公开(公告)号：US11119478B2

公开(公告)日：2021-09-14

申请号：US16035576

申请日：2018-07-13

Applicant: Waymo LLC

Inventor： Stephanie McArthur ,  Mark Alexander Shand ,  Colin Braley

IPC: G05D1/00 ,  G01S7/40 ,  G01S7/497 ,  G05D1/02 ,  G01C21/20 ,  G01S7/52

Abstract: An example method involves detecting a sensor-testing trigger. Detecting the sensor-testing trigger may comprise determining that a vehicle is within a threshold distance to a target in an environment of the vehicle. The method also involves obtaining sensor data collected by a sensor of the vehicle after the detection of the sensor-testing trigger. The sensor data is indicative of a scan of a region of the environment that includes the target. The method also involves comparing the sensor data with previously-collected sensor data indicating detection of the target by one or more sensors during one or more previous scans of the environment. The method also involves generating performance metrics related to the sensor of the vehicle based on the comparison.

公开(公告)号：US10960894B2

公开(公告)日：2021-03-30

申请号：US16219386

申请日：2018-12-13

Applicant: Waymo LLC

Inventor： Colin Braley ,  Volker Grabe

IPC: B60W50/029 ,  G05D1/00 ,  B60W50/02

Abstract: Aspects of the disclosure provides for a method for performing checks for a vehicle. In this regard, a plurality of performance checks may be identified including a first check for a detection system of a plurality of detection systems of the vehicle and a second check for map data. A test route for the vehicle may be determined based on a location of the vehicle and the plurality of performance checks. The vehicle may be controlled along the test route in an autonomous driving mode, while sensor data may be received from the plurality of detection systems of the vehicle. An operation mode may be selected based on results of the plurality of performance checks, and the vehicle may be operated in the selected operation mode.

公开(公告)号：US10943367B1

公开(公告)日：2021-03-09

申请号：US16032417

申请日：2018-07-11

Applicant: Waymo LLC

Inventor： Craig Lewin Robinson ,  Volker Grabe ,  Colin Braley ,  Zachary Morriss ,  Stephanie McArthur ,  Andrew Crawford

IPC: G06T7/80 ,  B60R1/12 ,  B60W50/00

Abstract: The disclosure provides for a method of calibrating a detection system that is mounted on a vehicle. The method includes detecting characteristics of the mirror and characteristics of a vehicle portion using the detection system. The mirror reflects the vehicle portion to be detected using the detection system. The method also includes determining a first transform based on the detected one or more of mirror characteristics, determining a second transform based on the one or more vehicle portion characteristics, and determining a third transform based on a known position of the vehicle portion in relation to the vehicle. Further, the method includes determining a position of the detection system relative to the vehicle based on the first, second, and third transforms and then calibrating the detection system using the determined position of the detection system relative to the vehicle.