公开(公告)号：US12111422B2

公开(公告)日：2024-10-08

申请号：US18333074

申请日：2023-06-12

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  David Hutchison

IPC: G01S7/48 ,  G01S7/481 ,  G01S7/4863 ,  G01S17/00 ,  G01S17/89 ,  G02B5/00 ,  G02B6/08 ,  G02B19/00 ,  G02B27/09

CPC classification number: G01S7/4863 ,  G01S7/4813 ,  G01S7/4816 ,  G01S7/4818 ,  G01S17/00 ,  G01S17/89 ,  G02B5/003 ,  G02B5/005 ,  G02B6/08 ,  G02B19/0014 ,  G02B19/0076 ,  G02B27/0994

Abstract: The present disclosure relates to limitation of noise on light detectors using an aperture. One example implementation includes a system. The system includes a lens that focuses light from a scene toward a focal plane. The system also includes an aperture defined within an opaque material. The system also includes a plurality of waveguides. A given waveguide of the plurality has an input end that receives a portion of light transmitted through the aperture, and guides the received portion toward an output end of the given waveguide. A cross-sectional area of the guided portion at the output end is greater than a cross-sectional area of the received portion at the input end. The system also includes an array of light detectors that detects the guided light transmitted through the output end.

公开(公告)号：US12106528B2

公开(公告)日：2024-10-01

申请号：US17684334

申请日：2022-03-01

Applicant: Waymo LLC

Inventor： Nichola Abdo ,  Jonathon Shlens ,  Zhifeng Chen ,  Christopher John Sweeney ,  Philipp Florian Jund

IPC: G06T9/00 ,  G06F18/214

CPC classification number: G06T9/002 ,  G06F18/2148

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for predicting scene flow. One of the methods includes obtaining a current point cloud representing an observed scene at a current time point; obtaining object label data that identifies a first three-dimensional region in the observed scene; determining, for each current three-dimensional point that is within the first three-dimensional region and using the object label data, a respective preceding position of the current three-dimensional point at a preceding time point in a reference frame of the sensor at the current time point; and generating, using the preceding positions, a scene flow label for the current point cloud that comprises a respective ground truth motion vector for each of a plurality of the current three-dimensional points.

公开(公告)号：US12103542B2

公开(公告)日：2024-10-01

申请号：US18231351

申请日：2023-08-08

Applicant: WAYMO LLC

Inventor： Menghui Wang ,  Aleksandar Gabrovski ,  Xiaoyi Liu ,  Wesley Heung ,  Yang-Hua Chu

IPC: G06F11/34 ,  B60W40/09 ,  B60W60/00 ,  G06F30/20

CPC classification number: B60W40/09 ,  B60W60/0025 ,  G06F11/3476 ,  G06F30/20

Abstract: The disclosure relates to running simulations in order to test software used to control a vehicle in an autonomous driving mode. For instance, logged data may be identified for a simulation. The logged data may have been collected by a first vehicle and may identifying an agent that is a road user. The logged data may be analyzed to identify one or more signals of intent of the agent including a logged path of the agent. One or more characteristics may be identified based on the one or more signals. The simulation may be run using the logged data by replacing the agent with an interactive agent having the one or more characteristics. The interactive agent may be capable of responding to actions performed by a simulated vehicle in the simulation using software for controlling a vehicle in an autonomous driving mode.

公开(公告)号：US20240310520A1

公开(公告)日：2024-09-19

申请号：US18674242

申请日：2024-05-24

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  Michael Marx ,  Ethan Stark

IPC: G01S17/10 ,  G01S7/481 ,  G01S7/484 ,  G01S17/89 ,  G01S17/931

CPC classification number: G01S17/10 ,  G01S7/4815 ,  G01S7/4817 ,  G01S7/484 ,  G01S17/89 ,  G01S17/931

Abstract: A light detection and ranging (LIDAR) device includes a light emitter configured to emit light pulses into a field of view and a detector configured to detect light in the field of view. The light emitter emits a first light pulse. The detector detects, during a first measurement period, at least one reflected light pulse that is indicative of reflection by a retroreflector based on a shape of a reflected light pulse, a magnitude of a reflected light pulse, and/or a time separation between two reflected light pulses. In response to detecting the at least one reflected light pulse indicative of reflection by a retroreflector, the light emitter is deactivated for one or more subsequent measurement periods. Additionally, the LIDAR device may inform one or more other LIDAR devices by transmitting to a computing device information indicative of the retroreflector being within the field of view of the light emitter.

公开(公告)号：US12093058B2

公开(公告)日：2024-09-17

申请号：US18204135

申请日：2023-05-31

Applicant: Waymo LLC

Inventor： Dong Li ,  Matthew McNaughton ,  Shir Yehoshua ,  Aida Khosroshahi ,  Ioan-Alexandru Sucan

IPC: B60W60/00 ,  G05D1/00

CPC classification number: G05D1/0289 ,  G05D1/0088 ,  G05D1/0223

Abstract: Aspects of the technology relate to exception handling for a vehicle. For instance, a current trajectory for the vehicle and sensor data corresponding to one or more objects may be received. Based on the received sensor data, projected trajectories of the one or more objects may be determined. Potential collisions with the one or more objects may be determined based on the projected trajectories and the current trajectory. One of the potential collisions that is earliest in time may be identified. Based on the one of the potential collisions, a safety-time-horizon (STH) may be identified. When a runtime exception occurs, before performing a precautionary maneuver to avoid a collision, waiting no longer than the STH for the runtime exception to resolve.

公开(公告)号：US12091049B2

公开(公告)日：2024-09-17

申请号：US17650542

申请日：2022-02-10

Applicant: Waymo LLC

Inventor： Jason Hardy ,  Xinfeng Le

IPC: B60W60/00 ,  G01C21/34 ,  G06F30/20

CPC classification number: B60W60/0015 ,  G01C21/3461 ,  G06F30/20 ,  B60W2300/145 ,  B60W2530/201 ,  B60W2554/00 ,  B60W2555/20 ,  B60W2556/40

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.

公开(公告)号：US20240302184A1

公开(公告)日：2024-09-12

申请号：US18120138

申请日：2023-03-10

Applicant: Waymo LLC

Inventor： Dmytro Tymofieiev ,  Chenyue Cook ,  Joshua Jacob ,  Zekai Li

IPC: G01C21/00

CPC classification number: G01C21/3889 ,  G01C21/3807 ,  G01C21/3841

Abstract: Aspects of the disclosure provide methods of generating blockages in map information for use by a fleet of autonomous vehicles. For instance, information from an autonomous vehicle of the fleet may be received by one or more processors of a server computing system. That the received information meets at least one set of rules for generating blockages may be determined. Based on the determination that the received information meets at least one set of rules for generating blockages, blockage data identifying a specific area of a blockage may be generated. The blockage data may be sent to the autonomous vehicles of the fleet in order to enable the autonomous vehicles of the fleet to avoid the specific area of the blockage.

公开(公告)号：US12085935B2

公开(公告)日：2024-09-10

申请号：US17389626

申请日：2021-07-30

Applicant: WAYMO LLC

Inventor： Evan Birenbaum ,  Xiaoyi Liu

IPC: G06T17/30 ,  G05D1/00 ,  G07C5/04

CPC classification number: G05D1/0088 ,  G07C5/04

Abstract: Aspects of the disclosure relate to generating assets for a simulation in order to test autonomous vehicle control software. For instance, data identifying a vehicle object, a polygon for the vehicle object, and a polygon for an open-door object associated with the vehicle object may be received. A rectangle may be fit to the polygon for the vehicle object. A polygon for the vehicle object without the open-door object may be determined based on the rectangle. A vehicle asset representing a vehicle may be adjusted based on the polygon for the vehicle object without the open-door object. A position and rotation of the rectangle may be used to position an open-door asset representing an open door for the simulation. The open-door asset is adjusted based on the adjustment to the vehicle asset. The simulation may be run with the positioned and adjusted open door asset in order to test the autonomous vehicle control software.

公开(公告)号：US12084119B2

公开(公告)日：2024-09-10

申请号：US18474610

申请日：2023-09-26

Applicant: WAYMO LLC

Inventor： Vijaysai Patnaik ,  William Grossman

IPC: B62D35/00 ,  B60W30/18 ,  G01S17/89 ,  G05D1/00 ,  B60R11/00

CPC classification number: B62D35/001 ,  B60W30/18009 ,  B60W30/18109 ,  G01S17/89 ,  G05D1/0238 ,  B60R2011/0082 ,  B60R2011/0094 ,  B60R2300/8093

Abstract: The technology relates to enhancing the operation of autonomous vehicles. Extendible sensors are deployed based on detected or predicted conditions around a vehicle while operating in a self-driving mode. When not needed, the sensors are fully retracted into the vehicle to reduce drag and increase fuel economy. When the onboard system determines that there is a need for a deployable sensor, such as to enhance the field of view of the perception system, the sensor is extended in a predetermined manner. The deployment may depend on one or more operating conditions and/or particular driving scenarios. These and other sensors of the vehicle may be protected with a rugged housing, for instance to protect against damage from the elements. And in other situations, deployable foils may extend from the vehicle's chassis to increase drag and enhance braking. This may be helpful for large trucks in steep descent situations.

公开(公告)号：US12083887B2

公开(公告)日：2024-09-10

申请号：US18221686

申请日：2023-07-13

Applicant: Waymo LLC

Inventor： Maria Moon ,  Julien Charles Mercay ,  Kyle Bechtel ,  Ryan Powell ,  Clement Wright

IPC: B60K35/00 ,  G05D1/00 ,  B60K35/26 ,  B60K35/28

CPC classification number: B60K35/00 ,  G05D1/0088 ,  B60K35/265 ,  B60K35/28 ,  B60K2360/161

Abstract: Aspects of the technology relate to assisting a passenger in an autonomous vehicle without a driver. For instance, after a door of the vehicle is opened, a predetermined period of time may be waited by processors of computing devices of the vehicle. After waiting the predetermined period of time and when the vehicle's door remains open, a set of instructions for closing the vehicle's door may be played by the processors through a speaker of the vehicle. Once the door of the vehicle is closed, an announcement may be played by the processors through the speaker requesting that the passenger press a first button to initiate a ride to a destination. In response to the first button being pressed, the ride to the destination may be initiated by the processors by maneuvering the vehicle autonomously to the destination.