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.

公开(公告)号：US12061296B2

公开(公告)日：2024-08-13

申请号：US16951704

申请日：2020-11-18

Applicant: Waymo LLC

Inventor： Blaise Gassend ,  Benjamin Ingram ,  Luke Wachter

IPC: G01S7/497 ,  G01S7/40 ,  G01S7/481 ,  G01S13/931 ,  G01S17/86 ,  G01S17/87 ,  G01S17/931

CPC classification number: G01S7/4972 ,  G01S7/4813 ,  G01S13/931 ,  G01S17/86 ,  G01S17/87 ,  G01S17/931 ,  G01S7/4039 ,  G01S2013/93271 ,  G01S2013/93272 ,  G01S2013/93273

Abstract: An example system includes a light detection and ranging (LIDAR) device that scans a field-of-view defined by a pointing direction of the LIDAR device. The system also includes an actuator that adjusts the pointing direction of the LIDAR device. The system also includes a communication interface that receives timing information from an external system. The system also includes a controller that causes the actuator to adjust the pointing direction of the LIDAR device based on at least the received timing information.

公开(公告)号：US11917281B2

公开(公告)日：2024-02-27

申请号：US17517882

申请日：2021-11-03

Applicant: Waymo LLC

Inventor： Andreas Wendel ,  Jeremy Dittmer ,  Brendan Hermalyn ,  Benjamin Ingram

IPC: H04N5/335 ,  H04N23/61 ,  H04N23/45 ,  H04N23/73 ,  H04N23/741

CPC classification number: H04N23/61 ,  H04N23/45 ,  H04N23/73 ,  H04N23/741

Abstract: Example embodiments relate to multiple operating modes to expand dynamic range. An example embodiment includes a camera system. The camera system may include a first image sensor having a first dynamic range corresponding to a first range of luminance levels in a scene. The system may also include a second image sensor having a second dynamic range corresponding to a second range of luminance levels in the scene. The camera system may further include a processor coupled to the first image sensor and the second image sensor. The processor may be configured to execute instructions to identify objects of a first type in a first image of the scene captured by the first image sensor and identify objects of a second object type in a second image of the scene captured by the second image sensor.

公开(公告)号：US11807276B2

公开(公告)日：2023-11-07

申请号：US18059948

申请日：2022-11-29

Applicant: Waymo LLC

Inventor： Jeremy Dittmer ,  Ruffin Evans ,  Vaibhav Nangia ,  Benjamin Ingram ,  Erik Chubb ,  Yonatan Winetraub

IPC: B60W60/00 ,  G01S17/89 ,  G01S13/89 ,  G01S17/58 ,  G05D1/02 ,  G01S13/58 ,  G06V10/22 ,  G06V20/58 ,  G06V20/56 ,  G05D1/00 ,  G01S17/931 ,  G01S13/931

CPC classification number: B60W60/0025 ,  G01S13/58 ,  G01S13/89 ,  G01S17/58 ,  G01S17/89 ,  G05D1/0212 ,  G06V10/22 ,  G06V20/58 ,  G06V20/588 ,  G01S13/931 ,  G01S17/931 ,  G05D1/0088 ,  G05D2201/0213

Abstract: A method includes determining a target specification map that is associated with a task and that indicates, for each respective region of a plurality of regions around a vehicle equipped with a sensor, a target value of a parameter of the sensor. The method also includes determining a capability specification map that indicates, for each respective region, an attained value of the parameter that the sensor is configured to provide. The method additionally includes comparing the capability specification map to the target specification map to determine, for each respective region, a disparity between the target value and the attained value. The method further includes, based on the comparing, identifying one or more of: a first subset of the plurality of regions where the target value exceeds the attained value or a second subset of the plurality of regions where the attained value meets or exceeds the target value.

公开(公告)号：US20220060616A1

公开(公告)日：2022-02-24

申请号：US17517882

申请日：2021-11-03

Applicant: Waymo LLC

Inventor： Andreas Wendel ,  Jeremy Dittmer ,  Brendan Hermalyn ,  Benjamin Ingram

IPC: H04N5/232 ,  H04N5/225 ,  H04N5/235

Abstract: Example embodiments relate to multiple operating modes to expand dynamic range. An example embodiment includes a camera system. The camera system may include a first image sensor having a first dynamic range corresponding to a first range of luminance levels in a scene. The system may also include a second image sensor having a second dynamic range corresponding to a second range of luminance levels in the scene. The camera system may further include a processor coupled to the first image sensor and the second image sensor. The processor may be configured to execute instructions to identify objects of a first type in a first image of the scene captured by the first image sensor and identify objects of a second object type in a second image of the scene captured by the second image sensor.

公开(公告)号：US11164454B2

公开(公告)日：2021-11-02

申请号：US16843928

申请日：2020-04-09

Applicant: Waymo LLC

Inventor： David Harrison Silver ,  Angus Leigh ,  Benjamin Ingram ,  Jennifer Taylor ,  Vaibhav Nangia

IPC: G08G1/0965 ,  H04R3/00 ,  G08G1/16 ,  G06F16/683 ,  G06F16/68 ,  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.

公开(公告)号：US10884115B2

公开(公告)日：2021-01-05

申请号：US15917184

申请日：2018-03-09

Applicant: Waymo LLC

Inventor： Benjamin Ingram ,  Edward McCloskey ,  Timothy Campbell ,  Pierre-Yves Droz

IPC: G01S13/86 ,  G01S13/931 ,  G01S17/86 ,  G01S17/931

Abstract: The present disclosure relates to systems and methods that facilitate active sensor systems. An example method includes receiving information indicative of an operating context of a vehicle, wherein at least one Light Detection and Ranging (LIDAR) sensor or at least one radar sensor are coupled to the vehicle. The method also includes selecting, from a plurality of sensor power configurations, a desired sensor power configuration based on the operating context of the vehicle. The method further includes causing at least one of: the at least one LIDAR sensor to emit light pulses according to the desired sensor power configuration or the at least one radar sensor to emit radar energy according to the desired sensor power configuration.

公开(公告)号：US20200351434A1

公开(公告)日：2020-11-05

申请号：US16935931

申请日：2020-07-22

Applicant: Waymo LLC

Inventor： Andreas Wendel ,  Jeremy Dittmer ,  Brendan Hermalyn ,  Benjamin Ingram

IPC: H04N5/232 ,  H04N5/225 ,  H04N5/235

Abstract: Example embodiments relate to multiple operating modes to expand dynamic range. An example embodiment includes a camera system. The camera system may include a first image sensor having a first dynamic range corresponding to a first range of luminance levels in a scene. The system may also include a second image sensor having a second dynamic range corresponding to a second range of luminance levels in the scene. The camera system may further include a processor coupled to the first image sensor and the second image sensor. The processor may be configured to execute instructions to identify objects of a first type in a first image of the scene captured by the first image sensor and identify objects of a second object type in a second image of the scene captured by the second image sensor.

公开(公告)号：US10589726B1

公开(公告)日：2020-03-17

申请号：US15784944

申请日：2017-10-16

Applicant: Waymo LLC

Inventor： Benjamin Ingram ,  Eric Schmidt ,  Seth Gilbertson ,  Nicholas Wiles

IPC: B60S1/52 ,  B60S1/56 ,  G01S13/93 ,  G01S7/02 ,  B60S1/44

Abstract: This technology relates to a system for clearing a sensor cover. The system may be comprised of a first wiper and second wiper configured to clear the sensor cover of debris and a motor. The motor may rotate the first wiper and the second wiper in a first direction at a first predetermined rotation rate defined at least in part by a second predetermined rotation rate of a first sensor arranged within the sensor cover. The first wiper and the second wiper may be offset by a predetermined angular distance relative to a center of the sensor cover.

公开(公告)号：US20200005477A1

公开(公告)日：2020-01-02

申请号：US16567221

申请日：2019-09-11

Applicant: Waymo LLC

Inventor： Andreas Wendel ,  Benjamin Ingram

IPC: G06T7/593 ,  B60W30/095 ,  G05D1/02 ,  G06K9/32

Abstract: The technology relates to camera systems for vehicles having an autonomous driving mode. An example system includes a first camera mounted on a vehicle in order to capture images of the vehicle's environment. The first camera has a first exposure time and being without an ND filter. The system also includes a second camera mounted on the vehicle in order to capture images of the vehicle's environment and having an ND filter. The system also includes one or more processors configured to capture images using the first camera and the first exposure time, capture images using the second camera and the second exposure time, use the images captured using the second camera to identify illuminated objects, use the images captured using the first camera to identify the locations of objects, and use the identified illuminated objects and identified locations of objects to control the vehicle in an autonomous driving mode.