公开(公告)号：US20230198617A1

公开(公告)日：2023-06-22

申请号：US18168771

申请日：2023-02-14

Applicant: Waymo LLC

Inventor： Salil Shree Pandit ,  Mark Alexander Shand ,  Reed Gerard Alexander Morse

IPC: H04B10/112 ,  G01S17/89 ,  H04B10/67 ,  H04B10/524 ,  G01S17/931 ,  H04B10/11

CPC classification number: H04B10/1129 ,  G01S17/89 ,  G01S17/931 ,  H04B10/11 ,  H04B10/524 ,  H04B10/676 ,  H04B10/1127

Abstract: Systems and methods for performing operations based on LIDAR communications are described. An example device may include one or more processors and a memory coupled to the one or more processors. The memory includes instructions that, when executed by the one or more processors, cause the device to receive data associated with a modulated optical signal emitted by a transmitter of a first LIDAR device and received by a receiver of a second LIDAR device coupled to a vehicle and the device, generate a rendering of an environment of the vehicle based on information from one or more LIDAR devices coupled to the vehicle, and update the rendering based on the received data. Updating the rendering includes updating an object rendering of an object in the environment of the vehicle. The instructions further cause the device to provide the updated rendering for display on a display coupled to the vehicle.

公开(公告)号：US11592524B2

公开(公告)日：2023-02-28

申请号：US16236780

申请日：2018-12-31

Applicant: Waymo LLC

Inventor： Mingcheng Chen ,  Christian Lauterbach ,  Blaise Gassend ,  Nathaniel Quillin ,  Luke Wachter ,  Gil Shotan ,  Mark Alexander Shand

IPC: G01C3/08 ,  G01S7/48 ,  H04W4/40 ,  G01S17/42 ,  G01S17/931

Abstract: Methods and systems for laser point clouds are described herein. The method and system may include receiving, at a computing device, lidar data indicative of an environment of a vehicle from a first lidar data source, where the lidar data includes a first plurality of data points indicative of locations of reflections from the environment and further includes a respective intensity for each data point. The method and system also include determining a first surface normal for at least a first data point of the first plurality of data points. The method and system further includes determining a first angle of incidence for the first data point based on the surface normal. Additionally, the method and system includes adjusting the intensity of the first data point based on the first angle of incidence to create a first adjusted intensity for the first data point.

公开(公告)号：US11543495B2

公开(公告)日：2023-01-03

申请号：US16227341

申请日：2018-12-20

Applicant: Waymo LLC

Inventor： Mark Alexander Shand

IPC: G01S7/484 ,  G01S7/481 ,  G01S7/4865 ,  G01S17/931 ,  G01S17/10

Abstract: Systems and methods described herein relate to LIDAR systems and their operation. An example method includes partitioning a plurality of light-emitter devices into a plurality of groups. Each light-emitter device is associated with a given group of the plurality of groups. The method also includes selecting a group from the plurality of groups according to a predetermined group order and selecting one or more light-emitter devices from the plurality of light-emitter devices of the selected group according to a firing order. The method yet further includes, at a predetermined shot dither time, causing the selected light-emitter device to emit at least one light pulse. The predetermined shot dither time is based on a shot dither schedule. The method may additionally include repeating the method to provide a complete scan in which each light-emitter device of the plurality of light-emitter devices has emitted at least one light pulse.

公开(公告)号：US11340339B2

公开(公告)日：2022-05-24

申请号：US15852788

申请日：2017-12-22

Applicant: Waymo LLC

Inventor： Mark Alexander Shand

IPC: G01S7/48 ,  G01S7/484 ,  G01S17/89 ,  G01S7/481 ,  G01S7/4861 ,  G01S17/10 ,  G01S17/931

Abstract: The present disclosure relates to systems and methods that facilitate light detection and ranging operations. An example method includes determining, for at least one light-emitter device of a plurality of light-emitter devices, a light pulse schedule. The plurality of light-emitter devices is operable to emit light along a plurality of emission vectors. The light pulse schedule is based on a respective emission vector of the at least one light-emitter device and a three-dimensional map of an external environment. The light pulse schedule includes at least one light pulse parameter and a listening window duration. The method also includes causing the at least one light-emitter device of the plurality of light-emitter devices to emit a light pulse according to the light pulse schedule. The light pulse interacts with an external environment.

公开(公告)号：US20210346556A1

公开(公告)日：2021-11-11

申请号：US17202476

申请日：2021-03-16

Applicant: WAYMO LLC

Inventor： Roman Manka ,  Min Wang ,  Timothy Willis ,  Mark Alexander Shand

IPC: A61L2/24 ,  B60S1/64 ,  B60N2/00 ,  A61L2/10

Abstract: Aspects of the disclosure relate cleaning systems for cleaning cabin air and interior surfaces of a vehicle. For instance, a cleaning system may include a surface cleaning device including a UVC light source. In addition, a request for confirmation that the vehicle may not be occupied may be sent to a remote computing device. In response to the request, a signal indicating whether or not the vehicle is occupied may be received. The surface cleaning device may then be activated based on the signal.

公开(公告)号：US11119478B2

公开(公告)日：2021-09-14

申请号：US16035576

申请日：2018-07-13

Applicant: Waymo LLC

Inventor： Stephanie McArthur ,  Mark Alexander Shand ,  Colin Braley

IPC: G05D1/00 ,  G01S7/40 ,  G01S7/497 ,  G05D1/02 ,  G01C21/20 ,  G01S7/52

Abstract: An example method involves detecting a sensor-testing trigger. Detecting the sensor-testing trigger may comprise determining that a vehicle is within a threshold distance to a target in an environment of the vehicle. The method also involves obtaining sensor data collected by a sensor of the vehicle after the detection of the sensor-testing trigger. The sensor data is indicative of a scan of a region of the environment that includes the target. The method also involves comparing the sensor data with previously-collected sensor data indicating detection of the target by one or more sensors during one or more previous scans of the environment. The method also involves generating performance metrics related to the sensor of the vehicle based on the comparison.

公开(公告)号：US10939057B2

公开(公告)日：2021-03-02

申请号：US16556683

申请日：2019-08-30

Applicant: Waymo LLC

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

IPC: H04N5/353 ,  H04N5/235 ,  H04N5/247 ,  H04N5/341 ,  G01S17/89 ,  H04N5/225 ,  H04N5/232 ,  G01S17/42 ,  G01S17/86 ,  G06T7/521 ,  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：US20200241121A1

公开(公告)日：2020-07-30

申请号：US16851987

申请日：2020-04-17

Applicant: Waymo LLC

Inventor： Mark Alexander Shand

IPC: G01S7/4865 ,  G01S17/10 ,  G01S17/42 ,  G01S17/931

Abstract: A computing system may operate a LIDAR device to emit and detect light pulses in accordance with a time sequence including standard detection period(s) that establish a nominal detection range for the LIDAR device and extended detection period(s) having durations longer than those of the standard detection period(s). The system may then make a determination that the LIDAR detected return light pulse(s) during extended detection period(s) that correspond to particular emitted light pulse(s). Responsively, the computing system may determine that the detected return light pulse(s) have detection times relative to corresponding emission times of particular emitted light pulse(s) that are indicative of one or more ranges. Given this, the computing system may make a further determination of whether or not the one or more ranges indicate that an object is positioned outside of the nominal detection range, and may then engage in object detection in accordance with the further determination.

公开(公告)号：US20190195990A1

公开(公告)日：2019-06-27

申请号：US15852788

申请日：2017-12-22

Applicant: Waymo LLC

Inventor： Mark Alexander Shand

IPC: G01S7/484 ,  G01S17/89 ,  G01S7/481 ,  G01S17/93 ,  G01S7/486

CPC classification number: G01S7/484 ,  G01S7/4813 ,  G01S7/4815 ,  G01S7/4861 ,  G01S17/89 ,  G01S17/936

Abstract: The present disclosure relates to systems and methods that facilitate light detection and ranging operations. An example method includes determining, for at least one light-emitter device of a plurality of light-emitter devices, a light pulse schedule. The plurality of light-emitter devices is operable to emit light along a plurality of emission vectors. The light pulse schedule is based on a respective emission vector of the at least one light-emitter device and a three-dimensional map of an external environment. The light pulse schedule includes at least one light pulse parameter and a listening window duration. The method also includes causing the at least one light-emitter device of the plurality of light-emitter devices to emit a light pulse according to the light pulse schedule. The light pulse interacts with an external environment.