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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.
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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
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.
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公开(公告)号：US20220134989A1
公开(公告)日：2022-05-05
申请号：US17526496
申请日：2021-11-15
Applicant: Waymo LLC
Inventor： Courtney McCool
IPC: B60R21/20 , B60R21/264 , B60R21/0134 , B60R21/015
Abstract: Aspects of the disclosure relate to reducing the likelihood of injury to a passenger in a collision. In one example, a computing device may determine that an impact between a vehicle and an object external to the vehicle is imminent. The computing device may determine a protection range for a vehicle's airbag based on characteristics of the passenger, including the passenger's seating location within the vehicle. An airbag extension system may position an airbag package, including the vehicle's airbag, such that the vehicle's airbag is within the protection range of the passenger's seating location.
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公开(公告)号：US11323599B1
公开(公告)日：2022-05-03
申请号：US17132667
申请日：2020-12-23
Applicant: Waymo LLC
Inventor： Shashank Sharma
Abstract: A camera includes a camera focus adjustment device, a lens, and an image sensor coupled to the camera focus adjustment device. The camera focus adjustment device includes a flexure structure. The flexure structure includes an outer framework of structural members continuously interconnected by flexure notch hinges. The flexure structure also includes two inner structural members oriented in parallel and extending from the outer framework of structural members. A gap is between the two inner structural members. The camera focus adjustment device also includes a piezoelectric material within the gap and a pair of wedges within the gap. The pair of wedges is affixed to the piezoelectric material and to one inner structural member of the two inner structural members. Based on temperature-based piezoelectric activity associated with the piezoelectric material, the camera focus adjustment device is operable to move the image sensor relative to the lens.
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公开(公告)号：US20220130133A1
公开(公告)日：2022-04-28
申请号：US17555760
申请日：2021-12-20
Applicant: Waymo LLC
Inventor： Mayank Bansal
Abstract: Aspects of the disclosure relate to detecting an emergency vehicle. For instance, a plurality of images may be taken from a perspective of an autonomous vehicle. One or more gates representing a region of interest at a respective distance from the vehicle may be generated for the images. A plurality of lights may be detected within the one or more gates. A first candidate emergency vehicle may be identified from a detected plurality of lights in one or more gates of one of the images, and a second candidate emergency vehicle may be identified from a detected plurality of lights in one or more gates of another of the images. The first and second candidate emergency vehicles are determined to be the same emergency vehicle and to be active. An operational system of the autonomous vehicle is controlled based on the determination that the given emergency vehicle is active.
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Patent Agency Ranking
公开(公告)号：US20220120900A1
公开(公告)日：2022-04-21
申请号：US17500829
申请日：2021-10-13
Applicant: Waymo LLC
Inventor： Bernard Fidric , Pierre-Yves Droz , Michael R. Matthews , Pablo Hopman , John Lam
IPC: G01S17/26 , B60W60/00 , G01S7/481 , G01S17/58 , G01S17/931
Abstract: The subject matter of this specification relates to a light detection and ranging (LiDAR) device that comprises, in some implementations, a pulsed-laser source configured to generate a pulsed optical signal, a continuous wave (CW) laser source configured to generate a CW optical signal, one or more optical amplifier circuits configured to amplify at least the pulsed optical signal, a combiner configured to combine the pulsed optical signal and the CW optical signal into a hybrid transmission signal, and at least one photodetector configured to receive a reflection signal produced by reflection of the hybrid transmission signal by a target.
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公开(公告)号：US20220120581A1
公开(公告)日：2022-04-21
申请号：US17516000
申请日：2021-11-01
Applicant: Waymo LLC
Inventor： Nirmal Patel , Maria Moon , Peter Crandall , Ryan Powell , Hans-olav Cavelie , Matthew Hall
IPC: G01C21/36 , G06F3/04845 , G06F3/04842
Abstract: Aspects of the disclosure relate to providing an end of trip sequence when a vehicle is nearing its destination. One or more computing devices may generate and display a video indicating a projected trajectory of the vehicle and objects detected by sensors on the vehicle, on a map corresponding to a route the vehicle is currently following, where the video is generated from a perspective of a virtual camera at a default position and default pitch A determination that the vehicle has reached a threshold relative to the route of the vehicle may be made and the position and pitch of the virtual camera may be adjusted to an updated position above the vehicle and a perspective which looks downwards towards a roof of the vehicle. The video may then be generated and displayed from the perspective of the virtual camera at the updated position.
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公开(公告)号：US20220108119A1
公开(公告)日：2022-04-07
申请号：US17064339
申请日：2020-10-06
Applicant: Waymo LLC
Inventor： David Yonchar Margines , Carlos Hernandez Esteban , Michael Montemerlo , Peter Pawlowski , Colin Andrew Braley
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for using a surfel map to generate long range localization. One of the methods includes obtaining, for a particular location of a vehicle having a camera and a detection sensor, surfel data including a plurality of surfels. Each surfel in the surfel data has a respective location and corresponds to a different respective detected surface in an environment. Image data captured by the camera is obtained. It is determined that a region of interest for detecting objects for a vehicle planning process is outside a detectable region for the detection sensor. In response, it is determined that the image data for the region of interest matches surfel color data for the surfels corresponding to the region of interest. In response, the vehicle planning process is performed with the region of interest designated as having no unexpected objects.
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公开(公告)号：US11292418B1
公开(公告)日：2022-04-05
申请号：US17091476
申请日：2020-11-06
Applicant: WAYMO LLC
Inventor： Felix Jose Alvarez Rivera , Daniel Lynn Larner , Thomas Daniel , Courtney McCool , Atul Gupta , Peter Craig Lombrozo
IPC: B60R21/207 , B60R21/214 , B60R21/06 , B60R21/231 , B60R21/2334 , B60R21/16 , B60R21/0136 , B60R21/0134
Abstract: Aspects of the disclosure relate to deployable structures, such as airbag systems, for vehicles. A system is disclosed for reducing likelihood of injury to a passenger in a collision. The system may include a seat configured to accommodate the passenger and an airbag system. At least a portion of the airbag system may be incorporated into a vehicle prior to deployment of the airbag system. The airbag system may include an airbag and a locking feature. The locking feature may be configured to lock the airbag with a locking portion of a vehicle when the airbag system has been deployed. The locking feature may be attached to the airbag. Aside from airbags, other confining structures, such as nets, shades, curtains, etc., may also be used as deployable structures.
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公开(公告)号：US20220097734A1
公开(公告)日：2022-03-31
申请号：US17037104
申请日：2020-09-29
Applicant: WAYMO LLC
Inventor： Ashwin Limaye
Abstract: A control system for an autonomous vehicle is configured to pick up a passenger at a pickup location. The autonomous vehicle includes a self-driving system and one or more computing devices in communication with the self-driving system. The one or more computing devices are configured to receive a trip request including a pickup location and a destination location, the trip request being associated with a client device; cause the self-driving system to navigate the autonomous vehicle to the pickup location; send a prompt to the client device to collect semantic information; determine a specified location based on the semantic information received in response to the prompt; identify one or more semantic markers for the specified location from the semantic information; and send a message to the client device identifying the specified location using the one or more semantic markers.
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