公开(公告)号：US12260650B2

公开(公告)日：2025-03-25

申请号：US18503422

申请日：2023-11-07

Applicant: WAYMO LLC

Inventor： Kimberly Toth ,  Jeremy Dittmer ,  Giulia Guidi ,  Peter Avram

IPC: G06V20/58 ,  B60R11/04 ,  G01S17/894 ,  G01S17/931 ,  H04N23/80

Abstract: The technology relates to an exterior sensor system for a vehicle configured to operate in an autonomous driving mode. The technology includes a close-in sensing (CIS) camera system to address blind spots around the vehicle. The CIS system is used to detect objects within a few meters of the vehicle. Based on object classification, the system is able to make real-time driving decisions. Classification is enhanced by employing cameras in conjunction with lidar sensors. The specific arrangement of multiple sensors in a single sensor housing is also important to object detection and classification. Thus, the positioning of the sensors and support components are selected to avoid occlusion and to otherwise prevent interference between the various sensor housing elements.

公开(公告)号：US20250091614A1

公开(公告)日：2025-03-20

申请号：US18969041

申请日：2024-12-04

Applicant: Waymo LLC

Inventor： Joshua P. Switkes ,  Andrew Barton-Sweeney ,  Vadim Butakov ,  Diomidis Katzourakis ,  Craig Latimer ,  David Smith

IPC: B60W60/00

Abstract: A method includes determining a maximum first parameter value and a maximum second parameter value corresponding to an autonomous vehicle (AV) for traveling a route. The method further includes determining, based on a first load value at a first distal end of a first axle of the AV and a second load value at a second distal end of the first axle, an updated first parameter value and an updated second parameter value corresponding to the AV for traveling the route. The method further includes causing the AV to travel the route based on the updated first parameter value and the updated second parameter value.

公开(公告)号：US12253740B2

公开(公告)日：2025-03-18

申请号：US17114808

申请日：2020-12-08

Applicant: Waymo LLC

Inventor： Shashank Sharma ,  Matthew Last

IPC: B60R11/04 ,  B60S1/02 ,  G01J5/02 ,  G01J5/061 ,  G01J5/08 ,  G01J5/0806 ,  G01J5/0875 ,  G02B7/18

Abstract: The present disclosure relates to optical systems, vehicles, and methods for providing improved mechanical performance of a camera and corresponding optical elements. An example optical system includes an outer housing and an inner support member. The optical system also includes an optical window coupled to the outer housing and the inner support member. The optical window is configured to be temperature-controllable. The optical system also includes a camera coupled to the inner support member. The camera is optically coupled to the optical window. Additionally, the outer housing, the optical window, and the camera are configured to be impact resistant.

公开(公告)号：US12253575B1

公开(公告)日：2025-03-18

申请号：US17859255

申请日：2022-07-07

Applicant: WAYMO LLC

Inventor： Yi-Heng Sen ,  Noah Lassar

IPC: G01R31/68 ,  G01R1/07 ,  H01R12/70 ,  H01R12/71 ,  H05B3/84

Abstract: Systems and methods for monitoring and detecting partial or full mechanical failures of a spring contact configured to provide an electrical connection between two elements. In some examples, a spring contact may be arranged between a first element, such as a window or cover of an operational sensor, and a second element, such as a printed circuit board. The window or cover may have an electrical element with a first electrical contact, and the printed circuit board may be attached to the spring contact via a joint (e.g., solder, weld, adhesive). A processing system may be configured to determine a state of the joint based on vibrations sensed by one or more vibration sensors attached to the second element.

公开(公告)号：US20250085706A1

公开(公告)日：2025-03-13

申请号：US18953500

申请日：2024-11-20

Applicant: Waymo LLC

Inventor： David Ian Ferguson ,  Wan-Yen Lo ,  Nathaniel Fairfield

IPC: G05D1/00 ,  B60W40/04 ,  B60W50/00 ,  B60W50/02 ,  G06V20/56 ,  G06V20/58 ,  G07C5/00 ,  H04L67/125

Abstract: Disclosed herein are systems and methods for providing supplemental identification abilities to an autonomous vehicle system. The sensor unit of the vehicle may be configured to receive data indicating an environment of the vehicle, while the control system may be configured to operate the vehicle. The vehicle may also include a processing unit configured to analyze the data indicating the environment to determine at least one object having a detection confidence below a threshold. Based on the at least one object having a detection confidence below a threshold, the processor may communicate at least a subset of the data indicating the environment for further processing. The vehicle is also configured to receive an indication of an object confirmation of the subset of the data. Based on the object confirmation of the subset of the data, the processor may alter the control of the vehicle by the control system.

公开(公告)号：US20250085419A1

公开(公告)日：2025-03-13

申请号：US18955396

申请日：2024-11-21

Applicant: Waymo LLC

Inventor： Michael Fina

IPC: G01S13/931 ,  B60W30/08

Abstract: Example embodiments relate to real-time health monitoring for automotive radars. A computing device may receive radar data from multiple radar units that have partially overlapping fields of view and detect a target object located such that the radar units both capture measurements of the target object. The computing device may determine a power level representing the target object for radar data from each radar unit, adjust these power levels, and determine a power difference between them. When the power difference exceeds a threshold power difference, the computing device may perform a calibration process to decrease the power difference below the threshold power difference or alert the vehicle, including onboard algorithms, to the reduced performance of the radar.

公开(公告)号：US12248323B2

公开(公告)日：2025-03-11

申请号：US18542837

申请日：2023-12-18

Applicant: Waymo LLC

Inventor： William Grossman ,  Benjamin Pitzer

IPC: G05D1/00 ,  B60R1/12 ,  G01S7/481 ,  G01S13/86 ,  G01S17/86 ,  G01S17/87 ,  G01S17/931 ,  G05D1/247 ,  G05D1/249 ,  G01S13/931

Abstract: The technology relates to autonomous vehicles for transporting cargo and/or people between locations. Distributed sensor arrangements may not be suitable for vehicles such as large trucks, busses or construction vehicles. Side view mirror assemblies are provided that include a sensor suite of different types of sensors, including LIDAR, radar, cameras, etc. Each side assembly is rigidly secured to the vehicle by a mounting element. The sensors within the assembly may be aligned or arranged relative to a common axis or physical point of the housing. This enables self-referenced calibration of all sensors in the housing. Vehicle-level calibration can also be performed between the sensors on the left and right sides of the vehicle. Each side view mirror assembly may include a conduit that provides one or more of power, data and cooling to the sensors in the housing.

公开(公告)号：US12248100B2

公开(公告)日：2025-03-11

申请号：US18412820

申请日：2024-01-15

Applicant: Waymo LLC

Inventor： Mark Alexander Shand

IPC: G01S7/4865 ,  G01S17/10 ,  G01S17/42 ,  G01S17/931

Abstract: A computing system may operate a LIDAR device to emit and detect light pulses in accordance with a time sequence including standard detection period(s) that establish a nominal detection range for the LIDAR device and extended detection period(s) having durations longer than those of the standard detection period(s). The system may then make a determination that the LIDAR detected return light pulse(s) during extended detection period(s) that correspond to particular emitted light pulse(s). Responsively, the computing system may determine that the detected return light pulse(s) have detection times relative to corresponding emission times of particular emitted light pulse(s) that are indicative of one or more ranges. Given this, the computing system may make a further determination of whether or not the one or more ranges indicate that an object is positioned outside of the nominal detection range, and may then engage in object detection in accordance with the further determination.

公开(公告)号：US12248097B1

公开(公告)日：2025-03-11

申请号：US18615703

申请日：2024-03-25

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  Samuel William Lenius

IPC: G01S7/48 ,  G01S7/484 ,  G01S7/4861 ,  G01S7/4865 ,  G01S7/497 ,  G01S17/10 ,  G01S17/42 ,  H04N25/40 ,  H04N25/77 ,  H04N25/772

Abstract: A light detection and ranging (LIDAR) system can emit light toward an environment and detect responsively reflected light to determine a distance to one or more points in the environment. The reflected light can be detected by a plurality of plurality of photodiodes that are reverse-biased using a high voltage. Signals from the plurality of reverse-biased photodiodes can be amplified by respective transistors and applied to an analog-to-digital converter (ADC). The signal from a particular photodiode can be applied to the ADC by biasing a respective transistor corresponding to the particular photodiode while not biasing transistors corresponding to other photodiodes. The gain of each photodiode/transistor pair can be controlled by adjusting the bias voltage applied to each photodiode using a digital-to-analog converter. The gain of each photodiode/transistor pair can be controlled based on the detected temperature of each photodiode.

公开(公告)号：US12248067B1

公开(公告)日：2025-03-11

申请号：US17895208

申请日：2022-08-25

Applicant: Waymo LLC

Inventor： Pierre-yves Droz ,  Gaetan Pennecot

IPC: G01S17/08 ,  G01S7/481 ,  G01S7/484 ,  G01S7/4865 ,  G01S17/10 ,  G01S17/42 ,  G01S17/89 ,  G08G1/16 ,  H01S5/06

Abstract: A laser diode firing circuit for a light detection and ranging (LIDAR) device that includes an inductively coupled feedback system is disclosed. The firing circuit includes a laser diode coupled in series with a transistor, such that current through the laser diode is controlled by the transistor. The laser diode is configured to emit a pulse of light in response to current flowing through the laser diode. A feedback loop is positioned to be inductively coupled to a current path of the firing circuit that includes the laser diode. As such, a change in current flowing through the laser diode induces a voltage in the feedback loop. A change in voltage across the leads of the feedback loop can be detected and the timing of the voltage change can be used to determine the time that current begins flowing through the laser diode.