公开(公告)号：US12134407B2

公开(公告)日：2024-11-05

申请号：US17339421

申请日：2021-06-04

Applicant: Waymo LLC

Inventor： Mishika Vora

IPC: B60W60/00 ,  G06V20/58 ,  G08G1/01 ,  G08G1/14

Abstract: The technology involves to pickups performed by autonomous vehicles. In particular, it includes identifying one or more potential pullover locations adjacent to an area of interest that an autonomous vehicle is approaching. The vehicle detects that a given one of the potential pullover locations is occupied by another vehicle and determines whether the other vehicle will be vacating the given pullover location within a selected amount of time. Upon determining that the other vehicle will be vacating the given potential pullover location within the timeframe, the vehicle determines whether to wait for the other vehicle to vacate the given pullover location. Then a driving system of the vehicle either performs a first action in order to wait for the other vehicle to vacate the given pullover location or performs a second action that is different from the first action when it is determined to not wait.

公开(公告)号：US12133005B2

公开(公告)日：2024-10-29

申请号：US18150249

申请日：2023-01-05

Applicant: Waymo LLC

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

IPC: H04N5/353 ,  G01S17/42 ,  G01S17/86 ,  G01S17/89 ,  G06T7/521 ,  G06T7/90 ,  G06T17/05 ,  H04N5/225 ,  H04N5/232 ,  H04N5/235 ,  H04N5/247 ,  H04N5/341 ,  H04N23/45 ,  H04N23/698 ,  H04N23/71 ,  H04N23/73 ,  H04N23/90 ,  H04N25/40 ,  H04N25/531

CPC classification number: H04N25/531 ,  G01S17/42 ,  G01S17/86 ,  G01S17/89 ,  G06T7/521 ,  H04N23/45 ,  H04N23/698 ,  H04N23/71 ,  H04N23/73 ,  H04N23/90 ,  H04N25/40 ,  G06T7/90 ,  G06T17/05 ,  G06T2207/10028 ,  G06T2207/10144 ,  G06T2207/10152

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：US12130389B2

公开(公告)日：2024-10-29

申请号：US17198020

申请日：2021-03-10

Applicant: Waymo LLC

Inventor： Blaise Gassend ,  Nicholas Armstrong-Crews ,  Scott McCloskey

IPC: G01S7/00 ,  G01S7/481 ,  G01S7/497 ,  G02B27/00

CPC classification number: G01S7/497 ,  G01S7/4813 ,  G02B27/0006 ,  G01S2007/4977

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.

公开(公告)号：US12130147B2

公开(公告)日：2024-10-29

申请号：US17410068

申请日：2021-08-24

Applicant: Waymo LLC

Inventor： Salil Pandit ,  Daniella Gutlansky ,  Eamonn Doherty ,  Eric Friedman ,  Jonathan Pedersen ,  Andrew Chan ,  Gaurav Agarwal ,  Bruce Mai

IPC: G01C21/34 ,  B60W30/095 ,  B60W60/00

CPC classification number: G01C21/3461 ,  B60W30/095 ,  B60W60/0015 ,  B60W60/00253 ,  G01C21/3438 ,  B60W2552/45 ,  B60W2554/404 ,  B60W2554/80

Abstract: Aspects of the disclosure relate to evaluating quality of a predetermined pullover location for an autonomous vehicle. For instance, a plurality of inputs for the predetermined pullover location may be received. The plurality of inputs may each include a value representative of a characteristic of the predetermined pullover location. The plurality of inputs may be combined to determine a pullover quality value for the predetermined pullover location. The pullover quality value may be provided to a vehicle in order to enable the vehicle to select a pullover location for the vehicle.

公开(公告)号：US20240351613A1

公开(公告)日：2024-10-24

申请号：US18761529

申请日：2024-07-02

Applicant: Waymo LLC

Inventor： Salil Pandit ,  Robert Chen ,  Bruce Mai

IPC: B60W60/00 ,  G01C21/34 ,  G01C21/36 ,  G08G1/133

CPC classification number: B60W60/0025 ,  G01C21/3453 ,  G01C21/3691 ,  G08G1/133 ,  B60W2555/20

Abstract: Aspects of the disclosure relate to providing transportation services with autonomous vehicles. For instance, a first route to a first destination may be determined. The first route may have a first cost. Weather information for the first destination may be received. A characteristic is determined based on the weather information. A second destination having the characteristic may be selected. The second destination may be different from the first destination. A second route to the second destination may be determined. The second route may have a second cost. The first cost may be compared to the second cost, and the vehicle may use the comparison to set one of the first destination or the second destination as a current destination for a vehicle to cause the vehicle to control itself in an autonomous driving mode to the current destination.

公开(公告)号：US12126881B2

公开(公告)日：2024-10-22

申请号：US18323685

申请日：2023-05-25

Applicant: Waymo LLC

Inventor： Jia Feng ,  Damien Kelly ,  Ignacio Garcia Dorado ,  Xiaoying He ,  Benjamin Frevert ,  Nirav Dharia

IPC: H04N23/45 ,  H04N5/265 ,  H04N23/60 ,  H04N23/62 ,  H04N23/695

CPC classification number: H04N23/45 ,  H04N5/265 ,  H04N23/62 ,  H04N23/64 ,  H04N23/695

Abstract: Described examples relate to an apparatus comprising a first sensor configured to scan an area of interest during a first time period and a second sensor configured to capture a plurality of images of a field of view. The apparatus may include at least one controller configured to receive the plurality of images captured by the second sensor, compare the timestamp information associated with at least one image of the plurality of images to at least one time period of the first time period, and select a base image from the plurality of images based on the comparison.

公开(公告)号：US12124386B2

公开(公告)日：2024-10-22

申请号：US18523433

申请日：2023-11-29

Applicant: Waymo LLC

Inventor： Sabareeshkumar Ravikumar ,  Shishuang Sun ,  Feng Wang ,  Ji Zhang

IPC: G06F13/16 ,  G06F12/02 ,  G06F13/42

CPC classification number: G06F13/1668 ,  G06F12/0246 ,  G06F13/4234 ,  G06F2212/7209

Abstract: One example method of testing an electrical device comprises transmitting a data pattern to a memory device of the electrical device by a controller of the electrical device to provide a written data pattern to the memory device, wherein the data pattern replicates a resonant frequency of at least a portion of the electrical device, reading the written data pattern from the memory device with the controller, and comparing the written data pattern to the data pattern.

公开(公告)号：USD1046632S1

公开(公告)日：2024-10-15

申请号：US29726250

申请日：2020-03-02

Applicant: Waymo LLC

Designer： Zhaokun Wang

Abstract: FIG. 1 is a front perspective view of a sensor assembly according to my design;
FIG. 2 is a front elevation view thereof;
FIG. 3 is a back elevation view thereof;
FIG. 4 is a right side elevation view thereof;
FIG. 5 is a left side elevation view thereof;
FIG. 6 is a top plan view thereof; and,
FIG. 7 is a bottom plan view thereof.
The broken lines in the figures illustrate portions of the sensor assembly that form no part of the claimed design.

公开(公告)号：US12116018B2

公开(公告)日：2024-10-15

申请号：US17558680

申请日：2021-12-22

Applicant: WAYMO LLC

Inventor： Jared Stephen Russell ,  Tobias Kunz ,  Anup Menon

IPC: B60W60/00

CPC classification number: B60W60/00276 ,  B60W60/00272 ,  B60W2554/4041 ,  B60W2554/4042 ,  B60W2554/4043 ,  B60W2554/801 ,  B60W2554/803 ,  B60W2554/804 ,  B60W2720/10 ,  B60W2720/12

Abstract: The technology relates to planning trajectories for self-driving vehicles in order to transport passengers or cargo from a pickup location to a destination. Trajectory planning includes generating a speed plan for an upcoming portion of the trip in view of one or more constraints. The constraints may be due to proximity to an adjacent vehicle or other road user, and can include projected overlaps between the vehicle and other objects in the vehicle's nearby environment. Certain constraints may be binary or otherwise discontinuous in nature, in which a condition either exists at a given point in time or it does not. Noise in sensor data or prediction models may trigger such binary conditions, which in turn may cause the vehicle to alter the speed plan.

公开(公告)号：US20240338023A1

公开(公告)日：2024-10-10

申请号：US18742364

申请日：2024-06-13

Applicant: Waymo LLC

Inventor： Bradley Templeton ,  Pierre-Yves Droz ,  Jiajun Zhu

IPC: G05D1/00 ,  G01S7/48 ,  G01S7/484 ,  G01S7/4865 ,  G01S17/10 ,  G01S17/42 ,  G01S17/86 ,  G01S17/89 ,  G01S17/931

CPC classification number: G05D1/0231 ,  G01S7/4802 ,  G01S7/484 ,  G01S7/4865 ,  G01S17/10 ,  G01S17/42 ,  G01S17/86 ,  G01S17/89 ,  G01S17/931

Abstract: A system and method include scanning a light detection and ranging (LIDAR) device through a range of orientations corresponding to a scanning zone while emitting light pulses from the LIDAR device. The method also includes receiving returning light pulses corresponding to the light pulses emitted from the LIDAR device and determining initial point cloud data based on time delays between emitting the light pulses and receiving the corresponding returning light pulses and the orientations of the LIDAR device. The initial point cloud data has an initial angular resolution. The method includes identifying, based on the initial point cloud data, a reflective feature in the scanning zone and determining an enhancement region and an enhanced angular resolution for a subsequent scan to provide a higher spatial resolution in at least a portion of subsequent point cloud data from the subsequent scan corresponding to the reflective feature.