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公开(公告)号：US10698088B2
公开(公告)日：2020-06-30
申请号：US15665796
申请日：2017-08-01
Applicant: Waymo LLC
Inventor： Pierre-Yves Droz , David Neil Hutchison , Ralph Hamilton Shepard
Abstract: The present disclosure relates to limitation of noise on light detectors using an aperture. One example implementation includes a system. The system includes a lens disposed relative to a scene. The lens focuses light from the scene. The system also includes an opaque material that defines an aperture. The system also includes a waveguide having a first side that receives light focused by the lens and transmitted through the aperture. The waveguide guides the received light toward a second side of the waveguide opposite to the first side. The waveguide has a third side extending between the first side and the second side. The system also includes a mirror that reflects the guided light toward the third side of the waveguide. The system also includes an array of light detectors that detects the reflected light propagating out of the third side.
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公开(公告)号：US10691135B2
公开(公告)日：2020-06-23
申请号：US15713500
申请日：2017-09-22
Applicant: Waymo LLC
Inventor： Timothy Campbell , L. Donnie Smith
IPC: G05D1/02 , G01S13/86 , G01S13/931 , B60W30/08
Abstract: Examples relating to vehicle motion detection using radar technology are described. An example method may involve a computing system receiving, from a radar sensor mounted on an autonomous vehicle, radar data representative of an environment of the vehicle. The method may involve the computing system, based on the radar data, detecting at least one scatterer present in the environment. The method may involve the computing system making a determination of a likelihood that the at least one scatterer is stationary with respect to the vehicle. The method may involve the computing system, based on the determination being that the likelihood is at least equal to a predefined confidence threshold, determining an indication that the vehicle is stationary. And the method may involve the computing system controlling movement of the vehicle based on the determined indication.
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公开(公告)号：US10685566B1
公开(公告)日：2020-06-16
申请号：US16564941
申请日：2019-09-09
Applicant: Waymo LLC
Inventor： Nirmal Patel
IPC: G08G1/137 , G08G1/0967 , G05D1/00
Abstract: This technology relates to selectively providing details of surrounding roads to passengers of a vehicle. One or more computing devices may calculate a plane relative to an orientation of the vehicle based upon at least one of the vehicle's location, pitch, and yaw. For each surrounding road a distance between the surrounding road and the plane may be determined by the one or more computing devices. The one or more computing devices may generate and display a video indicating a projected trajectory of the vehicle and objects detected by sensors on the vehicle, on a map corresponding to a route the vehicle is currently following and virtual representations of surrounding roads which are within a predefined distance of the location of the vehicle based on the determined distance for each of the surrounding roads.
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公开(公告)号：US10678259B1
公开(公告)日：2020-06-09
申请号：US15090089
申请日：2016-04-04
Applicant: Waymo LLC
Inventor： David Ian Ferguson , Jiajun Zhu
Abstract: Methods and systems for use of a reference image to detect a road obstacle are described. A computing device configured to control a vehicle, may be configured to receive, from an image-capture device, an image of a road on which the vehicle is travelling. The computing device may be configured to compare the image to a reference image; and identify a difference between the image and the reference image. Further, the computing device may be configured to determine a level of confidence for identification of the difference. Based on the difference and the level of confidence, the computing device may be configured to modify a control strategy associated with a driving behavior of the vehicle; and control the vehicle based on the modified control strategy.
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公开(公告)号：US10674099B2
公开(公告)日：2020-06-02
申请号：US15974421
申请日：2018-05-08
Applicant: Waymo LLC
Inventor： Roman Lewkow , Mark Shand
Abstract: An optical system and method may relate to capturing extended dynamic range images. In an example embodiment, the optical system may include a lens element configured to receive incident light and a beam splitter optically coupled to the lens element. The beam splitter is configured to separate the incident light into at least a first portion having a first photon flux and a second portion having a second photon flux. The first photon flux is at least an order of magnitude greater than the second photon flux. A controller may be configured to cause a first image sensor to capture a first image of the first portion of the incident light according to first exposure parameters and cause a second image sensor to capture a second image of the second portion of the incident light according to second exposure parameters.
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Patent Agency Ranking
公开(公告)号：US10671079B2
公开(公告)日：2020-06-02
申请号：US15791623
申请日：2017-10-24
Applicant: Waymo LLC
Inventor： Jared Stephen Russell , Mark Paskin
Abstract: The technology relates to controlling a vehicle in an autonomous driving mode. In one instance, sensor data identifying an object in an environment of the vehicle may be received. A first path of a first trajectory where the vehicle will pass the object may be determined. A function is used to determining a first maximum speed of the vehicle based on a predetermined minimum lateral clearance between the object and the vehicle. The first maximum speed may be used to determine whether an actual lateral clearance between the object and the vehicle will meet the predetermined minimum lateral clearance. The determination of whether the actual lateral clearance will meet the predetermined minimum lateral clearance may be used to generate a first speed plan for the first trajectory. The vehicle may be controlled in the autonomous driving mode according to the first trajectory including the first speed plan and the first path.
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公开(公告)号：US10670725B2
公开(公告)日：2020-06-02
申请号：US15658800
申请日：2017-07-25
Applicant: Waymo LLC
Inventor： John Tisdale , Michael Montemerlo , Andrew Chatham
Abstract: The present disclosure relates to methods and systems that facilitate determination of a pose of a vehicle based on various combinations of map data and sensor data received from light detection and ranging (LIDAR) devices and/or camera devices. An example method includes receiving point cloud data from a (LIDAR) device and transforming the point cloud data to provide a top-down image. The method also includes comparing the top-down image to a reference image and determining, based on the comparison, a yaw error. An alternative method includes receiving camera image data from a camera and transforming the camera image data to provide a top-down image. The method also includes comparing the top-down image to a reference image and determining, based on the comparison, a yaw error.
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公开(公告)号：US10663976B2
公开(公告)日：2020-05-26
申请号：US15719912
申请日：2017-09-29
Applicant: Waymo LLC
Inventor： Dmitri A. Dolgov , Christopher Paul Urmson
Abstract: Models can be generated of a vehicle's view of its environment and used to maneuver the vehicle. This view need not include what objects or features the vehicle is actually seeing, but rather those areas that the vehicle is able to observe using its sensors if the sensors were completely un-occluded. For example, for each of a plurality of sensors of the object detection component, a computer may generate an individual 3D model of that sensor's field of view. Weather information is received and used to adjust one or more of the models. After this adjusting, the models may be aggregated into a comprehensive 3D model. The comprehensive model may be combined with detailed map information indicating the probability of detecting objects at different locations. The model of the vehicle's environment may be computed based on the combined comprehensive 3D model and detailed map information.
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公开(公告)号：US20200159215A1
公开(公告)日：2020-05-21
申请号：US16198130
申请日：2018-11-21
Applicant: Waymo LLC
Inventor： Kai Ding , Khaled Refaat , Stephane Ross
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for identifying high-priority agents in the vicinity of a vehicle and, for only those agents which are high priority agents, generating data characterizing the agents using a first prediction model. In a first aspect, a system identifies multiple agents in an environment in a vicinity of a vehicle. The system generates a respective importance score for each of the agents by processing a feature representation of each agent using an importance scoring model. The importance score for an agent characterizes an estimated impact of the agent on planning decisions generated by a planning system of the vehicle which plans a future trajectory of the vehicle. The system identifies, as high-priority agents, a proper subset of the plurality of agents with the highest importance scores.
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公开(公告)号：US20200088859A1
公开(公告)日：2020-03-19
申请号：US16133231
申请日：2018-09-17
Applicant: Waymo LLC
Inventor： Ralph H. Shepard , Pierre-Yves Droz , David Schleuning , Mark Shand , Luke Wachter
Abstract: Example embodiments relate to arrays of light detectors with a corresponding array of optical elements. An example embodiment includes a light detection and ranging (LIDAR) system. The LIDAR system includes an array of light detectors. The LIDAR system also includes a shared imaging optic. Further, the LIDAR system includes an array of optical elements positioned between the shared imaging optic and the array of light detectors. Each light detector in the array of light detectors is configured to detect a respective light signal from a respective region of a scene. Each respective light signal is transmitted via the shared imaging optic and modified by a respective optical element in the array of optical elements based on at least one aspect of the scene.
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