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公开(公告)号：US10304987B2
公开(公告)日：2019-05-28
申请号：US15972471
申请日：2018-05-07
Applicant: Waymo LLC
Inventor： Pierre-Yves Droz , Caner Onal
IPC: H01L27/146 , H01L31/107
Abstract: The present disclosure relates to optical receiver systems. An example optical receiver system includes a first substrate with a plurality of photodetectors and a bias circuit. The bias circuit is electrically coupled to each photodetector of the plurality of photodetectors. The bias circuit is configured to provide a bias voltage to each photodetector. The optical receiver system also includes a plurality of capacitors. Each capacitor of the plurality of capacitors is electrically-coupled to a respective photodetector of the plurality of photodetectors. The optical receiver system also includes a second substrate with a read-out circuit having a plurality of channels. Each channel of the plurality of channels is capacitively-coupled to a respective photodetector via the respective capacitor.
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公开(公告)号：US10302749B2
公开(公告)日：2019-05-28
申请号：US16120361
申请日：2018-09-03
Applicant: Waymo LLC
Inventor： Pierre-Yves Droz , David Neil Hutchison , Luke Wachter , Alexander McCauley
Abstract: One example method involves obtaining a plurality of images using a camera located at a given position relative to a light detection and ranging (LIDAR) device. A first image of the plurality may be obtained while a first aperture is interposed between the camera and the LIDAR device. A second image of the plurality may be obtained while a second aperture is interposed between the camera and the LIDAR device. The method also involves determining one or more alignment offsets between a transmitter of the LIDAR device and a receiver of the LIDAR device based on the plurality of images.
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公开(公告)号：US20190158773A1
公开(公告)日：2019-05-23
申请号：US15817976
申请日：2017-11-20
Applicant: Waymo LLC
CPC classification number: H04N5/38 , G01S7/003 , G01S17/023 , G01S17/936 , H04B3/548 , H04L5/14 , H05K1/025 , H05K1/111 , H05K1/162 , H05K1/165 , H05K3/4007 , H05K2201/10015 , H05K2201/1003 , H05K2201/10121 , H05K2201/10151 , H05K2201/10356
Abstract: Aspects of the disclosure provide for a system for a power over data line (PoDL) system. The system includes a ground plane that has a cutout. In addition, an alternating current (AC) capacitor pad configured to establish a bidirectional data channel. The AC capacitor pad is positioned in the cutout of the ground plane. Similarly, a PoDL pad connected to one or more inductors and a direct current (DC) power source is positioned in the cutout of the ground plane and is in series with the AC capacitor pad.
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公开(公告)号：US10293822B1
公开(公告)日：2019-05-21
申请号：US15597379
申请日：2017-05-17
Applicant: Waymo LLC
Inventor： David Harrison Silver , David Ian Franklin Ferguson
Abstract: Aspects of the disclosure relate controlling autonomous vehicles or vehicles having an autonomous driving mode. More particularly, these vehicles may identify and respond to other vehicles engaged in a parallel parking maneuver by receiving sensor data corresponding to objects in an autonomous vehicle's environment and including location information for the objects over time. An object corresponding to another vehicle in a lane in front of the first vehicle may be identified from the sensor data. A pattern of actions of the other vehicle identified form the sensor data is used to determine that the second vehicle is engaged in a parallel parking maneuver based on a pattern of actions exhibited by the other vehicle identified from the sensor data. The determination is then used to control the autonomous vehicle.
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公开(公告)号：US10291319B1
公开(公告)日：2019-05-14
申请号：US15283328
申请日：2016-10-01
Applicant: Waymo LLC
Inventor： Paul Karplus , Jeffrey Rogers
IPC: H04B10/00 , H04B10/116 , B60Q1/50
Abstract: In one example, a device includes a first platform having a first side and a second platform having a second side that overlaps the first side. The device also includes an actuator that rotates the first platform relative to the second platform. The device also includes a plurality of light sources mounted to the first platform in a substantially circular arrangement around the axis of rotation of the first platform. The plurality of light sources emit a plurality of light beams such that respective adjacent light beams intersect at least at a predetermined distance to the first side. The first side remains at least at the predetermined distance to the second side in response to the actuator rotating the first platform. The device also includes a light detector mounted to the second platform and positioned to at least partially overlap at least one of the plurality of light beams.
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Patent Agency Ranking
公开(公告)号：US20190137296A1
公开(公告)日：2019-05-09
申请号：US16166867
申请日：2018-10-22
Applicant: Waymo LLC
Inventor： Philip Nemec , Brian Douglas Cullinane , Manuel Christian Clement , Robertus Christianus Elisabeth Mariet
IPC: G01C21/36 , G08G1/16 , G08G1/0969 , B60T17/22 , B62D15/02 , G05D1/02 , B60T7/22 , B60T7/12 , B62D1/28
Abstract: Aspects of the present disclosure relate generally to identifying and displaying traffic lanes that are available for autonomous driving. This information may be displayed to a driver of a vehicle having an autonomous driving mode, in order to inform the driver of where he or she can use the autonomous driving mode. In one example, the display may visually distinguishing between lanes that are available for auto-drive from those that are not. The display may also include an indicator of the position of a lane (autodrive or not) currently occupied by the vehicle. In addition, if that lane is an autodrive lane the display may include information indicating how much further the vehicle may continue in the autonomous driving mode in that particular lane. The display may also display information indicating the remaining autodrive distance in other lanes as well as the lane with the greatest remaining autodrive distance.
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公开(公告)号：US10269141B1
公开(公告)日：2019-04-23
申请号：US15996793
申请日：2018-06-04
Applicant: Waymo LLC
Inventor： Gil Shotan
Abstract: Example embodiments relate to multistage camera calibration. An example embodiment includes a method. The method includes positioning a calibration target relative to a camera. The method also includes capturing a focused image of the calibration target. Further, the method includes determining one or more approximate locations of calibration points of the calibration target within the focused image of the calibration target. In addition, the method includes adjusting the focal length of the camera. Still further, the method includes capturing an unfocused image of the calibration target. Additionally, the method includes determining, based on the one or more approximate locations of calibration points of the calibration target within the focused image of the calibration target, one or more refined locations of calibration points of the calibration target within the unfocused image of the calibration target. Yet further, the method includes correcting for one or more optical aberrations within the camera.
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公开(公告)号：US20190109372A1
公开(公告)日：2019-04-11
申请号：US16212098
申请日：2018-12-06
Applicant: Waymo LLC
Inventor： Benjamin Chen , Adam Brown , Jamal Izadian
Abstract: The radar system includes a split-block assembly comprising a first portion and a second portion. The first portion and the second portion form a seam, where the first portion has a top side opposite the seam and the second portion has a bottom side opposite the seam. The system includes at least one port located on a bottom side of the second portion. Additionally, the system includes radiating elements located on the top side of the first portion, wherein the radiating elements are arranged in a plurality of arrays. Yet further, the system includes a set of waveguides in the split-block assembly configured to couple each array to at least one port. Furthermore, the split-block assembly is made from a polymer and where at least the set of waveguides, the at least one port, and the plurality of radiating elements include metal on a surface of the polymer.
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公开(公告)号：US20190104295A1
公开(公告)日：2019-04-04
申请号：US15720979
申请日：2017-09-29
Applicant: Waymo LLC
Inventor： Andreas Wendel , Volker Grabe , Jeremy Dittmer , Zachary Morriss
CPC classification number: G06T7/80 , G06K9/46 , G06T2207/30204
Abstract: The present disclosure relates to a target, a method, and a system for calibrating a camera. One example embodiment includes a target. The target includes a first pattern of fiducial markers. The target also includes a second pattern of fiducial markers. The first pattern of fiducial markers is a scaled version of the second pattern of fiducial markers, such that a calibration image captured of the target simulates multiple images of a single pattern captured at multiple calibration perspectives.
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公开(公告)号：US20190092341A1
公开(公告)日：2019-03-28
申请号：US15716872
申请日：2017-09-27
Applicant: Waymo LLC
Inventor： Ethan Stark , Daniel Trawick Egnor , Ryan Cash , Katharine Patterson
Abstract: Aspects of the present disclosure relate to vehicle systems including one or more control computing devices configured to send commands to one or more actuators of the vehicle in order to control deceleration, acceleration, and steering. The vehicle may include user input devices for allowing a driver to control the one or more actuators in order to control deceleration, acceleration, and steering. The computing devices are configured to operate in a manual driving mode where commands from the control computing devices are invalidated and ignored by the actuators, a first autonomous driving mode where the control computing devices are configured to send the commands to control the actuators and inputs from the user input devices are prioritized over the commands; and a second autonomous driving mode wherein the control computing devices are configured to send the commands to control the actuators and inputs from commands are prioritized over inputs from the user input devices.
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