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公开(公告)号：US20240400110A1
公开(公告)日：2024-12-05
申请号：US18796855
申请日：2024-08-07
Applicant: Waymo LLC
Inventor： Luis Torres , Brandon Luders
Abstract: Aspects of the disclosure relate to methods for controlling a vehicle having an autonomous driving mode. For instance, sensor data may be received from one or more sensors of the perception system of the vehicle, the sensor data identifying characteristics of an object perceived by the perception system. When it is determined that the object is no longer being perceived by the one or more sensors of the perception system, predicted characteristics for the object may be generated based on one or more of the identified characteristics. The predicted characteristics of the object may be used to control the vehicle in the autonomous driving mode such that the vehicle is able to respond to the object when it is determined that the object is no longer being perceived by the one or more sensors of the perception system.
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公开(公告)号：US12158519B2
公开(公告)日：2024-12-03
申请号：US18456097
申请日：2023-08-25
Applicant: Waymo LLC
Inventor： Nicholas Armstrong-Crews
IPC: G01S13/89 , G01S13/931
Abstract: Example embodiments relate to self-reflection filtering techniques within radar data. A computing device may use radar data to determine a first radar representation that conveys information about surfaces in a vehicle's environment. The computing device may use a predefined model to generate a second radar representation that assigns predicted self-reflection values to respective locations of the environment based on the information about the surfaces conveyed by the first radar representation. The predefined model can enable a predefined self-reflection value to be assigned to a first location based on information about a surface positioned at a second location and a relationship between the first location and the second location. The computing device may then modify the first radar representation based on the predicted self-reflection values in the second radar representation and provide instructions to a control system of the vehicle based on modifying the first radar representation.
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公开(公告)号：US20240393443A1
公开(公告)日：2024-11-28
申请号：US18794511
申请日：2024-08-05
Applicant: Waymo LLC
Inventor： Gil Shotan , Colin Braley , Volker Grabe , Volodymyr Ivanchenko
Abstract: Example embodiments relate to methods for localizing light detection and ranging (lidar) calibration targets. An example method includes generating a point cloud of a region based on data from a light detection and ranging (lidar) device. The point cloud may include points representing at least a portion of a calibration target. The method also includes determining a presumed location of the calibration target. Further, the method includes identifying, within the point cloud, a location of a first edge of the calibration target. In addition, the method includes performing a comparison between the identified location of the first edge of the calibration target and a hypothetical location of the first edge of the calibration target within the point cloud if the calibration target were positioned at the presumed location. Still further, the method includes revising the presumed location of the calibration target based on at least the comparison.
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公开(公告)号：US20240385302A1
公开(公告)日：2024-11-21
申请号：US18785363
申请日：2024-07-26
Applicant: Waymo LLC
Inventor： Mingcheng Chen , Colin Braley , Volker Grabe , Christian Lauterbach
Abstract: Example embodiments relate to calibration and localization of a light detection and ranging (lidar) device using a previously calibrated and localized lidar device. An example embodiment includes a method. The method includes receiving, by a computing device associated with a second vehicle, a first point cloud captured by a first lidar device of a first vehicle. The first point cloud includes points representing the second vehicle. The method also includes receiving, by the computing device, pose information indicative of a pose of the first vehicle. In addition, the method includes capturing, using a second lidar device of the second vehicle, a second point cloud. Further, the method includes receiving, by the computing device, a third point cloud representing the first vehicle. Yet further, the method includes calibrating and localizing, by the computing device, the second lidar device.
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公开(公告)号：US12147076B2
公开(公告)日：2024-11-19
申请号：US18337119
申请日：2023-06-19
Applicant: Waymo LLC
Inventor： James Dunphy , David Hutchison , Pierre-Yves Droz , Yeh-Jiun Tung
Abstract: One example LIDAR device comprises a substrate and a waveguide disposed on the substrate. A first section of the waveguide extends lengthwise on the substrate in a first direction. A second section of the waveguide extends lengthwise on the substrate in a second direction different than the first direction. A third section of the waveguide extends lengthwise on the substrate in a third direction different than the second direction. The second section extends lengthwise between the first section and the second section. The LIDAR device also comprises a light emitter configured to emit light. The waveguide is configured to guide the light inside the first section toward the second section, inside the second section toward the third section, and inside the third section away from the second section.
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Patent Agency Ranking
公开(公告)号：US20240377245A1
公开(公告)日：2024-11-14
申请号：US18779594
申请日：2024-07-22
Applicant: Waymo LLC
Inventor： Pierre-Yves Droz , David Hutchison
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 aperture defined within an opaque material. 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 an array of light detectors that intercepts and detects light propagating out of the third side of the waveguide.
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公开(公告)号：US12143734B1
公开(公告)日：2024-11-12
申请号：US18169532
申请日：2023-02-15
Applicant: Waymo LLC
Inventor： Shashank Sharma , Ralph H. Shepard
Abstract: Example embodiments relate to enhanced depth of focus cameras using variable apertures and pixel binning. An example embodiment includes a device. The device includes an image sensor. The image sensor includes an array of light-sensitive pixels and a readout circuit. The device also includes a variable aperture. Additionally, the device includes a controller that is configured to cause: the variable aperture to adjust to a first aperture size when a high-light condition is present, the variable aperture to adjust to a second aperture size when a low-light condition is present, the readout circuit to perform a first level of pixel binning when the high-light condition is present, and the readout circuit to perform a second level of pixel binning when the low-light condition is present. The second aperture size is larger than the first aperture size. The second level of pixel binning is greater than the first level of pixel binning.
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公开(公告)号：US12140962B2
公开(公告)日：2024-11-12
申请号：US18200243
申请日：2023-05-22
Applicant: Waymo LLC
Inventor： Nicholas Armstrong-Crews , Christian Lauterbach , Scott McCloskey , Peter Morton
Abstract: The technology relates to developing a highly accurate understanding of a vehicle's sensor fields of view in relation to the vehicle itself. A training phase is employed to gather sensor data in various situations and scenarios, and a modeling phase takes such information and identifies self-returns and other signals that should either be excluded from analysis during real-time driving or accounted for to avoid false positives. The result is a sensor field of view model for a particular vehicle, which can be extended to other similar makes and models of that vehicle. This approach enables a vehicle to determine when sensor data is of the vehicle or something else. As a result, the detailed modeling allowing the on-board computing system to make driving decisions and take other actions based on accurate sensor information.
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公开(公告)号：US12139215B1
公开(公告)日：2024-11-12
申请号：US17573128
申请日：2022-01-11
Applicant: Waymo LLC
Inventor： Justin Zaydel , Diomidis Katzourakis
IPC: B62D5/04
Abstract: Aspects of the technology involve controlling a vehicle configured to operate in an autonomous driving mode. This includes receiving a set of environmental inputs including temperature information from different temperature sources, receiving initial steering information from a steering system of the vehicle, and obtaining an initial rack position command by a motion control module of the vehicle. The system determines, based on the environmental inputs, the initial steering information and an initial rack position, a likelihood that a steering actuator of the steering system of the vehicle is blocked or likely to become blocked. The system determines whether a threshold excitation amount has been applied to the steering system within a selected amount of time or a selected driving distance. When the threshold amount of excitation is not met, an excitation profile is applied to the steering system in order to modify the initial rack position.
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公开(公告)号：US12137285B2
公开(公告)日：2024-11-05
申请号：US17207787
申请日：2021-03-22
Applicant: Waymo LLC
Inventor： Nirmal Patel
Abstract: Aspects of the disclosure relate to adjusting a virtual camera's orientation when a vehicle is making a turn. One or more computing devices may receive the vehicle's original heading prior to making the turn and the vehicle's current heading. Based on the vehicle's original heading and the vehicle's current heading, the one or more computing devices may determine an angle of a turn the vehicle is performing and The one or more computing devices may determine a camera rotation angle and adjust the virtual camera's orientation relative to the vehicle to an updated orientation by rotating the virtual camera by the camera rotation angle and generate a video corresponding to the virtual camera's updated orientation. The video may be displayed on the display by the one or more computing devices.
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