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公开(公告)号：US10930014B2
公开(公告)日：2021-02-23
申请号：US16547427
申请日：2019-08-21
Applicant: Waymo LLC
Inventor： Andreas Wendel , Volker Grabe , Jeremy Dittmer , Zachary Morriss
IPC: G06T7/80 , H04N13/246 , H04N13/282 , G01B11/25 , G06T7/60 , G06K9/00
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.
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公开(公告)号：US20210046910A1
公开(公告)日：2021-02-18
申请号：US17010090
申请日：2020-09-02
Applicant: Waymo LLC
Inventor： Shiying Zhou , Jens-Steffen Ralf Gutmann
Abstract: Aspects of the disclosure provide for generation of trajectories for a vehicle driving in an autonomous driving mode. For instance, information identifying a plurality of objects in the vehicle's environment and a confidence value for each of the objects is received. A set of constraints may be generated. That one or more processors are unable to solve for a trajectory given the set of constraints and an acceptable braking limit may be determined. A first constraint is identified as a constraint for which could not be solved and a first confidence value. That the vehicle should apply a maximum braking level is determined based on the identified first confidence value, a threshold, and the determination that the one or more processors are unable to solve for a trajectory. Based on the determination that the vehicle should apply the maximum braking level, the maximum braking level is applied.
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公开(公告)号：US20210036411A1
公开(公告)日：2021-02-04
申请号：US17063865
申请日：2020-10-06
Applicant: Waymo LLC
Inventor： Benjamin Chen , Adam Brown , Jamal Izadian
Abstract: The radar system includes a split-block assembly comprising a first portion and a second portion. The first portion and the second portion form a seam, where the first portion has a top side opposite the seam and the second portion has a bottom side opposite the seam. The system includes at least one port located on a bottom side of the second portion. Additionally, the system includes radiating elements located on the top side of the first portion, wherein the radiating elements are arranged in a plurality of arrays. Yet further, the system includes a set of waveguides in the split-block assembly configured to couple each array to at least one port. Furthermore, the split-block assembly is made from a polymer and where at least the set of waveguides, the at least one port, and the plurality of radiating elements include metal on a surface of the polymer.
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公开(公告)号：US20210026000A1
公开(公告)日：2021-01-28
申请号：US17061172
申请日：2020-10-01
Applicant: Waymo LLC
Inventor： Gaetan Pennecot , Pierre-Yves Droz
Abstract: A method is provided that involves mounting a transmit block and a receive block in a LIDAR device to provide a relative position between the transmit block and the receive block. The method also involves locating a camera at a given position at which the camera can image light beams emitted by the transmit block and can image the receive block. The method also involves obtaining, using the camera, a first image indicative of light source positions of one or more light sources in the transmit block and a second image indicative of detector positions of one or more detectors in the receive block. The method also involves determining at least one offset based on the first image and the second image. The method also involves adjusting the relative position between the transmit block and the receive block based at least in part on the at least one offset.
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公开(公告)号：US10899345B1
公开(公告)日：2021-01-26
申请号：US16538063
申请日：2019-08-12
Applicant: Waymo LLC
Inventor： David Ian Franklin Ferguson , David Harrison Silver , Stéphane Ross , Nathaniel Fairfield , Ioan-Alexandru Sucan
IPC: B60W30/09 , B60W30/095 , G05D1/00 , B60W30/18 , G05D1/02
Abstract: Aspects of the disclosure relate to detecting and responding to objects in a vehicle's environment. For example, an object may be identified in a vehicle's environment, the object having a heading and location. A set of possible actions for the object may be generated using map information describing the vehicle's environment and the heading and location of the object. A set of possible future trajectories of the object may be generated based on the set of possible actions. A likelihood value of each trajectory of the set of possible future trajectories may be determined based on contextual information including a status of the detected object. A final future trajectory is determined based on the determined likelihood value for each trajectory of the set of possible future trajectories. The vehicle is then maneuvered in order to avoid the final future trajectory and the object.
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Patent Agency Ranking
公开(公告)号：US20210012166A1
公开(公告)日：2021-01-14
申请号：US16509152
申请日：2019-07-11
Applicant: Waymo LLC
Inventor： Colin Andrew Braley , Volodymyr Ivanchenko , Yu Zhang
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for determining an alignment between cross-modal sensor data. In one aspect, a method comprises: obtaining (i) an image that characterizes a visual appearance of an environment, and (ii) a point cloud comprising a collection of data points that characterizes a three-dimensional geometry of the environment; processing each of a plurality of regions of the image using a visual embedding neural network to generate a respective embedding of each of the image regions; processing each of a plurality of regions of the point cloud using a shape embedding neural network to generate a respective embedding of each of the point cloud regions; and identifying a plurality of region pairs using the embeddings of the image regions and the embeddings of the point cloud regions.
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公开(公告)号：US10890919B2
公开(公告)日：2021-01-12
申请号：US15713499
申请日：2017-09-22
Applicant: Waymo LLC
Inventor： L. Donnie Smith , Timothy Campbell
IPC: G05D1/02 , G01S13/52 , G01S13/60 , G01S13/931 , G08G1/16 , B62D6/00 , B62D15/02 , B60W10/04 , B60W10/18 , B60W10/20 , G01S7/06 , B62D6/02 , B60W50/14 , G05D1/00
Abstract: Examples relating to vehicle velocity calculation using radar technology are described. An example method performed by a computing system may involve, while a vehicle is moving on a road, receiving, from two or more radar sensors mounted at different locations on the vehicle, radar data representative of an environment of the vehicle. The method may involve, based on the data, detecting at least one scatterer in the environment. The method may involve making a determination of a likelihood that the at least one scatterer is stationary with respect to the vehicle. The method may involve, based on the determination being that the likelihood is at least equal to a predefined confidence threshold, calculating a velocity of the vehicle based on the data from the sensors. The calculated velocity may include an angular and linear velocity. Further, the method may involve controlling the vehicle based on the calculated velocity.
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公开(公告)号：US20210006332A1
公开(公告)日：2021-01-07
申请号：US16502008
申请日：2019-07-02
Applicant: Waymo LLC
IPC: H04B10/112 , G01S17/89 , G01S17/93 , H04B10/00 , H04B10/524 , H04B10/67
Abstract: Systems and methods for performing operations based on LIDAR communications are described. An example device may include one or more processors and a memory coupled to the one or more processors. The memory includes instructions that, when executed by the one or more processors, cause the device to receive data associated with a modulated optical signal emitted by a transmitter of a first LIDAR device and received by a receiver of a second LIDAR device coupled to a vehicle and the device, generate a rendering of an environment of the vehicle based on information from one or more LIDAR devices coupled to the vehicle, and update the rendering based on the received data. Updating the rendering includes updating an object rendering of an object in the environment of the vehicle. The instructions further cause the device to provide the updated rendering for display on a display coupled to the vehicle.
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公开(公告)号：US20210001897A1
公开(公告)日：2021-01-07
申请号：US16919872
申请日：2020-07-02
Applicant: Waymo LLC
Inventor： Yuning Chai , Benjamin Sapp , Mayank Bansal , Dragomir Anguelov
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for agent trajectory prediction using anchor trajectories.
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公开(公告)号：US20210001865A1
公开(公告)日：2021-01-07
申请号：US17025048
申请日：2020-09-18
Applicant: Waymo LLC
Inventor： Keith Hutchings , Julien Mercay , Philip Nemec , Hans-olav CaveLie , Saswat Panigrahi , Renaud-Roland Hubert , Johan Engstrom
Abstract: This technology relates to dynamically detecting, managing and mitigating driver fatigue in autonomous systems. For instance, interactions of a driver in a vehicle may be monitored to determine a distance or time when primary tasks associated with operation of the vehicle or secondary tasks issued by the vehicle computing were last performed. If primary tasks or secondary tasks are not performed within given distance thresholds or time limits, then one or more secondary tasks are initiated by the computing device of the vehicle. In another instance, potential driver fatigue, driver distraction or overreliance on an automated driving system is detected based on gaze direction or pattern of a driver. For example, a detected gaze direction or pattern may be compared to an expected gaze direction or pattern given the surrounding environment in a vicinity of the vehicle
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