公开(公告)号：US20240294187A1

公开(公告)日：2024-09-05

申请号：US18655616

申请日：2024-05-06

Applicant: WAYMO LLC

Inventor： Matthew Corey Hall ,  Maria Moon ,  Orlee Smith ,  Erik Wolsheimer ,  Kyle Bechtel

IPC: B60W60/00 ,  B60W50/00 ,  G06Q10/02 ,  G06Q50/34

CPC classification number: B60W60/0013 ,  B60W50/0098 ,  B60W60/00253 ,  G06Q10/02 ,  G06Q50/34 ,  B60W2050/0088

Abstract: Aspects of the disclosure relate to enabling playing of content at an autonomous vehicle. For example, a request to transport a user on a trip may be received. The autonomous vehicle may be assigned to the trip. Whether the user has enabled a content feature may be determined. In response to determining that the user has enabled the content feature a request for a device identifier is sent to the autonomous vehicle. The device identifier generated at the autonomous vehicle is received. The received device identifier may be sent to a content-enabling computing system including one or more processors in order to enable the user to play content from the client computing device at the autonomous vehicle during the trip.

公开(公告)号：US12079004B2

公开(公告)日：2024-09-03

申请号：US17405715

申请日：2021-08-18

Applicant: Waymo LLC

Inventor： Mingcheng Chen ,  Christian Lauterbach

IPC: G05D1/00 ,  G01S13/86 ,  G01S17/89

CPC classification number: G05D1/0248 ,  G01S13/865 ,  G01S17/89 ,  G05D1/0088 ,  G05D1/0221

Abstract: Aspects of the disclosure relate to training and using a model for verifying accuracy of ICP alignments or alignments between data points using an iterative closest point algorithm. For instance, a model may be trained using ICP alignment data, including alignments between an object appearing in LIDAR sensor frames. The training may also include setting a definition for a trusted ICP alignment. In this regard, the model may be trained such that, n response to receiving additional LIDAR sensor frames and corresponding additional ICP alignment data, output a value indicative of whether the additional ICP alignment data is trusted according to the definition. The model may then be used to control a vehicle in an autonomous driving mode by determining whether alignment data for object determined using the ICP algorithm should be trusted.

公开(公告)号：US12078754B1

公开(公告)日：2024-09-03

申请号：US17138172

申请日：2020-12-30

Applicant: Waymo LLC

Inventor： David Hutchison ,  James Dunphy ,  Pierre-Yves Droz

IPC: G01S7/481 ,  G01S7/484 ,  G01S7/486 ,  G01S7/497 ,  G01S17/931 ,  G05D1/00

CPC classification number: G01S7/4813 ,  G01S7/484 ,  G01S7/486 ,  G01S7/4972 ,  G01S17/931 ,  G05D1/024

Abstract: The present disclosure relates to optical transmitter modules, lidar systems, and methods of their manufacture. An example optical transmitter module includes a transparent substrate and a plurality of wires disposed along the transparent substrate. The optical transmitter module includes driver circuitry electrically-coupled to at least a portion of the plurality of wires and one or more light-emitter devices electrically-coupled to at least a portion of the plurality of wires. The light-emitter device(s) are configured to emit light pulses. The optical transmitter module also includes a fast axis collimation lens disposed along the transparent substrate. The fast axis collimation lens is configured to collimate the light pulses so as to provide collimated light. The optical transmitter module also includes one or more waveguide structures disposed along the transparent substrate within an optical region. The optical transmitter module also includes a lid configured to provide a sealed interior volume.

公开(公告)号：US12078530B2

公开(公告)日：2024-09-03

申请号：US17306281

申请日：2021-05-03

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  David Hutchison

IPC: G01C3/08 ,  G01J1/04 ,  G01S7/481 ,  G01S17/89 ,  G02B6/08 ,  G01J1/44

CPC classification number: G01J1/0407 ,  G01J1/0411 ,  G01J1/0414 ,  G01J1/0425 ,  G01J1/0437 ,  G01S7/4816 ,  G01S7/4818 ,  G01S17/89 ,  G02B6/08 ,  G01J2001/4466

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 disposed relative to a scene. The lens focuses light from the scene. The system also includes an aperture defined within an opaque material. The system also includes a waveguide having a first side that receives light focused by the lens and transmitted through the aperture. The waveguide guides the received light toward a second side of the waveguide opposite to the first side. The waveguide has a third side extending between the first side and the second side. The system also includes an array of light detectors that intercepts and detects light propagating out of the third side of the waveguide.

公开(公告)号：US20240286626A1

公开(公告)日：2024-08-29

申请号：US18173150

申请日：2023-02-23

Applicant: Waymo LLC

Inventor： Mark Calleija ,  Clayton Kunz ,  Matthew Langford ,  Ramadev Hukkeri ,  Daniel Rothenberg

IPC: B60W50/06 ,  B60W60/00

CPC classification number: B60W50/06 ,  B60W60/001 ,  B60W2420/408 ,  B60W2554/80 ,  B60W2555/20

Abstract: Example embodiments relate to self-supervisory and automatic response techniques and systems. A computing system may use sensor data from an autonomous vehicle sensor to detect an object in the environment of the vehicle as the vehicle navigates a path. The computing system may then determine a detection distance between the object and the sensor responsive to detecting the object. The computing system may then perform a comparison between the detection distance and a baseline detection distance that depends on one or more prior detections of given objects that are in the same classification group as the object. The computing system may then adjust a control strategy for the vehicle based on the comparison.

公开(公告)号：US12072451B2

公开(公告)日：2024-08-27

申请号：US17455239

申请日：2021-11-17

Applicant: Waymo LLC

Inventor： Jingyuan Linda Zhang ,  Caner Onal

IPC: G01S7/497 ,  B60S1/56 ,  G01S17/931

CPC classification number: G01S7/497 ,  B60S1/56 ,  G01S17/931 ,  G01S2007/4977

Abstract: An example method includes receiving point cloud information about a field of view of a lidar system. The point cloud information includes spatiotemporal and amplitude information about return light received. The method also includes determining, based on the point cloud information, a set of bright light returns from at least one highly reflective object. The bright light returns include return light having an amplitude above a photon threshold and a corresponding bright light return range. The method yet further includes determining, based on the point cloud information, a set of crosstalk returns. The crosstalk returns include return light having a corresponding crosstalk return range. The method includes adjusting, based on a normalized number of crosstalk returns, at least one of: a cleaning system, an operating mode of a lidar system, or an operating mode of a vehicle.

公开(公告)号：USD1038793S1

公开(公告)日：2024-08-13

申请号：US29896807

申请日：2023-07-07

Applicant: Waymo LLC

Designer： Jared Gross ,  Joshua Newby ,  Albert Shane ,  Alexandre Girard

Abstract: FIG. 1 is a front side view of a sensor assembly according to a first embodiment of our design;
FIG. 2 is a rear side view thereof;
FIG. 3 is a front elevation view thereof;
FIG. 4 is a rear side elevation view thereof;
FIG. 5 is a left side elevation view thereof;
FIG. 6 is right side elevation view thereof;
FIG. 7 is a top plan view thereof;
FIG. 8 is a top perspective view thereof;
FIG. 9 is a front side view of a sensor assembly according to a second embodiment of our design;
FIG. 10 is a rear side view thereof;
FIG. 11 is a front elevation view thereof;
FIG. 12 is a rear side elevation view thereof;
FIG. 13 is a left side elevation view thereof;
FIG. 14 is right side elevation view thereof;
FIG. 15 is a top plan view thereof;
FIG. 16 is a top perspective view thereof;
FIG. 17 is a rear side view of a sensor assembly according to a third embodiment of our design;
FIG. 18 is a rear side elevation view thereof;
FIG. 19 is a perspective view of a sensor assembly according to a fourth embodiment of our design;
FIG. 20 is a front elevation view thereof;
FIG. 21 is a rear elevation view thereof;
FIG. 22 is a left side elevation view thereof;
FIG. 23 is a right side elevation view thereof;
FIG. 24 is a top plan view thereof;
FIG. 25 is a front side view of a sensor assembly according to a fifth embodiment of our design;
FIG. 26 is a rear side view thereof;
FIG. 27 is a front elevation view thereof;
FIG. 28 is a rear side elevation view thereof;
FIG. 29 is a left side elevation view thereof;
FIG. 30 is right side elevation view thereof;
FIG. 31 is a top plan view thereof;
FIG. 32 is a top perspective view thereof;
FIG. 33 is a front side view of a sensor assembly according to a sixth embodiment of our design;
FIG. 34 is a rear side view thereof;
FIG. 35 is a front elevation view thereof;
FIG. 36 is a rear side elevation view thereof;
FIG. 37 is a left side elevation view thereof;
FIG. 38 is right side elevation view thereof;
FIG. 39 is a top plan view thereof;
FIG. 40 is a top perspective view thereof;
FIG. 41 is a rear side view of a sensor assembly according to a seventh embodiment of our design;
FIG. 42 is a rear side elevation view thereof;
FIG. 43 is a perspective view of a sensor assembly according to an eighth embodiment of our design;
FIG. 44 is a front elevation view thereof;
FIG. 45 is a rear elevation view thereof;
FIG. 46 is a left side elevation view thereof;
FIG. 47 is a right side elevation view thereof;
FIG. 48 is a top plan view thereof;
FIG. 49 is a front side view of a sensor assembly according to a ninth embodiment of our design;
FIG. 50 is a rear side view thereof;
FIG. 51 is a front elevation view thereof;
FIG. 52 is a rear side elevation view thereof;
FIG. 53 is a left side elevation view thereof;
FIG. 54 is right side elevation view thereof;
FIG. 55 is a top plan view thereof;
FIG. 56 is a top perspective view thereof;
FIG. 57 is a front side view of a sensor assembly according to a tenth embodiment of our design;
FIG. 58 is a rear side view thereof;
FIG. 59 is a front elevation view thereof;
FIG. 60 is a rear side elevation view thereof;
FIG. 61 is a left side elevation view thereof;
FIG. 62 is right side elevation view thereof;
FIG. 63 is a top plan view thereof; and,
FIG. 64 is a top perspective view thereof.
The broken lines immediately adjacent to the shaded area define the bounds of the claimed design and form no part thereof. The broken lines illustrating the remainder of the sensor assembly form no part of the claimed design. The portions of the sensor assembly shown in a pattern or patterns of stipple illustrate areas of contrasting appearance.

公开(公告)号：US12061091B2

公开(公告)日：2024-08-13

申请号：US18156475

申请日：2023-01-19

Applicant: Waymo LLC

Inventor： Jeremy Dittmer ,  Andreas Wendel

IPC: G01C21/36 ,  G01C21/34 ,  G05D1/00 ,  G06T7/70 ,  G06V20/56 ,  B60W60/00

CPC classification number: G01C21/3461 ,  G05D1/0246 ,  G06T7/70 ,  G06V20/56 ,  B60W60/0015 ,  B60W2420/403 ,  G06T2207/10004

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.

公开(公告)号：US12060080B2

公开(公告)日：2024-08-13

申请号：US18310620

申请日：2023-05-02

Applicant: WAYMO LLC

Inventor： Yuchi Wang ,  Michael James ,  Robert Chen ,  Derrick Dominic

IPC: B60W60/00 ,  B60W40/06 ,  G06F18/23 ,  G06F18/2415 ,  G06V20/56

CPC classification number: B60W60/00184 ,  B60W40/06 ,  B60W60/001 ,  B60W60/00182 ,  G06F18/23 ,  G06F18/2415 ,  G06V20/56 ,  G06V20/588 ,  B60W2420/408

Abstract: Aspects of the disclosure relate to generating a puddle occupancy grid including a plurality of cells. For instance, a first probability value for a puddle being located at a first location generated using sensor data from a first sensor may be received. A second probability value for a puddle being located at a second location generating using sensor data from a second sensor different from the first sensor may be received. A first cell may be identified from the plurality of cells using the first location. The first cell may also be identified using the second location. A value for the cell may be generated using the first probability value and the second probability value.

公开(公告)号：US12055442B2

公开(公告)日：2024-08-06

申请号：US17754930

申请日：2019-10-16

Applicant: Waymo LLC

Inventor： Benjamin Frevert ,  Zachary Morriss

IPC: G01J5/59 ,  G01J4/00 ,  G01J5/00

CPC classification number: G01J5/59 ,  G01J4/00 ,  G01J5/0025 ,  G01J2005/0077

Abstract: The present disclosure relates to systems, vehicles, and methods relating to imaging and object detection using polarization-based detection of infrared light. An example system includes at least one infrared detector configured to detect infrared light corresponding to a target object within a field of view. The infrared light includes at least one of a first polarization or a second polarization. The system also includes a controller configured to carry out operations. The operations include receiving, from the at least one infrared detector, information indicative of infrared light corresponding to the target object. The operations also include determining, based on the received information, a polarization ratio corresponding to the target object. The polarization ratio comprises a first polarization intensity divided by a second polarization intensity. The operations also include determining, based on the polarization ratio, that the infrared light corresponding to the target object comprises direct light or reflected light.