公开(公告)号：US20200382766A1

公开(公告)日：2020-12-03

申请号：US16994115

申请日：2020-08-14

Applicant: Waymo LLC

Inventor： Chen David Lu ,  Erik Chubb

IPC: H04N17/00 ,  G01M11/00 ,  G03B43/00 ,  G01J1/42 ,  G01J1/02

Abstract: Methods, systems, and apparatus for a stray-light testing apparatus. In one aspect, the apparatus includes an optical assembly including a spatially extended light source and one or more optical elements arranged to direct light from the spatially extended light source along an optical path, a moveable frame supporting the optical assembly including one or more adjustable alignment features for guiding positioning of the stray-light testing apparatus relative to an onboard camera on a vehicle, and a shrouding mechanism attached to the frame and positioned on the frame such that, when the stray-light testing apparatus is aligned relative to the onboard camera on the vehicle and the optical path of the optical assembly is within the field of view of the onboard camera, ambient light exposure for the onboard camera is below a threshold.

公开(公告)号：US20200381884A1

公开(公告)日：2020-12-03

申请号：US16998158

申请日：2020-08-20

Applicant: Waymo LLC

Inventor： Mark Shand

IPC: H01S3/00 ,  G01S7/481 ,  G01S7/484 ,  G02B26/10 ,  G05D1/02 ,  G08G1/0967 ,  G05D1/00 ,  G01S17/931

Abstract: Systems and methods are described that relate to a scanning laser system configured to emit laser light and an interlock circuit communicatively coupled to the scanning laser system. The interlock circuit may carry out certain operations. The operations include, as the scanning laser system emits laser light into one or more regions of an environment around the scanning laser system, determining a respective predicted dosage amount for each region based on the emitted laser light. The operations further include detecting an interlock condition. The interlock condition includes a predicted dosage amount for at least one region being greater than a threshold dose. In response to detecting the interlock condition, the operations include controlling the scanning laser system to reduce a subsequent dosage amount in the at least one region.

公开(公告)号：US10854085B2

公开(公告)日：2020-12-01

申请号：US16702937

申请日：2019-12-04

Applicant: Waymo LLC

Inventor： John Wesley Dyer ,  Philip Nemec ,  Joshua Newby ,  Michael Epstein

IPC: G08G1/00 ,  H04L29/08 ,  G06Q50/30 ,  H04W12/06 ,  G05D1/00 ,  H04L29/06

Abstract: The disclosure relates to smart signs or physical markers for facilitating passenger trips for autonomous vehicles. For instance, a physical marker remote from the autonomous vehicles may receive a first notification indicating a request for a trip has been made via a client computing device. The physical marker may determine when the client computing device has reached a physical marker, and in response to the determination, the physical marker may send a second notification to a dispatching server computing device indicating that the client computing device has reached a physical marker. Other aspects of the disclosure relate to various features and uses for the physical marker.

公开(公告)号：US20200348691A1

公开(公告)日：2020-11-05

申请号：US16931135

申请日：2020-07-16

Applicant: Waymo LLC

Inventor： Nathaniel Fairfield ,  Joshua Herbach

IPC: G05D1/02 ,  G05D1/00 ,  B60W30/182

Abstract: Examples described may enable provision of remote assistance for an autonomous vehicle. An example method includes a computing system operating by default in a first mode and periodically transitioning from operation in the first mode to operation in a second mode. In the first mode, the system may receive environment data provided by the vehicle and representing object(s) having a detection confidence below a threshold, where the detection confidence is indicative of a likelihood of correct identification of the object(s), and responsive to the object(s) having a confidence below the threshold, provide remote assistance data comprising an instruction to control the vehicle and/or a correct identification of the object(s). In the second mode, the system may trigger user interface display of remote assistor alertness data based on pre-stored data related to an environment in which the pre-stored data was acquired, and receive a response relating to the alertness data.

公开(公告)号：US10826166B2

公开(公告)日：2020-11-03

申请号：US16561349

申请日：2019-09-05

Applicant: Waymo LLC

Inventor： Benjamin Chen ,  Adam Brown ,  Jamal Izadian

IPC: H01P11/00 ,  H01Q21/06 ,  H01Q21/00 ,  H01Q1/32 ,  H01Q1/50 ,  H01Q9/04 ,  H01P5/12 ,  H01Q13/22 ,  G01S7/40

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.

公开(公告)号：US20200341478A1

公开(公告)日：2020-10-29

申请号：US15931012

申请日：2020-05-13

Applicant: Waymo LLC

Inventor： Nathaniel Fairfield ,  Joshua Seth Herbach

IPC: G05D1/02 ,  G08G1/0968 ,  G01C21/34 ,  G01C21/20 ,  G01C21/36

Abstract: A route for a trip to a destination is generated using map information. A set of no-go roadway segments, where the vehicle is not able to drive in an autonomous mode, relevant to the route from the plurality of no-go roadway segments is identified from the map information. A local region around a current location of the vehicle is determined. A local map region including roadway segments of the map information that correspond to locations within the local region is determined. The set of the plurality of no-go roadway segments is filtered from the roadway segments of the local map region. A cost value is assigned to each roadway segment of the filtered roadway segments of the local map region. Any assigned cost values are used to determining a plan for maneuvering the vehicle for a predetermined period into the future. The vehicle is maneuvered according to the plan.

公开(公告)号：US20200338981A1

公开(公告)日：2020-10-29

申请号：US16395659

申请日：2019-04-26

Applicant: Waymo LLC

Inventor： Maria Moon ,  Julien Charles Mercay ,  Kyle Bechtel ,  Clement Wright ,  Ryan Powell

IPC: B60K35/00 ,  G05D1/00

Abstract: Aspects of the technology relate to assisting a passenger in an autonomous vehicle without a driver. For instance, after a door of the vehicle is opened, a predetermined period of time may be waited by processors of computing devices of the vehicle. After waiting the predetermined period of time and when the vehicle's door remains open, a set of instructions for closing the vehicle's door may be played by the processors through a speaker of the vehicle. Once the door of the vehicle is closed, an announcement may be played by the processors through the speaker requesting that the passenger press a first button to initiate a ride to a destination. In response to the first button being pressed, the ride to the destination may be initiated by the processors by maneuvering the vehicle autonomously to the destination.

公开(公告)号：US10819923B1

公开(公告)日：2020-10-27

申请号：US16688081

申请日：2019-11-19

Applicant: Waymo LLC

Inventor： Alexander McCauley ,  Ralph H. Shepard ,  Brandyn White ,  Simon Verghese

IPC: G06K9/00 ,  H04N5/33 ,  G06N3/08 ,  G01J5/04 ,  G01S17/87 ,  G01J5/02 ,  G01J5/00

Abstract: The present disclosure relates to systems and methods that utilize machine learning techniques to improve object classification in thermal imaging systems. In an example embodiment, a method is provided. The method includes receiving, at a computing device, one or more infrared images of an environment. The method additionally includes, applying, using the computing device, a trained machine learning system on the one or more infrared images to determine an identified object type in the environment by at least: determining one or more prior thermal maps associated with the environment; using the one or more prior thermal maps and the one or more infrared images, determining a current thermal map associated with the environment; and determining the identified object type based on the current thermal map. The method also includes providing the identified object type using the computing device.

公开(公告)号：US20200336733A1

公开(公告)日：2020-10-22

申请号：US16809869

申请日：2020-03-05

Applicant: Waymo LLC

Inventor： Benjamin Frevert

IPC: H04N17/00 ,  G02B26/12 ,  H04N5/225 ,  G02B5/08

Abstract: Example embodiments relate to calibration systems usable for distortion characterization in cameras. An example embodiment includes a calibration system. The calibration system includes a first calibration target that includes a first mirror, a plurality of fiducials positioned on or adjacent to the first mirror, and an indexing fiducial positioned on or adjacent to the first mirror. The calibration system also includes a second calibration target that includes one or more second mirrors and has an aperture defined therein. The first mirror and the one or more second mirrors are separated by a distance. The first mirror faces the one or more second mirrors. The indexing fiducial is visible through the aperture in the second calibration target. Reflections of the plurality of fiducials are visible through the aperture defined in the second calibration target. The reflections of the plurality of fiducials are iterated reflections.

公开(公告)号：US20200321374A1

公开(公告)日：2020-10-08

申请号：US16376634

申请日：2019-04-05

Applicant: Waymo LLC

Inventor： Lucian Ion ,  Vlad Constantin Cardei ,  Carl Warren Craddock

IPC: H01L27/146 ,  G06N3/08 ,  H04N5/341 ,  H04N5/232 ,  G06K9/32

Abstract: A image sensor includes a first integrated circuit layer including pixel sensors that are grouped based on position into pixel sensor groups, a second integrated circuit layer in electrical communication with the first integrated circuit layer, the second integrated circuit layer including image processing circuitry groups that are configured to each receive pixel information from a corresponding pixel sensor group, the image processing circuitry groups further configured to perform image processing operations on the pixel information to provide processed pixel information during operation of the image sensor, a third integrated circuit layer in electrical communication with the second integrated circuit layer, and the third integrated circuit layer including neural network circuitry groups that are configured to each receive the processed pixel information from a corresponding image processing circuitry group and perform analysis for object detection on the processed pixel information during operation of the image sensor.