公开(公告)号：US10523880B2

公开(公告)日：2019-12-31

申请号：US15719366

申请日：2017-09-28

Applicant: Waymo LLC

Inventor： Blaise Gassend ,  Benjamin Ingram ,  Andreas Wendel ,  Mark Alexander Shand

IPC: H04N5/353 ,  G06T7/521 ,  H04N5/235 ,  H04N5/247 ,  H04N5/341 ,  G01S17/89 ,  H04N5/225 ,  H04N5/232 ,  G06T17/05 ,  G06T7/90

Abstract: One example system comprises a LIDAR sensor that rotates about an axis to scan an environment of the LIDAR sensor. The system also comprises one or more cameras that detect external light originating from one or more external light sources. The one or more cameras together provide a plurality of rows of sensing elements. The rows of sensing elements are aligned with the axis of rotation of the LIDAR sensor. The system also comprises a controller that operates the one or more cameras to obtain a sequence of image pixel rows. A first image pixel row in the sequence is indicative of external light detected by a first row of sensing elements during a first exposure time period. A second image pixel row in the sequence is indicative of external light detected by a second row of sensing elements during a second exposure time period.

公开(公告)号：US20190355251A1

公开(公告)日：2019-11-21

申请号：US16392745

申请日：2019-04-24

Applicant: Waymo LLC

Inventor： David Harrison Silver ,  Angus Leigh ,  Benjamin Ingram ,  Jennifer Taylor ,  Vaibhav Nangia

IPC: G08G1/0965 ,  H04R3/00 ,  G08G1/16 ,  G06F16/683 ,  G06F16/68

Abstract: The technology relates to detecting and responding to emergency vehicles. This may include using a plurality of microphones to detect a siren noise corresponding to an emergency vehicle and to estimate a bearing of the emergency vehicle. This estimated bearing is compared to map information to identify a portion of roadway on which the emergency vehicle is traveling. In addition, information identifying a set of objects in the vehicle's environment as well as characteristics of those objects is received from a perception system is used to determine whether one of the set of objects corresponds to the emergency vehicle. How to respond to the emergency vehicle is determined based on the estimated bearing and identified road segments and the determination of whether one of the set of objects corresponds to the emergency vehicle. This determined response is then used to control the vehicle in an autonomous driving mode.

公开(公告)号：US10319228B2

公开(公告)日：2019-06-11

申请号：US15689336

申请日：2017-08-29

Applicant: Waymo LLC

Inventor： David Harrison Silver ,  Angus Leigh ,  Benjamin Ingram ,  Jennifer Taylor ,  Vaibhav Nangia

IPC: G08G1/0965 ,  H04R3/00 ,  G06F17/30 ,  G08G1/16 ,  G06F16/683 ,  G06F16/68

Abstract: The technology relates to detecting and responding to emergency vehicles. This may include using a plurality of microphones to detect a siren noise corresponding to an emergency vehicle and to estimate a bearing of the emergency vehicle. This estimated bearing is compared to map information to identify a portion of roadway on which the emergency vehicle is traveling. In addition, information identifying a set of objects in the vehicle's environment as well as characteristics of those objects is received from a perception system is used to determine whether one of the set of objects corresponds to the emergency vehicle. How to respond to the emergency vehicle is determined based on the estimated bearing and identified road segments and the determination of whether one of the set of objects corresponds to the emergency vehicle. This determined response is then used to control the vehicle in an autonomous driving mode.

公开(公告)号：US20180336692A1

公开(公告)日：2018-11-22

申请号：US15613546

申请日：2017-06-05

Applicant: Waymo LLC

Inventor： Andreas Wendel ,  Benjamin Ingram

IPC: G06T7/593 ,  G06K9/32 ,  G05D1/02 ,  B60W30/095

Abstract: The technology relates to camera systems for vehicles having an autonomous driving mode. An example system includes a first camera mounted on a vehicle in order to capture images of the vehicle's environment. The first camera has a first exposure time and being without an ND filter. The system also includes a second camera mounted on the vehicle in order to capture images of the vehicle's environment and having an ND filter. The system also includes one or more processors configured to capture images using the first camera and the first exposure time, capture images using the second camera and the second exposure time, use the images captured using the second camera to identify illuminated objects, use the images captured using the first camera to identify the locations of objects, and use the identified illuminated objects and identified locations of objects to control the vehicle in an autonomous driving mode.

公开(公告)号：US20250118089A1

公开(公告)日：2025-04-10

申请号：US18986974

申请日：2024-12-19

Applicant: WAYMO LLC

Inventor： Andreas Wendel ,  Benjamin Ingram

IPC: H04N23/745 ,  B60W60/00 ,  H04N23/61 ,  H04N23/72 ,  H04N23/73 ,  H04N23/76

Abstract: The technology relates to camera systems for vehicles having an autonomous driving mode. An example system includes a first camera mounted on a vehicle in order to capture images of the vehicle's environment. The first camera has a first exposure time and being without an ND filter. The system also includes a second camera mounted on the vehicle in order to capture images of the vehicle's environment and having an ND filter. The system also includes one or more processors configured to capture images using the first camera and the first exposure time, capture images using the second camera and the second exposure time, use the images captured using the second camera to identify illuminated objects, use the images captured using the first camera to identify the locations of objects, and use the identified illuminated objects and identified locations of objects to control the vehicle in an autonomous driving mode.

公开(公告)号：US12211287B2

公开(公告)日：2025-01-28

申请号：US17729483

申请日：2022-04-26

Applicant: Waymo LLC

Inventor： Andreas Wendel ,  Benjamin Ingram

IPC: B60W30/095 ,  G05D1/00 ,  G06T7/593 ,  G06V10/147 ,  G06V20/58

Abstract: The technology relates to camera systems for vehicles having an autonomous driving mode. An example system includes a first camera mounted on a vehicle in order to capture images of the vehicle's environment. The first camera has a first exposure time and being without an ND filter. The system also includes a second camera mounted on the vehicle in order to capture images of the vehicle's environment and having an ND filter. The system also includes one or more processors configured to capture images using the first camera and the first exposure time, capture images using the second camera and the second exposure time, use the images captured using the second camera to identify illuminated objects, use the images captured using the first camera to identify the locations of objects, and use the identified illuminated objects and identified locations of objects to control the vehicle in an autonomous driving mode.

公开(公告)号：US20240361438A1

公开(公告)日：2024-10-31

申请号：US18765509

申请日：2024-07-08

Applicant: Waymo LLC

Inventor： Blaise Gassend ,  Benjamin Ingram ,  Luke Wachter

IPC: G01S7/497 ,  G01S7/40 ,  G01S7/481 ,  G01S13/931 ,  G01S17/86 ,  G01S17/87 ,  G01S17/931

CPC classification number: G01S7/4972 ,  G01S7/4813 ,  G01S13/931 ,  G01S17/86 ,  G01S17/87 ,  G01S17/931 ,  G01S7/4039 ,  G01S2013/93271 ,  G01S2013/93272 ,  G01S2013/93273

Abstract: An example system includes a light detection and ranging (LIDAR) device that scans a field-of-view defined by a pointing direction of the LIDAR device. The system also includes an actuator that adjusts the pointing direction of the LIDAR device. The system also includes a communication interface that receives timing information from an external system. The system also includes a controller that causes the actuator to adjust the pointing direction of the LIDAR device based on at least the received timing information.

公开(公告)号：US11656358B2

公开(公告)日：2023-05-23

申请号：US16671858

申请日：2019-11-01

Applicant: Waymo LLC

Inventor： Blaise Gassend ,  Nicholas Armstrong-Crews ,  Andreas Wendel ,  Benjamin Ingram ,  Clayton Kunz

IPC: G01S17/89 ,  G01S17/10 ,  G01S7/481

CPC classification number: G01S17/89 ,  G01S7/4817 ,  G01S17/10

Abstract: One example system includes a first light detection and ranging (LIDAR) device that scans a first field-of-view defined by a first range of pointing directions associated with the first LIDAR device. The system also includes a second LIDAR device that scans a second FOV defined by a second range of pointing directions associated with the second LIDAR device. The second FOV at least partially overlaps the first FOV. The system also includes a first controller that adjusts a first pointing direction of the first LIDAR device. The system also includes a second controller that adjusts a second pointing direction of the second LIDAR device synchronously with the adjustment of the first pointing direction of the first LIDAR device.

公开(公告)号：US20230147270A1

公开(公告)日：2023-05-11

申请号：US18150249

申请日：2023-01-05

Applicant: Waymo LLC

Inventor： Blaise Gassend ,  Benjamin Ingram ,  Andreas Wendel ,  Mark Alexander Shand

IPC: H04N25/531 ,  G06T7/521 ,  G01S17/89 ,  G01S17/42 ,  G01S17/86 ,  H04N23/45 ,  H04N23/71 ,  H04N23/73 ,  H04N23/90 ,  H04N23/698 ,  H04N25/40

CPC classification number: H04N25/531 ,  G06T7/521 ,  G01S17/89 ,  G01S17/42 ,  G01S17/86 ,  H04N23/45 ,  H04N23/71 ,  H04N23/73 ,  H04N23/90 ,  H04N23/698 ,  H04N25/40 ,  G06T2207/10152 ,  G06T2207/10028 ,  G06T17/05

Abstract: One example system comprises a LIDAR sensor that rotates about an axis to scan an environment of the LIDAR sensor. The system also comprises one or more cameras that detect external light originating from one or more external light sources. The one or more cameras together provide a plurality of rows of sensing elements. The rows of sensing elements are aligned with the axis of rotation of the LIDAR sensor. The system also comprises a controller that operates the one or more cameras to obtain a sequence of image pixel rows. A first image pixel row in the sequence is indicative of external light detected by a first row of sensing elements during a first exposure time period. A second image pixel row in the sequence is indicative of external light detected by a second row of sensing elements during a second exposure time period.

公开(公告)号：US20220365199A1

公开(公告)日：2022-11-17

申请号：US17813991

申请日：2022-07-21

Applicant: Waymo LLC

Inventor： Benjamin Ingram ,  Edward McCloskey ,  Timothy Campbell ,  Pierre-Yves Droz

IPC: G01S13/86 ,  G01S13/931 ,  G01S17/86 ,  G01S17/931

Abstract: The present disclosure relates to systems and methods that facilitate active sensor systems. An example method includes receiving information indicative of an operating context of a vehicle, wherein at least one Light Detection and Ranging (LIDAR) sensor or at least one radar sensor are coupled to the vehicle. The method also includes selecting, from a plurality of sensor power configurations, a desired sensor power configuration based on the operating context of the vehicle. The method further includes causing at least one of: the at least one LIDAR sensor to emit light pulses according to the desired sensor power configuration or the at least one radar sensor to emit radar energy according to the desired sensor power configuration.