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公开(公告)号：US11988746B2
公开(公告)日：2024-05-21
申请号：US17247835
申请日：2020-12-24
Applicant: Waymo LLC
Inventor： Bryce Remesch , Nicholas Armstrong-Crews
CPC classification number: G01S17/58 , G01S7/4814 , G01S7/4816 , G01S17/06
Abstract: The subject matter of this specification can be implemented in, among other things, a system that includes a light source to produce a first beam and one or more first optical elements to impart an orbital angular momentum (OAM) to at least some of a plurality of output beams obtained from the first beam. The system further includes an output optical device to direct the output beams towards a target object and a plurality of photodetectors to generate signals representative of a difference between an input phase information, carried by one or more beams reflected from the target object, and an output phase information, carried by one of local copies of the output beams. The system further includes a processing device to determine, using the difference between the input phase information and the output phase information, one or more orthogonal components of a velocity of the target object.
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公开(公告)号：US11693423B2
公开(公告)日：2023-07-04
申请号：US16225745
申请日：2018-12-19
Applicant: Waymo LLC
Inventor： Nicholas Armstrong-Crews , Christian Lauterbach , Scott McCloskey , Peter Morton
CPC classification number: G05D1/0248 , B60W10/04 , B60W10/20 , B60W30/18145 , G05D1/0088 , G05D1/0257 , G05D1/0276 , H04Q9/00 , B60R11/04 , B60R2011/004 , B60W2420/42 , B60W2420/52 , B60W2554/00 , B60W2710/20 , B60W2720/106 , G05D1/0291 , G05D2201/0213
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：US11604284B2
公开(公告)日：2023-03-14
申请号：US16404499
申请日：2019-05-06
Applicant: Waymo LLC
Inventor： Blaise Gassend , Scott McCloskey , Stephen Osborn , Nicholas Armstrong-Crews
IPC: G01S17/931 , G01S7/4861 , G05D1/00 , G01S17/10 , G01S17/89
Abstract: Example implementations may relate to determining a strategy for a drop process associated with a light detection and ranging (LIDAR) device. In particular, the LIDAR device could emit light pulses and detect return light pulses, and could generate a set of data points representative of the detected return light pulses. The drop process could involve a computing system discarding data point(s) of the set and/or preventing emission of light pulse(s) by the LIDAR device. Accordingly, the computing system could detect a trigger to engage in the drop process, and may responsively (i) use information associated with the environment around the vehicle, operation of the vehicle, and/or operation of the LIDAR device as a basis to determine the strategy for the drop process, and (ii) engage in the drop process in accordance with the determined strategy.
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公开(公告)号：US11481579B2
公开(公告)日：2022-10-25
申请号：US16833018
申请日：2020-03-27
Applicant: Waymo LLC
Inventor： Brandyn White , Congyu Gao , Sean Rafferty , Nicholas Armstrong-Crews
Abstract: Aspects of the disclosure provide for automatically generating labels for sensor data. For instance first sensor data for a first vehicle is identified. The first sensor data is defined in both a global coordinate system and a local coordinate system for the first vehicle. A second vehicle is identified based on a second location of the second vehicle within a threshold distance of the first vehicle within the first timeframe. The second vehicle is associated with second sensor data that is further associated with a label identifying a location of an object, and the location of the object is defined in a local coordinate system of the second vehicle. A conversion from the local coordinate system of the second vehicle to the local coordinate system of the first vehicle may be determined and used to transfer the label from the second sensor data to the first sensor data.
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Patent Agency Ranking
公开(公告)号：US20220206150A1
公开(公告)日：2022-06-30
申请号：US17247835
申请日：2020-12-24
Applicant: Waymo LLC
Inventor： Bryce Remesch , Nicholas Armstrong-Crews
Abstract: The subject matter of this specification can be implemented in, among other things, a system that includes a light source to produce a first beam and one or more first optical elements to impart an orbital angular momentum (OAM) to at least some of a plurality of output beams obtained from the first beam. The system further includes an output optical device to direct the output beams towards a target object and a plurality of photodetectors to generate signals representative of a difference between an input phase information, carried by one or more beams reflected from the target object, and an output phase information, carried by one of local copies of the output beams. The system further includes a processing device to determine, using the difference between the input phase information and the output phase information, one or more orthogonal components of a velocity of the target object.
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公开(公告)号：US20220135074A1
公开(公告)日：2022-05-05
申请号：US17087470
申请日：2020-11-02
Applicant: Waymo LLC
Inventor： Nicholas Armstrong-Crews , Mingcheng Chen
Abstract: Aspects and implementations of the present disclosure address shortcomings of the existing technology by enabling motion pattern-assisted object classification of objects in an environment of an autonomous vehicle (AV) by obtaining, from a sensing system of the AV, a plurality of return points, each return point comprising one or more velocity values and one or more coordinates of a reflecting region that reflects a signal emitted by the sensing system, identifying an association of the plurality of return points with an object in an environment of the AV, identifying, in view of the one or more velocity values of at least some of the plurality of return points, a type of the object or a type of a motion of the object, and causing a driving path of the AV to be determined in view of the identified type of the object.
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公开(公告)号：US20210406722A1
公开(公告)日：2021-12-30
申请号：US16916384
申请日：2020-06-30
Applicant: Waymo LLC
Inventor： Nicholas Armstrong-Crews , Arthu Safira , Alex Mccauley , Ruffin Evans
Abstract: Aspects of the disclosure relate to generating simulated degraded sensor data. For instance, first sensor data collected by a sensor of a perception system of an autonomous vehicle may be received. The first sensor data may be inputted into simulated degraded sensor data for a particular degrading condition. The simulated degraded sensor data may be used to evaluate or train a model for detecting objects of the perception system.
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公开(公告)号：US20210215810A1
公开(公告)日：2021-07-15
申请号：US17198020
申请日：2021-03-10
Applicant: Waymo LLC
Inventor： Blaise Gassend , Nicholas Armstrong-Crews , Scott McCloskey
Abstract: One example method involves rotating a housing of a light detection and ranging (LIDAR) device about a first axis. The housing includes a first optical window and a second optical window. The method also involves transmitting a first plurality of light pulses through the first optical window to obtain a first scan of a field-of-view (FOV) of the LIDAR device. The method also involves transmitting a second plurality of light pulses through the second optical window to obtain a second scan of the FOV. The method also involves identifying, based on the first scan and the second scan, a portion of the FOV that is at least partially occluded by an occlusion.
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公开(公告)号：US10976420B2
公开(公告)日：2021-04-13
申请号：US16242191
申请日：2019-01-08
Applicant: Waymo LLC
Inventor： Blaise Gassend , Nicholas Armstrong-Crews , Scott McCloskey
Abstract: One example method involves rotating a housing of a light detection and ranging (LIDAR) device about a first axis. The housing includes a first optical window and a second optical window. The method also involves transmitting a first plurality of light pulses through the first optical window to obtain a first scan of a field-of-view (FOV) of the LIDAR device. The method also involves transmitting a second plurality of light pulses through the second optical window to obtain a second scan of the FOV. The method also involves identifying, based on the first scan and the second scan, a portion of the FOV that is at least partially occluded by an occlusion.
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