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公开(公告)号：US12159736B2
公开(公告)日：2024-12-03
申请号：US17107950
申请日：2020-11-30
Applicant: Waymo LLC
Inventor： Robert Lockwood , Kelvin Kwong
Abstract: An example device includes a mounting structure including a first material having a first coefficient of thermal expansion (CTE). The mounting structure includes a center portion and an outer portion. The device further includes a magnetic core for an electrical component that is coupled to the outer portion of the mounting structure. The magnetic core includes a second material having a second CTE. The magnetic core is split into a plurality of sections separated by spaces extending from the center portion to an outer edge of the outer portion. Each of the plurality of sections is separately coupled to the mounting structure, and each of the plurality of sections is connected to the electrical component.
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公开(公告)号：US12159451B2
公开(公告)日：2024-12-03
申请号：US17947563
申请日：2022-09-19
Applicant: Waymo LLC
Inventor： Brandyn White , Congyu Gao , Sean Rafferty , Nicholas Armstrong-Crews
IPC: G06V20/56 , B60W60/00 , G01C21/36 , G06F18/214 , G06V10/774 , G06V20/58 , H04W4/021
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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643.发明申请公开(公告)号：US20240391498A1
公开(公告)日：2024-11-28
申请号：US18796557
申请日：2024-08-07
Applicant: Waymo LLC
Inventor： Jason Hardy , Xinfeng Le
Abstract: Example embodiments relate to methods and systems for automatic problematic maneuver detection and adapted motion planning. A computing device may obtain a route for navigation by a vehicle and a set of vehicle parameters corresponding to the vehicle. Each vehicle parameter can represent a physical attribute of the vehicle. The computing device may generate a virtual vehicle that represents the vehicle based on the set of vehicle parameters and perform a simulation that involves the virtual vehicle navigating the route. Based on the results of the simulation, the computing device may provide the original route or a modified route to the vehicle for the vehicle to subsequently navigate to its destination. In some cases, the simulation may further factor additional conditions, such as potential weather and traffic conditions that are likely to occur during the time when the vehicle plans on navigating the route.
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公开(公告)号：US12153432B2
公开(公告)日：2024-11-26
申请号：US17654259
申请日：2022-03-10
Applicant: Waymo LLC
Inventor： David Ian Franklin Ferguson , Nathaniel Fairfield , Bradley Templeton
Abstract: Disclosed herein are methods and apparatus for controlling autonomous vehicles utilizing maps that include visibility information. A map is stored at a computing device associated with a vehicle. The vehicle is configured to operate in an autonomous mode that supports a plurality of driving behaviors. The map includes information about a plurality of roads, a plurality of features, and visibility information for at least a first feature in the plurality of features. The computing device queries the map for visibility information for the first feature at a first position. The computing device, in response to querying the map, receives the visibility information for the first feature at the first position. The computing device selects a driving behavior for the vehicle based on the visibility information. The computing device controls the vehicle in accordance with the selected driving behavior.
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公开(公告)号：US20240385320A1
公开(公告)日：2024-11-21
申请号：US18429644
申请日：2024-02-01
Applicant: Waymo LLC
Inventor： Pierre-Yves Droz , Blaise Gassend , Caner Onal , David Hutchison
IPC: G01S17/08 , G01J1/04 , G01J1/42 , G01J1/44 , G01J3/02 , G01S7/481 , G01S7/486 , G01S7/4863 , G01S17/10 , G01S17/42
Abstract: The present disclosure relates to limitation of noise on light detectors using an aperture. One example embodiment includes a system. The system includes a lens disposed relative to a scene and configured to focus light from the scene onto a focal plane. The system also includes an aperture defined within an opaque material disposed at the focal plane of the lens. The aperture has a cross-sectional area. In addition, the system includes an array of light detectors disposed on a side of the focal plane opposite the lens and configured to intercept and detect diverging light focused by the lens and transmitted through the aperture. A cross-sectional area of the array of light detectors that intercepts the diverging light is greater than the cross-sectional area of the aperture.
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Patent Agency Ranking
公开(公告)号：US20240383499A1
公开(公告)日：2024-11-21
申请号：US18780296
申请日：2024-07-22
Applicant: Waymo LLC
Inventor： Michael Buchanan , Aleksandar Rumenov Gabrovski , Colin Andrew Braley , David Yonchar Margines
IPC: B60W60/00 , B60W30/095 , B60W30/18 , G06V20/58 , G06V20/64
Abstract: Methods, systems, and apparatus for generation and use of surfel maps to plan for occlusions. One of the methods includes receiving a previously-generated surfel map depicting an area in which a vehicle is located, the surfel map comprising a plurality of surfels, each surfel corresponding to a respective different location in the area in which a vehicle is located; receiving, from one or more sensors, sensor data representing the area in which the vehicle is located; determining, based on the sensor data, that the area in which a vehicle is located includes a dynamic object having a changed shape relative to its representation in the surfel map; and generating an updated path for the vehicle to travel that avoids an occlusion by the changed shape of the dynamic object of a line of sight of one or more sensors to an area of interest.
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公开(公告)号：US12147000B2
公开(公告)日：2024-11-19
申请号：US17411845
申请日：2021-08-25
Applicant: Waymo LLC
Inventor： Simon Verghese , Caner Onal , Pierre-Yves Droz
Abstract: The present disclosure relates to devices, systems, and methods relating to configurable silicon photomultiplier (SiPM) devices. An example device includes a substrate and a plurality of single photon avalanche diodes (SPADs) coupled to the substrate. The device also includes a plurality of outputs coupled to the substrate and a plurality of electrical components coupled to the substrate. The plurality of electrical components are configured to selectively connect the plurality of SPADs to the plurality of outputs by selecting which output of the plurality of outputs is connected to each SPAD of the plurality of SPADs and to thereby define a plurality of SiPMs in the device such that each SiPM of the plurality of SiPMs comprises a respective set of one or more SPADs connected to a respective output of the plurality of outputs.
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公开(公告)号：US12145628B1
公开(公告)日：2024-11-19
申请号：US18195094
申请日：2023-05-09
Applicant: WAYMO LLC
Inventor： Xiaoyue Zhao , Henning Hohnhold , Yin-Hsiu Chen , Xiang Gao , Ajay Joshi , Kevin Cao
Abstract: Aspects of the disclosure provide for the generation of a driving difficulty heat map for autonomous vehicles. For instance, log data generated by a vehicle being driven in a manual driving mode for a segment of a route may be input into a disengage model in order to generate an output identifying a likelihood of a vehicle driving in an autonomous driving mode requiring a disengage from the autonomous driving mode along the segment of the route. The log data may have been collected within a geographic area. A grid for the geographic area may be generated. The grid may include a plurality of cells. The output is assigned to one of the plurality of cells. The plurality of cells and assigned output may be used to generate a driving difficulty heat map for the geographic area.
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公开(公告)号：US12141083B1
公开(公告)日：2024-11-12
申请号：US18171068
申请日：2023-02-17
Applicant: Waymo LLC
Inventor： Sabareeshkumar Ravikumar , Daniel Rosenband
Abstract: One example system for preventing data loss during memory blackout events comprises a memory device, a sensor, and a controller operably coupled to the memory device and the sensor. The controller is configured to perform one or more operations that coordinate at least one memory blackout event of the memory device and at least one data transmission of the sensor.
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公开(公告)号：US12139172B2
公开(公告)日：2024-11-12
申请号：US17316625
申请日：2021-05-10
Applicant: Waymo LLC
Inventor： Vishu Goyal , Kai Ding , Yang Wang
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for predicting near-curb driving behavior. One of the methods includes obtaining agent trajectory data for an agent in an environment, the agent trajectory data comprising a current location and current values for a predetermined set of motion parameters of the agent; processing a model input generated from the agent trajectory data using a trained machine learning model to generate a model output comprising a prediction of whether the agent will exhibit near-curb driving behavior within a predetermined timeframe, wherein an agent exhibits near-curb driving behavior when the agent operates within a particular distance of an edge of a road in the environment; and using the prediction to generate a planned path for a vehicle in the environment.
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