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公开(公告)号：US20250022144A1
公开(公告)日：2025-01-16
申请号：US18904700
申请日：2024-10-02
Applicant: Waymo LLC
Inventor： Jia Feng , Damien Kelly , Ignacio Garcia Dorado , Xiaoying He
Abstract: At least one processor may be configured to receive a first image frame of a sequence of image frames from an image capture device and select a first portion of a first image frame. The at least one processor may also be configured to obtain alignment information and determine a first portion and a second portion of a second image frame based on the alignment information. Further, the at least one processor may be configured to determine a bounding region within the second image frame and fetch image data corresponding to the bounding region of the second image frame from memory. In some examples, the first image frame may comprise a base image and the second image frame may comprise an alternative image frame. Further, the first image frame may comprise any one of the image frames of the sequence of image frames.
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公开(公告)号：US12200337B2
公开(公告)日：2025-01-14
申请号：US18311577
申请日：2023-05-03
Applicant: Waymo LLC
Inventor： Shashank Sharma
Abstract: A camera includes a camera focus adjustment device, a lens, and an image sensor coupled to the camera focus adjustment device. The camera focus adjustment device includes a flexure structure. The flexure structure includes an outer framework of structural members continuously interconnected by flexure notch hinges. The flexure structure also includes two inner structural members oriented in parallel and extending from the outer framework of structural members. A gap is between the two inner structural members. The camera focus adjustment device also includes a piezoelectric material within the gap and a pair of wedges within the gap. The pair of wedges is affixed to the piezoelectric material and to one inner structural member of the two inner structural members. Based on temperature-based piezoelectric activity associated with the piezoelectric material, the camera focus adjustment device is operable to move the image sensor relative to the lens.
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公开(公告)号：US12196843B2
公开(公告)日：2025-01-14
申请号：US17804240
申请日：2022-05-26
Applicant: Waymo LLC
Inventor： Philip Ma , Filip Perich , Aravind Ramachandran
IPC: G01S13/32 , G01S7/02 , G01S13/931
Abstract: Example embodiments relate to techniques for implementing radar waveform diversity. A technique may involve a radar unit transmitting radar signals into an environment of a vehicle based on a code sequence that indicates a ramp direction and a phase shift for each pulse in a pulse used by the radar unit and receiving radar reflections from the environment. In some instances, the radar unit may leverage antennas in a multiple input multiple output (MIMO) arrangement to further add diversity to transmissions according to spatial code in the code sequence. The technique can further involve using a demodulator to map the environment based on the radar reflections and controlling the vehicle based on the mapping. In some instances, the code sequence is received from a system that is wirelessly providing orthogonal code sequences to multiple emitters.
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公开(公告)号：US12195013B2
公开(公告)日：2025-01-14
申请号：US17691058
申请日：2022-03-09
Applicant: Waymo LLC
Inventor： Scott Morgan Ettinger , Dragomir Anguelov
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for evaluating a behavior prediction system.
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公开(公告)号：US20250013586A1
公开(公告)日：2025-01-09
申请号：US18891506
申请日：2024-09-20
Applicant: Waymo LLC
Inventor： Sabareeshkumar Ravikumar , Shishuang Sun , Feng Wang , Ji Zhang
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.
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Patent Agency Ranking
公开(公告)号：US20250008203A1
公开(公告)日：2025-01-02
申请号：US18885858
申请日：2024-09-16
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
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.
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公开(公告)号：US20250002052A1
公开(公告)日：2025-01-02
申请号：US18828295
申请日：2024-09-09
Applicant: Waymo LLC
Inventor： Jared Stephen Russell , Tobias Kunz , Anup Menon
IPC: B60W60/00
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. Aspects of the technology employ permeable speed constraints that enable the vehicle to avoid problems associated with discontinuous constraints.
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公开(公告)号：US12181291B2
公开(公告)日：2024-12-31
申请号：US18223239
申请日：2023-07-18
Applicant: Waymo LLC
Inventor： Peter Colijn , Joshua Seth Herbach , Matthew Paul McNaughton
Abstract: Aspects of the disclosure provide systems and methods for providing suggested locations for pick up and destination locations. Pick up locations may include locations where an autonomous vehicle can pick up a passenger, while destination locations may include locations where the vehicle can wait for an additional passenger, stop and wait for a passenger to perform some task and return to the vehicle, or for the vehicle to drop off a passenger. As such, a request for a vehicle may be received from a client computing device. The request may identify a first location. A set of one or more suggested locations may be selected by comparing the predetermined locations to the first location. The set may be provided to the client computing device.
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公开(公告)号：US20240416958A1
公开(公告)日：2024-12-19
申请号：US18815952
申请日：2024-08-27
Applicant: Waymo LLC
Inventor： Jared Russell , Jens-Steffen Gutmann , Ioan-Alexandru Sucan
Abstract: Aspects of the disclosure provide a method of generating and following planned trajectories for an autonomous vehicle. For instance, a baseline for a planned trajectory that the autonomous vehicle can use to follow a route to a destination may be determined. A stopping point corresponding to a traffic control that will cause the autonomous vehicle to come to a stop using the baseline may be determined. Sensor data identifying objects and their locations may be received. A plurality of constraints may be generated based on the sensor data. A planned trajectory may be generated using the baseline, the stopping point, and the plurality of constraints, wherein constraints beyond the stopping point are ignored.
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公开(公告)号：US12165515B2
公开(公告)日：2024-12-10
申请号：US18364808
申请日：2023-08-03
Applicant: Waymo LLC
Inventor： Nathaniel Fairfield , Joshua Seth Herbach , Andrew Hughes Chatham , Michael Steven Montemerlo
Abstract: Example systems and methods allow for reporting and sharing of information reports relating to driving conditions within a fleet of autonomous vehicles. One example method includes receiving information reports relating to driving conditions from a plurality of autonomous vehicles within a fleet of autonomous vehicles. The method may also include receiving sensor data from a plurality of autonomous vehicles within the fleet of autonomous vehicles. The method may further include validating some of the information reports based at least in part on the sensor data. The method may additionally include combining validated information reports into a driving information map. The method may also include periodically filtering the driving information map to remove outdated information reports. The method may further include providing portions of the driving information map to autonomous vehicles within the fleet of autonomous vehicles.
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