information related to a system of the vehicle or an environment surrounding the vehicle using a sensor of a vehicle and determine a local failure of the vehicle based on the information. The computing device may then be used to determine that the vehicle should pullover before completing a current trip related to transporting a passenger or good by comparing vehicle requirements for the trip with the local failure and determine a pullover spot by identifying a first area for the vehicle to park in part based on a second area being available for a second vehicle to pick up the passenger or good. The computing device may operate the vehicle to the pullover spot and transmit a request for a second vehicle.

公开(公告)号：US11333748B2

公开(公告)日：2022-05-17

申请号：US16133231

申请日：2018-09-17

Applicant: Waymo LLC

Inventor： Ralph H. Shepard ,  Pierre-Yves Droz ,  David Schleuning ,  Mark Shand ,  Luke Wachter

IPC: G01S7/499 ,  G01S17/89 ,  G02B5/20 ,  G01S7/4865 ,  G02B27/28 ,  G01S7/481

Abstract: Example embodiments relate to arrays of light detectors with a corresponding array of optical elements. An example embodiment includes a light detection and ranging (LIDAR) system. The LIDAR system includes an array of light detectors. The LIDAR system also includes a shared imaging optic. Further, the LIDAR system includes an array of optical elements positioned between the shared imaging optic and the array of light detectors. Each light detector in the array of light detectors is configured to detect a respective light signal from a respective region of a scene. Each respective light signal is transmitted via the shared imaging optic and modified by a respective optical element in the array of optical elements based on at least one aspect of the scene.

公开(公告)号：US20220146652A1

公开(公告)日：2022-05-12

申请号：US17585825

申请日：2022-01-27

Applicant: Waymo LLC

Inventor： Vlad Cardei ,  Lucian Ion

IPC: G01S7/497 ,  G01S17/10 ,  G01S17/931

Abstract: Disclosed are devices and methods that may be used for the calibration of sensors of a vehicle. A calibration system disclosed herein includes a trigger device configured to detect a first sensing event. The calibration system further includes a plurality of sensor targets. Additionally, the calibration system includes a processor configured to reveal the plurality of sensor targets within a given region in response to the first sensing event. The calibration system may be configured to detect light from a LIDAR striking a light sensors. In response to detecting the light from the LIDAR, a plurality of lights, both visible and infrared, may be illuminated to correspond with a position and timing of the LIDAR pulse.

公开(公告)号：USD951162S1

公开(公告)日：2022-05-10

申请号：US29772011

申请日：2021-02-26

Applicant: Waymo LLC

Designer： YooJung Ahn ,  Philipp Haban

公开(公告)号：US11330253B2

公开(公告)日：2022-05-10

申请号：US16994115

申请日：2020-08-14

Applicant: Waymo LLC

Inventor： Chen David Lu ,  Erik Chubb

IPC: H04N17/00 ,  G03B43/00 ,  G01M11/00 ,  G01J1/42 ,  G01J1/02 ,  G01J1/08 ,  G01J1/04 ,  G01J1/06 ,  B60R11/04

Abstract: Methods, systems, and apparatus for a stray-light testing apparatus. In one aspect, the apparatus includes an optical assembly including a spatially extended light source and one or more optical elements arranged to direct light from the spatially extended light source along an optical path, a moveable frame supporting the optical assembly including one or more adjustable alignment features for guiding positioning of the stray-light testing apparatus relative to an onboard camera on a vehicle, and a shrouding mechanism attached to the frame and positioned on the frame such that, when the stray-light testing apparatus is aligned relative to the onboard camera on the vehicle and the optical path of the optical assembly is within the field of view of the onboard camera, ambient light exposure for the onboard camera is below a threshold.

公开(公告)号：US20220137227A1

公开(公告)日：2022-05-05

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 ,  B60W30/095 ,  B60W30/09

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.

公开(公告)号：US20220136686A1

公开(公告)日：2022-05-05

申请号：US17084335

申请日：2020-10-29

Applicant: Waymo LLC

Inventor： Choon Ping Chng ,  Cheng-Han Wu ,  Lucian Ion ,  Giulia Guidi

IPC: F21V21/30 ,  B60Q3/51 ,  B60K35/00

Abstract: Example embodiments described herein involve a system for testing a light-emitting module. The light-emitting module may include a mounting platform configured to hold a light-emitting module for a camera. The mounting platform may also be configured to rotate. The system may further include a housing holding a plurality of photodiodes arranged in an array over at least a 90 degree arc of a hemisphere. The system may also include a controller configured to control the photodiodes and the rotation of the mounting platform.