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公开(公告)号：US20210090299A1
公开(公告)日：2021-03-25
申请号：US17112023
申请日：2020-12-04
Applicant: WAYMO LLC
Inventor： Vlad Cardei , Carl Warren Craddock
IPC: G06T7/90
Abstract: The technology relates to determining whether a camera is occluded. For instance, an image may be captured using a camera having red, green, and blue pixels each including a photosensor. Output values for the photosensors of each of the red pixels, green pixels, and blue pixels may be determined for the images. The output values of the green pixels may be compared to one or more of the output values of the red pixels or the output values of the blue pixels. That the camera is occluded is determined based on the comparison.
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公开(公告)号：US10955846B1
公开(公告)日：2021-03-23
申请号：US16522921
申请日：2019-07-26
Applicant: WAYMO LLC
Inventor： David Harrison Silver , David Ian Franklin Ferguson , Abhijit S. Ogale , Wan-Yen Lo
Abstract: Aspects of the disclosure relate to detecting and responding to stop signs. An object detected in a vehicle's environment having location coordinates may be identified as a stop sign and, it may be determined whether the location coordinates of the identified stop sign correspond to a location of a stop sign in detailed map information. Then, whether the identified stop sign applies to the vehicle may be determined based on the detailed map information or on a number of factors. Then, if the identified stop sign is determined to apply to the vehicle, responses of the vehicle to the stop sign may be determined, and, the vehicle may be controlled based on the determined responses.
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公开(公告)号：US20210078594A1
公开(公告)日：2021-03-18
申请号：US17020399
申请日：2020-09-14
Applicant: Waymo LLC
Inventor： Mayank Bansal , Jinkyu Kim
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for planning a trajectory of a vehicle. One of the methods includes obtaining input data for planning a driving trajectory for a vehicle, the input data comprising an intended route for the vehicle and data characterizing an environment in a vicinity of the vehicle; processing the input data using an input encoder neural network to generate feature data that includes a respective feature representation for each of a plurality of locations in the environment; applying spatial attention to the feature representations to generate a respective attention weight for each of the plurality of locations; generating a respective attended feature representation for each of the plurality of locations; generating a bottlenecked representation of the attended feature representations; and generating a planned future trajectory from at least the bottlenecked representation.
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公开(公告)号：US10942272B2
公开(公告)日：2021-03-09
申请号：US15377951
申请日：2016-12-13
Applicant: Waymo LLC
Inventor： Pierre-Yves Droz , Bernard Fidric
Abstract: An example method involves rotating a sensor that emits light pulses and detects reflections of the emitted light pulses based on a pointing direction of the sensor. The method also involves identifying a range of pointing directions of the sensor that are associated with a target region of an environment. The method also involves determining whether a current pointing direction of the sensor is within the identified range. The method also involves modulating the emitted light pulses according to a first modulation scheme in response to a determination that the current pointing direction is within the identified range. The method also involves modulating the emitted light pulses according to a second modulation scheme in response to a determination that the current pointing direction is outside the identified range. The second modulation scheme is different than the first modulation scheme.
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435.发明授权公开(公告)号：US10942037B1
公开(公告)日：2021-03-09
申请号：US16111581
申请日：2018-08-24
Applicant: Waymo LLC
Inventor： Daniel Lynn Larner , Jared Stephen Russell
Abstract: The disclosure provides for a method for determining a route for passenger comfort and operating a vehicle according to the determined route. To start, a set of routes from a start location to an end location may be determined. Each route includes one or more portions. For each route of the set of routes, a total motion sickness value is determined based on a sway motion sickness value, a surge motion sickness value, and a heave motion sickness value for each of the given portions. The total motion sickness value for a route reflects a likelihood that a user will experience motion sickness while in a vehicle along the route. A route may then be selected from the set of routes based on the total motion sickness value of each route of the set of routes, and the vehicle may be maneuvered according to the selected route.
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Patent Agency Ranking
公开(公告)号：US10938083B2
公开(公告)日：2021-03-02
申请号：US16672861
申请日：2019-11-04
Applicant: Waymo LLC
Inventor： Jamal Izadian , Adam Brown
IPC: H01P5/12 , H01P1/22 , H01Q21/00 , G01S7/03 , H01P5/107 , H01Q21/08 , H01Q21/06 , H01Q3/40 , G01S7/02 , G01S13/931 , H01Q17/00
Abstract: The present application discloses embodiments that relate to a radar system. The embodiments may include a plurality of radiating waveguides each having a waveguide input. The embodiments also include an attenuation component, which can be located on a circuit board. The embodiments further include a beamforming network. The beamforming network includes a beamforming network input. The beamforming network also includes a plurality of beamforming network outputs, where each beamforming network output is coupled to one of the waveguide inputs. Additionally, the beamforming network includes an attenuation port, wherein the attenuation port is configured to couple the beamforming network to the attenuation component. The attenuation component dissipates received electromagnetic energy.
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公开(公告)号：US10935650B2
公开(公告)日：2021-03-02
申请号：US15852501
申请日：2017-12-22
Applicant: Waymo LLC
Inventor： Timothy Campbell
IPC: G01S13/42 , G01S13/89 , G01S13/90 , G01S13/931 , H01Q1/32 , G05D1/02 , G01S13/87 , H01Q21/00 , G01S13/44 , G01S7/03 , G01S7/02
Abstract: Example embodiments described herein involve determining three dimensional data representative of an environment for an autonomous vehicle using radar. An example embodiment involves receiving radar reflection signals at a radar unit coupled to a vehicle and determining an azimuth angle and a distance for surfaces in the environment causing the radar reflection signals. The embodiment further involves determining an elevation angle for the surfaces causing the radar reflection signals based on phase information of the radar reflection signals and controlling the vehicle based at least in part on the azimuth angle, the distance, and the elevation angle for the surfaces causing the plurality of radar reflection signals. In some instances, the radar unit is configured to receive radar reflection signals using a staggered linear array with one or multiple radiating elements offset in the array.
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公开(公告)号：US10933842B2
公开(公告)日：2021-03-02
申请号：US16216120
申请日：2018-12-11
Applicant: Waymo LLC
Inventor： Seth Gilbertson
IPC: B05B1/02 , B05B15/72 , B08B3/02 , B60R11/04 , B60S1/08 , B60S1/52 , B60S1/54 , B60S1/56 , G02B27/00 , H04N5/217
Abstract: This technology relates to system for clearing a sensor cover. The system may include a sprayer, a support, and a positioning device. The sprayer may be mounted to the support and direct a flow of fluid to the sensor cover. The positioning device may be configured to adjust the position of the sprayer on the support. The system may include a nozzle and the nozzle may be positioned to direct the flow of fluid to an area of the sensor cover. The system may include additional sprayers.
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公开(公告)号：US20210055393A1
公开(公告)日：2021-02-25
申请号：US17091337
申请日：2020-11-06
Applicant: Waymo LLC
Inventor： Simon Verghese , Pierre-Yves Droz , Mark Shand
IPC: G01S7/486 , G01S17/42 , G01S7/487 , G01S17/10 , G01S17/931 , G01S7/484 , G01S7/4865 , G05D1/02
Abstract: Described herein are methods and systems for protecting a light detection and ranging (LIDAR) device against external light that is originated at a light source other than a light source of the LIDAR device and that is being emitted towards the LIDAR device. In particular, the LIDAR device may be equipped with a mitigation system that includes an interference filter, an absorptive filter, an adaptive filter, and/or a spatial filter. Additionally or alternatively, the LIDAR device may be operated to carry out reactive and/or proactive mitigation operations. For example, the LIDAR device may be operated to vary over time characteristics with which light is being emitted and to only detect light having characteristics that match the characteristics with which light is being emitted. In another example, the LIDAR device may be operated to activate a shutter to block the external light from being detected by the LIDAR device.
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公开(公告)号：US20210055373A1
公开(公告)日：2021-02-25
申请号：US16544841
申请日：2019-08-19
Applicant: Waymo llc
Inventor： Larry Smith
Abstract: A method is provided that includes receiving reflections of a plurality of radar signals from an environment by a radar system. The method also includes determining, by a radar processing system, that two received radar reflections correspond to an object in the environment based on a location of the object, where at least one of the two received radar reflections had a reflection in the environment off of a secondary reflecting object. The method further includes revising a tracking for the object.
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