公开(公告)号：US20210141376A1

公开(公告)日：2021-05-13

申请号：US17101279

申请日：2020-11-23

Applicant: Waymo LLC

Inventor： Cristi Landy ,  Julien Mercay ,  Saksiri Tanphaichitr ,  Laurens Andreas Feenstra ,  Salil Pandit

IPC: G05D1/00 ,  G08G1/00 ,  G05D1/02

Abstract: Aspects of the disclosure relate to a method of managing a fleet of autonomous vehicles providing trip services. The method includes receiving information identifying an intermediate destination and a final destination for a trip. In this example, the intermediate destination is a destination where an autonomous vehicle will drop off and wait for a passenger in order to continue the trip, and the final destination is a destination where the trip ends. The method also includes determining an amount of waiting time the vehicle is likely to be waiting for the passenger at the intermediate destination, determining how a vehicle of the fleet of autonomous vehicles should spend the amount of waiting time, and sending an instruction to the vehicle, based on the determination of how the vehicle should spend the amount of waiting time.

公开(公告)号：US20210140786A1

公开(公告)日：2021-05-13

申请号：US17097392

申请日：2020-11-13

Applicant: Waymo LLC

Inventor： Philip Nemec ,  Brian Douglas Cullinane ,  Manuel Christian Clement ,  Robertus Christianus Elisabeth Mariet

IPC: G01C21/36 ,  B62D1/28 ,  B62D15/02 ,  B60T7/12 ,  B60T7/22 ,  B60T17/22 ,  G08G1/16 ,  G08G1/0969 ,  G05D1/02

Abstract: Aspects of the present disclosure relate generally to identifying and displaying traffic lanes that are available for autonomous driving. This information may be displayed to a driver of a vehicle having an autonomous driving mode, in order to inform the driver of where he or she can use the autonomous driving mode. In one example, the display may visually distinguishing between lanes that are available for auto-drive from those that are not. The display may also include an indicator of the position of a lane (autodrive or not) currently occupied by the vehicle. In addition, if that lane is an autodrive lane the display may include information indicating how much further the vehicle may continue in the autonomous driving mode in that particular lane. The display may also display information indicating the remaining autodrive distance in other lanes as well as the lane with the greatest remaining autodrive distance.

公开(公告)号：US20210134012A1

公开(公告)日：2021-05-06

申请号：US17149621

申请日：2021-01-14

Applicant: Waymo LLC

Inventor： Andreas Wendel ,  Volker Grabe ,  Jeremy Dittmer ,  Zachary Morriss

IPC: G06T7/80 ,  H04N13/246 ,  H04N13/282 ,  G01B11/25 ,  G06T7/60

Abstract: The present disclosure relates to a target, a method, and a system for calibrating a camera. One example embodiment includes a target. The target includes a first pattern of fiducial markers. The target also includes a second pattern of fiducial markers. The first pattern of fiducial markers is a scaled version of the second pattern of fiducial markers, such that a calibration image captured of the target simulates multiple images of a single pattern captured at multiple calibration perspectives.

公开(公告)号：US20210124269A1

公开(公告)日：2021-04-29

申请号：US16666952

申请日：2019-10-29

Applicant: Waymo LLC

Inventor： James Dunphy ,  David Hutchison

IPC: G03F7/20 ,  G02B6/42

Abstract: The present disclosure relates to systems and methods relating to the fabrication of light guide elements. An example system includes an optical component configured to direct light emitted by a light source to illuminate a photoresist material at one or more desired angles so as to expose an angled structure in the photoresist material. The photoresist material overlays at least a portion of a first surface of a substrate. The optical component includes a container containing a light-coupling material that is selected based in part on the one or more desired angles. The system also includes a reflective surface arranged to reflect at least a first portion of the emitted light to illuminate the photoresist material at the one or more desired angles.

公开(公告)号：US20210109525A1

公开(公告)日：2021-04-15

申请号：US17035115

申请日：2020-09-28

Applicant: WAYMO LLC

Inventor： Jared Stephen Russell ,  Jens-Steffen Ralf Gutmann

IPC: G05D1/00 ,  G06K9/00 ,  G06T7/70

Abstract: The disclosure provides a method for operating an autonomous vehicle. To operate the autonomous vehicle, a plurality of lane segments that are in an environment of the autonomous vehicle is determined and a first object and a second object in the environment are detected. A first position for the first object is determined in relation to the plurality of lane segments, and particular lane segments that are occluded by the first object are determined using the first position. According to the occluded lane segments, a reaction time is determined for the second object and a driving instruction for the autonomous vehicle is determined according to the reaction time. The autonomous vehicle is then operated based on the driving instruction.

公开(公告)号：USD915965S1

公开(公告)日：2021-04-13

申请号：US29714778

申请日：2019-11-26

Applicant: Waymo LLC

Designer： YooJung Ahn ,  Philipp Haban ,  Jennifer Arden

公开(公告)号：US20210103744A1

公开(公告)日：2021-04-08

申请号：US17063553

申请日：2020-10-05

Applicant: Waymo LLC

Inventor： Jiyang Gao ,  Zijian Guo ,  Congcong Li

IPC: G06K9/00 ,  G06N3/04 ,  G06K9/62 ,  G06N3/08

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generating a spatio-temporal embedding of a sequence of point clouds. One of the methods includes obtaining a temporal sequence comprising a respective point cloud input corresponding to each of a plurality of time points, each point cloud input comprising point cloud data generated from sensor data captured by one or more sensors of a vehicle at the respective time point; processing each point cloud input using a first neural network to generate a respective spatial embedding that characterizes the point cloud input; and processing the spatial embeddings of the point cloud inputs using a second neural network to generate a spatio-temporal embedding that characterizes the point cloud inputs in the temporal sequence.

公开(公告)号：US10969789B2

公开(公告)日：2021-04-06

申请号：US16185787

申请日：2018-11-09

Applicant: Waymo LLC

Inventor： Khaled Refaat ,  Kai Ding

IPC: G05D1/02 ,  G05D1/00

Abstract: Aspects of the disclosure provide for controlling a vehicle in an autonomous driving mode. For instance, sensor data for an object as well as a plurality of predicted trajectories may be received. Each predicted trajectory may represent a plurality of possible future locations for the object. A grid including a plurality of cells, each being associated with a geographic area, may be generated. Probabilities that the object will enter the geographic area associated with each of the plurality of cells over a period of time into the future may be determined based on the sensor data in order to generate a heat map. One or more of the plurality of predicted trajectories may be compared to the heat map. The vehicle may be controlled in the autonomous driving mode based on the comparison.

公开(公告)号：US10963734B1

公开(公告)日：2021-03-30

申请号：US16656974

申请日：2019-10-18

Applicant: Waymo LLC

Inventor： Jiajing Wang ,  Chi Zeng ,  Lorena Zalles ,  Lo Po Tsui ,  Heidi Lam

IPC: G06K9/62 ,  G05D1/02 ,  G05D1/00 ,  G06T7/73 ,  G06K9/00 ,  G06F16/35 ,  B60R1/00 ,  G06T7/521 ,  G01S17/931

Abstract: Aspects of the disclosure relate to facilitating review of labels. For instance, a first type of label for a first set of labels and a second type of label for a second set of labels may be received. The first set of labels may be generated by a first labeling source and may classify one or more objects captured by a sensor of a vehicle. The second set of labels may be generated by a second labeling source different from the first labeling source and may classify the one or more objects. A search is conducted for objects associated with both the first type of labels for the first set of labels and the second type of label for the second set of labels in order to identify search results. The histograms may be generated from the search results and histograms may be provided for display to a human operator.

公开(公告)号：US10962883B2

公开(公告)日：2021-03-30

申请号：US16684955

申请日：2019-11-15

Applicant: Waymo LLC

Inventor： Bernard Fidric ,  Pierre-yves Droz ,  David Hutchison

IPC: G03F7/26 ,  G03F9/00

Abstract: Systems and methods described herein relate to the manufacture of optical elements and optical systems. An example method includes overlaying a first mask on a photoresist material and a substrate, and causing a light source to illuminate the photoresist material through the first mask during a first exposure so as to define a first feature. During the first exposure, the light source is positioned at a non-normal angle with respect to a plane parallel to the substrate. The method includes developing the photoresist material so as to retain an elongate portion of the photoresist material on the substrate. A first end of the elongate portion includes an angled portion that is sloped at an angle with respect to a long axis of the elongate portion. The method also includes depositing a reflective material through a second mask onto the angled portion.