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公开(公告)号：US20180032078A1
公开(公告)日：2018-02-01
申请号：US15292818
申请日：2016-10-13
Applicant: Waymo LLC
Inventor： David Ian Franklin Ferguson , Andreas Wendel , Zhinan Xu , David Harrison Silver , Brandon Douglas Luders
CPC classification number: G05D1/0214 , G05D1/0246 , G05D2201/0213 , G06K9/00805
Abstract: Aspects of the disclosure relate to maneuvering a vehicle. As an example, sensor information identifying a set of objects as well as a set of characteristics for each object of the set of objects is received from a perception system of a vehicle. The set of objects is filtered to remove objects corresponding to vehicles, bicycles, and pedestrians. An object within an expected future path of the vehicle is selected from the filtered set of objects. The object is classified as drivable or not drivable based on the set of characteristics. Drivable indicates that the vehicle can drive over the object without causing damage to the vehicle. The vehicle is maneuvered based on the classification such that when the object is classified as drivable, maneuvering the vehicle includes driving the vehicle over the object by not altering the expected future path of the vehicle.
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公开(公告)号：US20170341643A1
公开(公告)日：2017-11-30
申请号：US15618461
申请日：2017-06-09
Applicant: Waymo LLC
Inventor： Jens-Steffen Ralf Gutmann , Andreas Wendel , Nathaniel Fairfield , Dmitri A. Dolgov , Donald Jason Burnette
IPC: B60W30/09 , G08G1/0962
CPC classification number: B60W30/09 , G08G1/09623 , G08G1/09626 , G08G1/096725 , G08G1/096783 , G08G1/096791
Abstract: Aspects of the disclosure relate to determining whether a vehicle should continue through an intersection. For example, the one or more of the vehicle's computers may identify a time when the traffic signal light will turn from yellow to red. The one or more computers may also estimate a location of a vehicle at the time when the traffic signal light will turn from yellow to red. A starting point of the intersection may be identified. Based on whether the estimated location of the vehicle is at least a threshold distance past the starting point at the time when the traffic signal light will turn from yellow to red, the computers can determine whether the vehicle should continue through the intersection.
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公开(公告)号：US09707960B2
公开(公告)日：2017-07-18
申请号：US14448299
申请日：2014-07-31
Applicant: Waymo LLC
Inventor： Jens-Steffen Ralf Gutmann , Andreas Wendel , Nathaniel Fairfield , Dmitri A. Dolgov , Donald Jason Burnette
CPC classification number: B60W30/09 , G08G1/09623 , G08G1/09626 , G08G1/096725 , G08G1/096783 , G08G1/096791
Abstract: Aspects of the disclosure relate to determining whether a vehicle should continue through an intersection. For example, the one or more of the vehicle's computers may identify a time when the traffic signal light will turn from yellow to red. The one or more computers may also estimate a location of a vehicle at the time when the traffic signal light will turn from yellow to red. A starting point of the intersection may be identified. Based on whether the estimated location of the vehicle is at least a threshold distance past the starting point at the time when the traffic signal light will turn from yellow to red, the computers can determine whether the vehicle should continue through the intersection.
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公开(公告)号：US09690297B1
公开(公告)日：2017-06-27
申请号：US15238372
申请日：2016-08-16
Applicant: Waymo LLC
Inventor： David Ian Franklin Ferguson , Andreas Wendel
IPC: G05D1/02 , G06K9/00 , G06K9/46 , G06K9/62 , G05D1/00 , G01J3/02 , G08G1/09 , G01J3/50 , G08G1/0967
CPC classification number: G05D1/0246 , G01J3/0289 , G01J3/46 , G01J3/505 , G05D1/0088 , G05D1/0231 , G05D2201/0212 , G06K9/00798 , G06K9/00825 , G06K9/4652 , G06K9/4661 , G06K9/6277 , G08G1/0104 , G08G1/09623 , G08G1/09675 , Y10S901/01
Abstract: The present disclosure is directed to an autonomous vehicle having a vehicle control system. The vehicle control system includes an image processing system. The image processing system receives an image that includes a light indicator. The light indicator includes an illuminated component. The image processing system determines a color of the illuminated component of the light indicator and an associated confidence level of the determination of the color of the illuminated component. The image processing system also determines a shape of the illuminated component of the light indicator and an associated confidence level of the determination of the shape of the illuminated component. The determined confidence levels represent an estimated accuracy of the determinations of the shape and color. Additionally, the image processing system provides instructions executable by a computing device to control the autonomous vehicle based on at least one of the determined confidence levels exceeding a threshold value.
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公开(公告)号：US12056898B1
公开(公告)日：2024-08-06
申请号：US17548633
申请日：2021-12-13
Applicant: Waymo LLC
Inventor： Chen Wu , Carl Warren Craddock , Andreas Wendel
IPC: G06T7/80 , G01S17/86 , G01S17/931 , G06F18/25 , G06V20/58
CPC classification number: G06T7/80 , G01S17/86 , G01S17/931 , G06F18/25 , G06V20/584
Abstract: The disclosure relates to assessing operation of a camera. In one instance, a volume of space corresponding to a first vehicle in an environment of a second vehicle may be identified using sensor data generated by a LIDAR system of the second vehicle. An image captured by a camera of the second vehicle may be identified. The camera may have an overlapping field of view of the LIDAR system at a time when the sensor data was generated. An area of the image corresponding to the volume of space may be identified and processed in order to identify a vehicle light. The operation of the camera may be assessed based on the processing.
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Patent Agency Ranking
公开(公告)号：US11912292B2
公开(公告)日：2024-02-27
申请号：US17531946
申请日：2021-11-22
Applicant: Waymo LLC
Inventor： Emily Chi , Ryan Joseph Andrade , Andreas Wendel , Michael James , Christian Lauterbach , Etai Bruhis , Christopher Kennedy Ludwick , Alexander Zbrozek , Pieter Kapsenberg , Zhuyuan Liu , Daniel Rosenband
IPC: B60W50/029 , B60W10/04 , B60W10/20 , B60W50/02 , G05D1/00
CPC classification number: B60W50/029 , B60W10/04 , B60W10/20 , B60W50/0205 , G05D1/0088 , B60W2050/0215 , B60W2420/42 , B60W2420/52 , B60W2420/54 , B60W2710/20 , B60W2720/106 , G05D2201/0213
Abstract: The technology relates to partially redundant equipment architectures for vehicles able to operate in an autonomous driving mode. Aspects of the technology employ fallback configurations, such as two or more fallback sensor configurations that provide some minimum amount of field of view (FOV) around the vehicle. For instance, different sensor arrangements are logically associated with different operating domains of the vehicle. Fallback configurations for computing resources and/or power resources are also provided. Each fallback configuration may have different reasons for being triggered, and may result in different types of fallback modes of operation. Triggering conditions may relate, e.g., to a type of failure, fault or other reduction in component capability, the current driving mode, environmental conditions in the vicinity of vehicle or along a planned route, or other factors. Fallback modes may involve altering a previously planned trajectory, altering vehicle speed, and/or altering a destination of the vehicle.
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公开(公告)号：US11762063B2
公开(公告)日：2023-09-19
申请号：US18082791
申请日：2022-12-16
Applicant: Waymo LLC
Inventor： Kimberly Geneva Toth , Brendan Hermalyn , Shane Mcguire , Felix Jose Alvarez Rivera , Jeremy Dittmer , Andreas Wendel
CPC classification number: G01S7/4813 , B60R11/04 , G05D1/0088 , G05D1/0246 , H04N23/51 , B60R2300/102 , B60R2300/105 , G05D2201/0213
Abstract: The technology relates to autonomous vehicles that use a perception system to detect objects and features in the vehicle's surroundings. A camera assembly having a ling-type structure is provided that gives the perception system an overall 360° field of view around the vehicle. Image sensors are arranged in camera modules around the assembly to provide a seamless panoramic field of view. One subsystem has multiple pairs of image sensors positioned to provide the overall 360° field of view, while another subsystem provides a set of image sensors generally facing toward the front of the vehicle to provide enhanced object identification. The camera assembly may be arranged in a housing located on top of the vehicle. The housing may include other sensors such as LIDAR and radar. The assembly includes a chassis and top and base plates, which may provide EMI protection from other sensors disposed in the housing.
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公开(公告)号：US11699207B2
公开(公告)日：2023-07-11
申请号：US16105069
申请日：2018-08-20
Applicant: Waymo LLC
Inventor： Carl Warren Craddock , Andreas Wendel
IPC: G06T3/40 , G05D1/00 , G06F18/22 , H04N23/90 , G06V20/56 , G06T1/00 , B60W30/09 , H04N17/00 , G06V10/98
CPC classification number: G06T1/0007 , B60W30/09 , G05D1/0088 , G06F18/22 , G06T3/40 , G06V10/98 , G06V20/56 , H04N17/002 , H04N23/90 , B60W2420/42 , G06T2210/22
Abstract: The disclosure relates to assessing operation of two or more cameras. These cameras may be a group of cameras of a perception system of a vehicle having an autonomous driving mode. A first image captured by a first camera and a second image captured by a second camera may be received. A first feature vector for the first image and a second feature vector for the second image may be generated. A similarity score may be determined using the first feature vector and the second feature vector. This similarity score may be used to assess the operation of the two cameras and an appropriate action may be taken.
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公开(公告)号：US11653108B2
公开(公告)日：2023-05-16
申请号：US17243992
申请日：2021-04-29
Applicant: Waymo LLC
Inventor： Andreas Wendel , Jeremy Dittmer
CPC classification number: H04N5/3452 , H04N5/3532
Abstract: Examples described may related to an imaging sensor used by a vehicle, including a light sensor. The light sensor comprises a plurality of cells aligned in a plurality of horizontal rows and a plurality of vertical columns. The apparatus further includes an optical system configured to provide the light sensor with a field of view of an external environment of the apparatus. Additionally, the system includes a processing unit configured to: divide the plurality of horizontal rows of the light sensor into one or more enabled rows and one or more disabled rows; obtain image data from the light sensor by sampling one or more cells in the one or more enabled rows; and store the received image data in a memory.
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公开(公告)号：US20230125032A1
公开(公告)日：2023-04-20
申请号：US18082791
申请日：2022-12-16
Applicant: Waymo LLC
Inventor： Kimberly Geneva Toth , Brendan Hermalyn , Shane Mcguire , Felix Jose Alvarez Rivera , Jeremy Dittmer , Andreas Wendel
Abstract: The technology relates to autonomous vehicles that use a perception system to detect objects and features in the vehicle's surroundings. A camera assembly having a ling-type structure is provided that gives the perception system an overall 360° field of view around the vehicle. Image sensors are arranged in camera modules around the assembly to provide a seamless panoramic field of view. One subsystem has multiple pairs of image sensors positioned to provide the overall 360° field of view, while another subsystem provides a set of image sensors generally facing toward the front of the vehicle to provide enhanced object identification. The camera assembly may be arranged in a housing located on top of the vehicle. The housing may include other sensors such as LIDAR and radar. The assembly includes a chassis and top and base plates, which may provide EMI protection from other sensors disposed in the housing.
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