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公开(公告)号：US11415680B2
公开(公告)日：2022-08-16
申请号：US16851987
申请日：2020-04-17
Applicant: Waymo LLC
Inventor： Mark Alexander Shand
IPC: G01S17/10 , G01S17/42 , G01S17/931 , G01S7/4865
Abstract: A computing system may operate a LIDAR device to emit and detect light pulses in accordance with a time sequence including standard detection period(s) that establish a nominal detection range for the LIDAR device and extended detection period(s) having durations longer than those of the standard detection period(s). The system may then make a determination that the LIDAR detected return light pulse(s) during extended detection period(s) that correspond to particular emitted light pulse(s). Responsively, the computing system may determine that the detected return light pulse(s) have detection times relative to corresponding emission times of particular emitted light pulse(s) that are indicative of one or more ranges. Given this, the computing system may make a further determination of whether or not the one or more ranges indicate that an object is positioned outside of the nominal detection range, and may then engage in object detection in accordance with the further determination.
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公开(公告)号：US20210270967A1
公开(公告)日：2021-09-02
申请号：US17186448
申请日：2021-02-26
Applicant: Waymo LLC
Inventor： Mark Alexander Shand , Ming Zou
Abstract: Computing devices, systems, and methods described in various embodiments herein may relate to light detection and ranging (LIDAR or lidar) systems. An example computing device could include a controller having at least one processor and at least one memory. The at least one processor is configured to execute program instructions stored in the at least one memory so as to carry out operations. The operations include receiving information indicative of transmit light emitted from a lidar system along a light-emission axis. The operations also include determining, based on the received information, a maximum instrumented distance. The maximum instrumented distance includes a known unobstructed region defined by a ray segment extending between the lidar system and a point along the light-emission axis.
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33.发明申请公开(公告)号：US20200371235A1
公开(公告)日：2020-11-26
申请号：US16989509
申请日：2020-08-10
Applicant: Waymo LLC
Inventor： Mark Alexander Shand
IPC: G01S17/10 , G01S7/483 , G01S17/89 , G01S7/4865 , G01S17/42 , G01S7/484 , G01S17/931
Abstract: A computing system may operate a LIDAR device to emit light pulses in accordance with a time sequence including a time-varying dither. The system may then determine that the LIDAR detected return light pulses during corresponding detection periods for each of two or more emitted light pulses. Responsively, the system may determine that the detected return light pulses have (i) detection times relative to corresponding emission times of a plurality of first emitted light pulses that are indicative of a first set of ranges and (ii) detection times relative to corresponding emission times of a plurality of second emitted light pulses that are indicative of a second set of ranges. Given this, the system may select between using the first set of ranges as a basis for object detection and using the second set of ranges as a basis for object detection, and may then engage in object detection accordingly.
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公开(公告)号：US20200019160A1
公开(公告)日：2020-01-16
申请号：US16035576
申请日：2018-07-13
Applicant: Waymo LLC
Inventor： Stephanie McArthur , Mark Alexander Shand , Colin Braley
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.
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公开(公告)号：US20190098233A1
公开(公告)日：2019-03-28
申请号：US15719366
申请日：2017-09-28
Applicant: Waymo LLC
Inventor： Blaise Gassend , Benjamin Ingram , Andreas Wendel , Mark Alexander Shand
Abstract: One example system comprises a LIDAR sensor that rotates about an axis to scan an environment of the LIDAR sensor. The system also comprises one or more cameras that detect external light originating from one or more external light sources. The one or more cameras together provide a plurality of rows of sensing elements. The rows of sensing elements are aligned with the axis of rotation of the LIDAR sensor. The system also comprises a controller that operates the one or more cameras to obtain a sequence of image pixel rows. A first image pixel row in the sequence is indicative of external light detected by a first row of sensing elements during a first exposure time period. A second image pixel row in the sequence is indicative of external light detected by a second row of sensing elements during a second exposure time period.
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Patent Agency Ranking
36.发明申请公开(公告)号：US20190041503A1
公开(公告)日：2019-02-07
申请号：US15665591
申请日：2017-08-01
Applicant: Waymo LLC
Inventor： Mark Alexander Shand
Abstract: A computing system may operate a LIDAR device to emit and detect light pulses in accordance with a time sequence including standard detection period(s) that establish a nominal detection range for the LIDAR device and extended detection period(s) having durations longer than those of the standard detection period(s). The system may then make a determination that the LIDAR detected return light pulse(s) during extended detection period(s) that correspond to particular emitted light pulse(s). Responsively, the computing system may determine that the detected return light pulse(s) have detection times relative to corresponding emission times of particular emitted light pulse(s) that are indicative of one or more ranges. Given this, the computing system may make a further determination of whether or not the one or more ranges indicate that an object is positioned outside of the nominal detection range, and may then engage in object detection in accordance with the further determination.
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37.发明公开公开(公告)号：US20240192321A1
公开(公告)日：2024-06-13
申请号：US18582209
申请日：2024-02-20
Applicant: Waymo LLC
Inventor： Mark Alexander Shand
IPC: G01S7/48 , G01S7/481 , G01S17/10 , G01S17/931
CPC classification number: G01S7/4804 , G01S7/4814 , G01S7/4815 , G01S7/4816 , G01S17/10 , G01S17/931
Abstract: Example embodiments relate to selective deactivation of light emitters for interference mitigation in light detection and ranging (lidar) devices. An example method includes deactivating one or more light emitters within a lidar device during a firing cycle. The method also includes identifying whether interference is influencing measurements made by the lidar device. Identifying whether interference is influencing measurements made by the lidar device includes determining, for each light detector of the lidar device that is associated with the one or more light emitters deactivated during the firing cycle, whether a light signal was detected during the firing cycle.
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38.发明公开公开(公告)号：US20240151829A1
公开(公告)日：2024-05-09
申请号：US18412820
申请日：2024-01-15
Applicant: Waymo LLC
Inventor： Mark Alexander Shand
IPC: G01S7/4865 , G01S17/10 , G01S17/42 , G01S17/931
CPC classification number: G01S7/4865 , G01S17/10 , G01S17/42 , G01S17/931
Abstract: A computing system may operate a LIDAR device to emit and detect light pulses in accordance with a time sequence including standard detection period(s) that establish a nominal detection range for the LIDAR device and extended detection period(s) having durations longer than those of the standard detection period(s). The system may then make a determination that the LIDAR detected return light pulse(s) during extended detection period(s) that correspond to particular emitted light pulse(s). Responsively, the computing system may determine that the detected return light pulse(s) have detection times relative to corresponding emission times of particular emitted light pulse(s) that are indicative of one or more ranges. Given this, the computing system may make a further determination of whether or not the one or more ranges indicate that an object is positioned outside of the nominal detection range, and may then engage in object detection in accordance with the further determination.
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公开(公告)号：US11960029B2
公开(公告)日：2024-04-16
申请号：US18068665
申请日：2022-12-20
Applicant: Waymo LLC
Inventor： Mark Alexander Shand
IPC: G01S7/48 , G01S7/481 , G01S17/10 , G01S17/931
CPC classification number: G01S7/4804 , G01S7/4814 , G01S7/4815 , G01S7/4816 , G01S17/10 , G01S17/931
Abstract: Example embodiments relate to selective deactivation of light emitters for interference mitigation in light detection and ranging (lidar) devices. An example method includes deactivating one or more light emitters within a lidar device during a firing cycle. The method also includes identifying whether interference is influencing measurements made by the lidar device. Identifying whether interference is influencing measurements made by the lidar device includes determining, for each light detector of the lidar device that is associated with the one or more light emitters deactivated during the firing cycle, whether a light signal was detected during the firing cycle.
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公开(公告)号：US11927697B2
公开(公告)日：2024-03-12
申请号：US17839676
申请日：2022-06-14
Applicant: Waymo LLC
Inventor： Mark Alexander Shand
IPC: G01S7/4865 , G01S17/10 , G01S17/42 , G01S17/931
CPC classification number: G01S7/4865 , G01S17/10 , G01S17/42 , G01S17/931
Abstract: A computing system may operate a LIDAR device to emit and detect light pulses in accordance with a time sequence including standard detection period(s) that establish a nominal detection range for the LIDAR device and extended detection period(s) having durations longer than those of the standard detection period(s). The system may then make a determination that the LIDAR detected return light pulse(s) during extended detection period(s) that correspond to particular emitted light pulse(s). Responsively, the computing system may determine that the detected return light pulse(s) have detection times relative to corresponding emission times of particular emitted light pulse(s) that are indicative of one or more ranges. Given this, the computing system may make a further determination of whether or not the one or more ranges indicate that an object is positioned outside of the nominal detection range, and may then engage in object detection in accordance with the further determination.
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