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公开(公告)号：US10921142B2
公开(公告)日：2021-02-16
申请号：US15842055
申请日：2017-12-14
Applicant: Waymo LLC
Inventor： Jeremy Dittmer , Andreas Wendel
Abstract: Example implementations may relate to sun-aware vehicle routing. In particular, a computing system of a vehicle may determine an expected position of the sun relative to a geographic area. Based on the expected position, the computing system may make a determination that travel of the vehicle through certain location(s) within the geographic area is expected to result in the sun being proximate to an object within a field of view of the vehicle's image capture device. Responsively, the computing system may generate a route for the vehicle in the geographic area based at least on the route avoiding travel of the vehicle through these certain location(s), and may then operate the vehicle to travel in accordance with the generated route. Ultimately, this may help reduce or prevent situations where quality of image(s) degrades due to sunlight, which may allow for use of these image(s) as basis for operating the vehicle.
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62.发明申请公开(公告)号：US20210012521A1
公开(公告)日：2021-01-14
申请号：US16987501
申请日：2020-08-07
Applicant: Waymo LLC
Inventor： Andreas Wendel , Benjamin Ingram
Abstract: The technology relates to camera systems for vehicles having an autonomous driving mode. An example system includes a first camera mounted on a vehicle in order to capture images of the vehicle's environment. The first camera has a first exposure time and being without an ND filter. The system also includes a second camera mounted on the vehicle in order to capture images of the vehicle's environment and having an ND filter. The system also includes one or more processors configured to capture images using the first camera and the first exposure time, capture images using the second camera and the second exposure time, use the images captured using the second camera to identify illuminated objects, use the images captured using the first camera to identify the locations of objects, and use the identified illuminated objects and identified locations of objects to control the vehicle in an autonomous driving mode.
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公开(公告)号：US10757320B2
公开(公告)日：2020-08-25
申请号：US16199998
申请日：2018-11-26
Applicant: Waymo LLC
Inventor： Andreas Wendel , Jeremy Dittmer , Brendan Hermalyn , Benjamin Ingram
Abstract: Example embodiments relate to multiple operating modes to expand dynamic range. An example embodiment includes a camera system. The camera system may include a first image sensor having a first dynamic range corresponding to a first range of luminance levels in a scene. The system may also include a second image sensor having a second dynamic range corresponding to a second range of luminance levels in the scene. The camera system may further include a processor coupled to the first image sensor and the second image sensor. The processor may be configured to execute instructions to identify objects of a first type in a first image of the scene captured by the first image sensor and identify objects of a second object type in a second image of the scene captured by the second image sensor.
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公开(公告)号：US20200055516A1
公开(公告)日：2020-02-20
申请号：US16105069
申请日：2018-08-20
Applicant: Waymo LLC
Inventor： Carl Warren Craddock , Andreas Wendel
Abstract: The disclosure relates to assessing operation of two or more cameras. These cameras may be a group of cameras of a perception system of a vehicle having an autonomous driving mode. A first image captured by a first camera and a second image captured by a second camera may be received. A first feature vector for the first image and a second feature vector for the second image may be generated. A similarity score may be determined using the first feature vector and the second feature vector. This similarity score may be used to assess the operation of the two cameras and an appropriate action may be taken.
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公开(公告)号：US10558873B2
公开(公告)日：2020-02-11
申请号：US15842182
申请日：2017-12-14
Applicant: Waymo LLC
Inventor： Brendan Hermalyn , Andreas Wendel , Jeremy Dittmer
Abstract: Example implementations may relate to use of a light-control feature to control extent of light encountered by an image capture device of a self-driving vehicle. In particular, a computing system of the vehicle may make a determination that quality of image data generated by an image capture device is or is expected to be lower than a threshold quality due to external light encountered or expected to be encountered by the image capture device. In response to the determination, the computing system may make an adjustment to the light-control feature to control the extent of external light encountered or expected to be encountered by the image capture device. This adjustment may ultimately help improve quality of image data generated by the image capture device. As such, the computing system may operate the vehicle based at least on image data generated by the image capture device.
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Patent Agency Ranking
公开(公告)号：US20190384313A1
公开(公告)日：2019-12-19
申请号：US16008462
申请日：2018-06-14
Applicant: Waymo LLC
Inventor： Kimberly Geneva Toth , Brendan Hermalyn , Shane Mcguire , Felix Jose Alvarez Rivera , Jeremy Dittmer , Andreas Wendel
Abstract: The technology relates to autonomous vehicles that use a perception system to detect objects and features in the vehicle's surroundings. A camera assembly having a ring-type structure is provided that gives the perception system an overall 360° field of view around the vehicle. Image sensors are arranged in camera modules around the assembly to provide a seamless panoramic field of view. One subsystem has multiple pairs of image sensors positioned to provide the overall 360° field of view, while another subsystem provides a set of image sensors generally facing toward the front of the vehicle to provide enhanced object identification. The camera assembly may be arranged in a housing located on top of the vehicle. The housing may include other sensors such as LIDAR and radar. The assembly includes a chassis and top and base plates, which may provide EMI protection from other sensors disposed in the housing.
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67.发明授权公开(公告)号：US10453208B2
公开(公告)日：2019-10-22
申请号：US15613546
申请日：2017-06-05
Applicant: Waymo LLC
Inventor： Andreas Wendel , Benjamin Ingram
Abstract: The technology relates to camera systems for vehicles having an autonomous driving mode. An example system includes a first camera mounted on a vehicle in order to capture images of the vehicle's environment. The first camera has a first exposure time and being without an ND filter. The system also includes a second camera mounted on the vehicle in order to capture images of the vehicle's environment and having an ND filter. The system also includes one or more processors configured to capture images using the first camera and the first exposure time, capture images using the second camera and the second exposure time, use the images captured using the second camera to identify illuminated objects, use the images captured using the first camera to identify the locations of objects, and use the identified illuminated objects and identified locations of objects to control the vehicle in an autonomous driving mode.
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公开(公告)号：US20190208111A1
公开(公告)日：2019-07-04
申请号：US16199998
申请日：2018-11-26
Applicant: Waymo LLC
Inventor： Andreas Wendel , Jeremy Dittmer , Brendan Hermalyn , Benjamin Ingram
Abstract: Example embodiments relate to multiple operating modes to expand dynamic range. An example embodiment includes a camera system. The camera system may include a first image sensor having a first dynamic range corresponding to a first range of luminance levels in a scene. The system may also include a second image sensor having a second dynamic range corresponding to a second range of luminance levels in the scene. The camera system may further include a processor coupled to the first image sensor and the second image sensor. The processor may be configured to execute instructions to identify objects of a first type in a first image of the scene captured by the first image sensor and identify objects of a second object type in a second image of the scene captured by the second image sensor.
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公开(公告)号：US20190098233A1
公开(公告)日：2019-03-28
申请号：US15719366
申请日：2017-09-28
Applicant: Waymo LLC
Inventor： Blaise Gassend , Benjamin Ingram , Andreas Wendel , Mark Alexander Shand
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.
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公开(公告)号：US09892332B1
公开(公告)日：2018-02-13
申请号：US15682963
申请日：2017-08-22
Applicant: Waymo LLC
Inventor： Andreas Wendel , David Ian Franklin Ferguson
CPC classification number: G06K9/00825 , B60W30/00 , G06K9/66
Abstract: The present disclosure is directed to an autonomous vehicle having a vehicle control system. The vehicle control system includes an image processing system. The image processing system receives an image that includes a plurality of image portions. The image processing system also calculates a score for each image portion. The score indicates a level of confidence that a given image portion represents an illuminated component of a traffic light. The image processing system further identifies one or more candidate portions from among the plurality of image portions. Additionally, the image processing system determines that a particular candidate portion represents an illuminated component of a traffic light using a classifier. Further, the image processing system provides instructions to control the autonomous vehicle based on the particular candidate portion representing an illuminated component of a traffic light.
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