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541.发明申请公开(公告)号：US20190004177A1
公开(公告)日：2019-01-03
申请号：US15638607
申请日：2017-06-30
Applicant: Waymo LLC
Inventor： Mark Alexander Shand
Abstract: A computing system may operate a LIDAR device to emit light pulses in accordance with a time sequence including a time-varying dither. The system may then determine that the LIDAR detected return light pulses during corresponding detection periods for each of two or more emitted light pulses. Responsively, the system may determine that the detected return light pulses have (i) detection times relative to corresponding emission times of a plurality of first emitted light pulses that are indicative of a first set of ranges and (ii) detection times relative to corresponding emission times of a plurality of second emitted light pulses that are indicative of a second set of ranges. Given this, the system may select between using the first set of ranges as a basis for object detection and using the second set of ranges as a basis for object detection, and may then engage in object detection accordingly.
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公开(公告)号：US10168712B1
公开(公告)日：2019-01-01
申请号：US15671316
申请日：2017-08-08
Applicant: Waymo LLC
Inventor： Wan-Yen Lo , David Ian Franklin Ferguson , Abhijit Ogale
Abstract: A computing device of a first vehicle may receive a first image and a second image of a second vehicle having flashing light signals. The computing device may determine, in the first image and the second image, an image region that bounds the second vehicle such that the image region substantially encompasses the second vehicle. The computing device may determine a polar grid that partitions the image region in the first image and the second image into polar bins, and identify portions of image data exhibiting a change in color and a change in brightness between the first image and the second image. The computing device may determine a type of the flashing light signals and a type of the second vehicle; and accordingly provide instructions to control the first vehicle.
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公开(公告)号：US20180372853A1
公开(公告)日：2018-12-27
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：US20180364734A1
公开(公告)日：2018-12-20
申请号：US16110050
申请日：2018-08-23
Applicant: Waymo LLC
Inventor： David I. Ferguson , Dmitri Dolgov
IPC: G05D1/02
Abstract: A vehicle can be controlled in a first autonomous mode of operation by at least navigating the vehicle based on map data. Sensor data can be obtained using one or more sensors of the vehicle. The sensor data can be indicative of an environment of the vehicle. An inadequacy in the map data can be detected by at least comparing the map data to the sensor data. In response to detecting the inadequacy in the map data, the vehicle can be controlled in a second autonomous mode of operation and a user can be prompted to switch to a manual mode of operation. The vehicle can be controlled in the second autonomous mode of operation by at least obtaining additional sensor data using the one or more sensors of the vehicle and navigating the vehicle based on the additional sensor data.
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公开(公告)号：US20180364723A1
公开(公告)日：2018-12-20
申请号：US15939559
申请日：2018-03-29
Applicant: Waymo LLC
Inventor： Brian Cullinane , Nicholas Kenneth Hobbs
IPC: G05D1/02 , B60W30/095 , B60W30/09 , B60W30/085
Abstract: Methods and apparatus are disclosed for customizing driving operations of a vehicle based on occupant(s) of the vehicle. An autonomous vehicle that includes a passenger compartment can determine a presence of an occupant of the passenger compartment. The autonomous vehicle can determine a location of the occupant within the passenger compartment. Additional information about the occupant can be determined. A driving operation can be selected from among a plurality of driving operations based on the location and additional information about the occupant. The selected driving operation can be performed, perhaps by the autonomous vehicle.
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Patent Agency Ranking
公开(公告)号：US10156851B1
公开(公告)日：2018-12-18
申请号：US15384782
申请日：2016-12-20
Applicant: Waymo LLC
Inventor： David Harrison Silver , David I. Ferguson
Abstract: Aspects of the disclosure relate to an autonomous vehicle that may detect other nearby vehicles and designate stationary vehicles as being in one of a short-term stationary state or a long-term stationary state. This determination may be made based on various indicia, including visible indicia displayed by the detected vehicle and traffic control factors relating to the detected vehicle. For example, the autonomous vehicle may identify a detected vehicle as being in a long-term stationary state based on detection of hazard lights being displayed by the detected vehicle, as well as the absence of brake lights being displayed by the detected vehicle. The autonomous vehicle may then base its control strategy on the stationary state of the detected vehicle.
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公开(公告)号：US20180338229A1
公开(公告)日：2018-11-22
申请号：US15854211
申请日：2017-12-26
Applicant: Waymo LLC
Inventor： Philip Nemec , Renaud-Roland Hubert , Joshua Seth Herbach , Min Li Chan , Michael Epstein , Salil Pandit , John Wesley Dyer , Juliet Rothenberg
CPC classification number: H04W4/40 , B60W30/181 , B60W2550/40 , G05D1/0088 , G05D2201/0212 , G06Q10/04 , G06Q10/047 , G06Q50/30 , H04W12/06
Abstract: The technology relates to actively looking for an assigned passenger prior to a vehicle reaching a pickup location. For instance, information identifying the pickup location and client device information for authenticating the assigned passenger is received. Sensor data is received from a perception system of the vehicle identifying objects in an environment of the vehicle. When the vehicle is within a predetermined distance of the pickup location, authenticating a client device using the client device information is attempted. When the client device has been authenticated, the sensor data is used to determine whether a pedestrian is within a first threshold distance of the vehicle. When a pedestrian is determined to be within the first threshold distance of the vehicle, the vehicle is stopped prior to reaching the pickup location, to wait for the pedestrian within the first threshold distance of the vehicle to enter the vehicle.
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公开(公告)号：US20180330508A1
公开(公告)日：2018-11-15
申请号：US16007506
申请日：2018-06-13
Applicant: Waymo LLC
Inventor： Craig Lewin Robinson
CPC classification number: G06T7/70 , B60K2031/0025 , G05D1/0253 , G06K9/00791 , G06K9/00805 , G06K9/00825 , G06T7/20 , G06T7/246 , G06T2207/30252 , G07C5/0866 , G08G1/01 , G08G1/0112 , G08G1/04 , G08G1/0962 , G08G1/166
Abstract: Aspects of the disclosure relate to detecting vehicle movement. For example, one or more computing devices may receive first image data representative of a vehicle's wheel and second image data representative of the wheel captured subsequent to the capture of the first image data. The one or more computing devices may determine a first location of a first portion of the wheel based on the first image data, and a second location of the first portion of the wheel based on the second image data. The one or more computing devices may calculate a value based on the angular distance between the first location and the second location of the first portion, and based on the value, determine whether the vehicle is in motion. Upon determining the vehicle is in motion the one or more computing devices may provide a signal that the vehicle is in motion.
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公开(公告)号：US20180323488A1
公开(公告)日：2018-11-08
申请号：US16015102
申请日：2018-06-21
Applicant: Waymo LLC
Inventor： Jamal Izadian , Adam Brown
CPC classification number: H01P5/12 , G01S7/02 , G01S7/032 , G01S13/931 , H01P1/222 , H01P5/107 , H01Q3/40 , H01Q17/00 , H01Q21/0037 , H01Q21/005 , H01Q21/062 , H01Q21/08
Abstract: The present application discloses embodiments that relate to a radar system. The embodiments may include a plurality of radiating waveguides each having a waveguide input. The embodiments also include an attenuation component, which can be located on a circuit board. The embodiments further include a beamforming network. The beamforming network includes a beamforming network input. The beamforming network also includes a plurality of beamforming network outputs, where each beamforming network output is coupled to one of the waveguide inputs. Additionally, the beamforming network includes an attenuation port, wherein the attenuation port is configured to couple the beamforming network to the attenuation component. The attenuation component dissipates received electromagnetic energy.
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公开(公告)号：US10120079B2
公开(公告)日：2018-11-06
申请号：US15714326
申请日：2017-09-25
Applicant: Waymo LLC
Inventor： Gaetan Pennecot , Zachary Morriss , Samuel Lenius , Ionut Iordache , Daniel Gruver , Pierre-Yves Droz , Luke Wachter , Drew Ulrich , William McCann , Rahim Pardhan , Bernard Fidric , Anthony Levandowski , Peter Avram
IPC: G01C3/08 , G01S17/93 , G01S17/10 , G01S17/42 , G01S17/66 , G01S17/87 , G01S17/89 , G01S7/48 , G01S7/481 , G01C3/02 , G01S17/02
Abstract: A vehicle is provided that includes one or more wheels positioned at a bottom side of the vehicle. The vehicle also includes a first light detection and ranging device (LIDAR) positioned at a top side of the vehicle opposite to the bottom side. The first LIDAR is configured to scan an environment around the vehicle based on rotation of the first LIDAR about an axis. The first LIDAR has a first resolution. The vehicle also includes a second LIDAR configured to scan a field-of-view of the environment that extends away from the vehicle along a viewing direction of the second LIDAR. The second LIDAR has a second resolution. The vehicle also includes a controller configured to operate the vehicle based on the scans of the environment by the first LIDAR and the second LIDAR.
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