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公开(公告)号：US11321573B1
公开(公告)日：2022-05-03
申请号：US16420929
申请日：2019-05-23
申请人： Waymo LLC
摘要： The present disclosure is directed to an autonomous vehicle having a vehicle control system. The vehicle control system includes an image processing system. The image processing system receives an image that includes a plurality of image portions. The image processing system also calculates a score for each image portion. The score indicates a level of confidence that a given image portion represents an illuminated component of a traffic light. The image processing system further identifies one or more candidate portions from among the plurality of image portions. Additionally, the image processing system determines that a particular candidate portion represents an illuminated component of a traffic light using a classifier. Further, the image processing system provides instructions to control the autonomous vehicle based on the particular candidate portion representing an illuminated component of a traffic light.
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公开(公告)号：US11279346B2
公开(公告)日：2022-03-22
申请号：US16448230
申请日：2019-06-21
申请人： WAYMO LLC
发明人： Jens-Steffen Ralf Gutmann , Andreas Wendel , Nathaniel Fairfield , Dmitri A. Dolgov , Donald Jason Burnette
IPC分类号： B60W30/09 , G08G1/0962 , G08G1/0967 , B60W30/18
摘要： Aspects of the disclosure relate to determining whether a vehicle should continue through an intersection. For example, the one or more of the vehicle's computers may identify a time when the traffic signal light will turn from yellow to red. The one or more computers may also estimate a location of a vehicle at the time when the traffic signal light will turn from yellow to red. A starting point of the intersection may be identified. Based on whether the estimated location of the vehicle is at least a threshold distance past the starting point at the time when the traffic signal light will turn from yellow to red, the computers can determine whether the vehicle should continue through the intersection.
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公开(公告)号：US20220035005A1
公开(公告)日：2022-02-03
申请号：US17503571
申请日：2021-10-18
申请人： Waymo LLC
发明人： Kimberly Geneva Toth , Brendan Hermalyn , Shane Mcguire , Felix Jose Alvarez Rivera , Jeremy Dittmer , Andreas Wendel
摘要： The technology relates to autonomous vehicles that use a perception system to detect objects and features in the vehicle's surroundings. A camera assembly having a ring-type structure is provided that gives the perception system an overall 360° field of view around the vehicle. Image sensors are arranged in camera modules around the assembly to provide a seamless panoramic field of view. One subsystem has multiple pairs of image sensors positioned to provide the overall 360° field of view, while another subsystem provides a set of image sensors generally facing toward the front of the vehicle to provide enhanced object identification. The camera assembly may be arranged in a housing located on top of the vehicle. The housing may include other sensors such as LIDAR and radar. The assembly includes a chassis and top and base plates, which may provide EMI protection from other sensors disposed in the housing.
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公开(公告)号：US20210368109A1
公开(公告)日：2021-11-25
申请号：US17394823
申请日：2021-08-05
申请人： Waymo LLC
发明人： Andreas Wendel , Jeremy Dittmer , Brendan Hermalyn
摘要： An optical system for a vehicle may be configured with a plurality of camera sensors. Each camera sensor may be configured to create respective image data of a respective field of view. The optical system is further configured with a plurality of image processing units coupled to the plurality of camera sensors. The image processing units are configured to compress the image data captured by the camera sensors. A computing system is configured to store the compressed image data in a memory. The computing system is further configured with a vehicle-control processor configured to control the vehicle based on the compressed image data. The optical system and the computing system can be communicatively coupled by a data bus.
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公开(公告)号：US11181619B2
公开(公告)日：2021-11-23
申请号：US16008462
申请日：2018-06-14
申请人： Waymo LLC
发明人： Kimberly Geneva Toth , Brendan Hermalyn , Shane Mcguire , Felix Jose Alvarez Rivera , Jeremy Dittmer , Andreas Wendel
摘要： The technology relates to autonomous vehicles that use a perception system to detect objects and features in the vehicle's surroundings. A camera assembly having a ring-type structure is provided that gives the perception system an overall 360° field of view around the vehicle. Image sensors are arranged in camera modules around the assembly to provide a seamless panoramic field of view. One subsystem has multiple pairs of image sensors positioned to provide the overall 360° field of view, while another subsystem provides a set of image sensors generally facing toward the front of the vehicle to provide enhanced object identification. The camera assembly may be arranged in a housing located on top of the vehicle. The housing may include other sensors such as LIDAR and radar. The assembly includes a chassis and top and base plates, which may provide EMI protection from other sensors disposed in the housing.
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公开(公告)号：US10999539B2
公开(公告)日：2021-05-04
申请号：US16214572
申请日：2018-12-10
申请人： Waymo LLC
发明人： Andreas Wendel , Jeremy Dittmer
摘要： Examples described may related to an imaging sensor used by a vehicle, including a light sensor. The light sensor comprises a plurality of cells aligned in a plurality of horizontal rows and a plurality of vertical columns. The apparatus further includes an optical system configured to provide the light sensor with a field of view of an external environment of the apparatus. Additionally, the system includes a processing unit configured to: divide the plurality of horizontal rows of the light sensor into one or more enabled rows and one or more disabled rows; obtain image data from the light sensor by sampling one or more cells in the one or more enabled rows; and store the received image data in a memory.
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公开(公告)号：US10939057B2
公开(公告)日：2021-03-02
申请号：US16556683
申请日：2019-08-30
申请人： Waymo LLC
IPC分类号： H04N5/353 , H04N5/235 , H04N5/247 , H04N5/341 , G01S17/89 , H04N5/225 , H04N5/232 , G01S17/42 , G01S17/86 , G06T7/521 , G06T17/05 , G06T7/90
摘要： 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.
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公开(公告)号：US20200180653A1
公开(公告)日：2020-06-11
申请号：US16215713
申请日：2018-12-11
申请人： Waymo LLC
发明人： Emily Chi , Ryan Joseph Andrade , Andreas Wendel , Michael James , Christian Lauterbach , Etai Bruhis , Christopher Kennedy Ludwick , Alexander Zbrozek , Pieter Kapsenberg , Zhuyuan Liu , Daniel Rosenband
IPC分类号： B60W50/029 , G05D1/00 , B60W10/04 , B60W10/20 , B60W50/02
摘要： The technology relates to partially redundant equipment architectures for vehicles able to operate in an autonomous driving mode. Aspects of the technology employ fallback configurations, such as two or more fallback sensor configurations that provide some minimum amount of field of view (FOV) around the vehicle. For instance, different sensor arrangements are logically associated with different operating domains of the vehicle. Fallback configurations for computing resources and/or power resources are also provided. Each fallback configuration may have different reasons for being triggered, and may result in different types of fallback modes of operation. Triggering conditions may relate, e.g., to a type of failure, fault or other reduction in component capability, the current driving mode, environmental conditions in the vicinity of vehicle or along a planned route, or other factors. Fallback modes may involve altering a previously planned trajectory, altering vehicle speed, and/or altering a destination of the vehicle.
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49.发明申请公开(公告)号：US20200151468A1
公开(公告)日：2020-05-14
申请号：US16741447
申请日：2020-01-13
申请人： Waymo LLC
发明人： Brendan Hermalyn , Andreas Wendel , Jeremy Dittmer
摘要： Example implementations may relate to use of a light-control feature to control extent of light encountered by an image capture device of a self-driving vehicle. In particular, a computing system of the vehicle may make a determination that quality of image data generated by an image capture device is or is expected to be lower than a threshold quality due to external light encountered or expected to be encountered by the image capture device. In response to the determination, the computing system may make an adjustment to the light-control feature to control the extent of external light encountered or expected to be encountered by the image capture device. This adjustment may ultimately help improve quality of image data generated by the image capture device. As such, the computing system may operate the vehicle based at least on image data generated by the image capture device.
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公开(公告)号：US20240361135A1
公开(公告)日：2024-10-31
申请号：US18768748
申请日：2024-07-10
申请人： Waymo LLC
发明人： Jeremy Dittmer , Andreas Wendel
CPC分类号： G01C21/3461 , G06T7/70 , G06V20/56 , B60W60/0015 , B60W2420/403 , G06T2207/10004
摘要： Example implementations may relate to sun-aware vehicle routing. In particular, a computing system of a vehicle may determine an expected position of the sun relative to a geographic area. Based on the expected position, the computing system may make a determination that travel of the vehicle through certain location(s) within the geographic area is expected to result in the sun being proximate to an object within a field of view of the vehicle's image capture device. Responsively, the computing system may generate a route for the vehicle in the geographic area based at least on the route avoiding travel of the vehicle through these certain location(s), and may then operate the vehicle to travel in accordance with the generated route. Ultimately, this may help reduce or prevent situations where quality of image(s) degrades due to sunlight, which may allow for use of these image(s) as basis for operating the vehicle.
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