公开(公告)号：US09285464B2

公开(公告)日：2016-03-15

申请号：US14462075

申请日：2014-08-18

Applicant: Google Inc.

Inventor： Gaetan Pennecot ,  Pierre-Yves Droz ,  Drew Eugene Ulrich ,  Daniel Gruver ,  Zachary Morriss ,  Anthony Levandowski

IPC: G01C3/08 ,  G01S7/481 ,  G01S17/89

CPC classification number: G01S7/4813 ,  G01S7/4812 ,  G01S7/4815 ,  G01S7/4816 ,  G01S7/4817 ,  G01S17/42 ,  G01S17/89 ,  G01S17/936

Abstract: A LIDAR device may transmit light pulses originating from one or more light sources and may receive reflected light pulses that are then detected by one or more detectors. The LIDAR device may include a lens that both (i) collimates the light from the one or more light sources to provide collimated light for transmission into an environment of the LIDAR device and (ii) focuses the reflected light onto the one or more detectors. The lens may define a curved focal surface in a transmit path of the light from the one or more light sources and a curved focal surface in a receive path of the one or more detectors. The one or more light sources may be arranged along the curved focal surface in the transmit path. The one or more detectors may be arranged along the curved focal surface in the receive path.

Abstract translation: 激光雷达装置可以发射源自一个或多个光源的光脉冲，并且可以接收然后由一个或多个检测器检测的反射光脉冲。 激光雷达装置可以包括：（i）对来自一个或多个光源的光进行准直以提供用于传输到激光雷达装置的环境中的准直光，以及（ii）将反射的光聚焦到一个或多个检测器上的透镜。 透镜可以在来自一个或多个光源的光的发射路径中以及在一个或多个检测器的接收路径中的弯曲焦点表面限定弯曲的焦点表面。 一个或多个光源可以沿着发射路径中的弯曲焦点表面布置。 一个或多个检测器可以沿着接收路径中的弯曲焦点表面布置。

公开(公告)号：US20170176597A1

公开(公告)日：2017-06-22

申请号：US15455009

申请日：2017-03-09

Applicant: Google Inc.

Inventor： Daniel Gruver ,  Pierre-yves Droz ,  Gaetan Pennecot ,  Anthony Levandowski ,  Drew Eugene Ulrich ,  Zachary Morriss ,  Luke Wachter ,  Dorel Ionut Iordache ,  Rahim Pardhan ,  William McCann ,  Bernard Fidric ,  Samuel William Lenius

IPC: G01S17/93 ,  G01S17/89 ,  G01S17/66 ,  G01S17/10 ,  G01S17/87 ,  G01S7/481

CPC classification number: G01S17/93 ,  G01C3/02 ,  G01S7/4808 ,  G01S7/4813 ,  G01S7/4815 ,  G01S7/4816 ,  G01S7/4817 ,  G01S17/023 ,  G01S17/10 ,  G01S17/42 ,  G01S17/66 ,  G01S17/87 ,  G01S17/89 ,  G01S17/936

Abstract: A vehicle is provided that includes one or more wheels positioned at a bottom side of the vehicle. The vehicle also includes a first light detection and ranging device (LIDAR) positioned at a top side of the vehicle opposite to the bottom side. The first LIDAR is configured to scan an environment around the vehicle based on rotation of the first LIDAR about an axis. The first LIDAR has a first resolution. The vehicle also includes a second LIDAR configured to scan a field-of-view of the environment that extends away from the vehicle along a viewing direction of the second LIDAR. The second LIDAR has a second resolution. The vehicle also includes a controller configured to operate the vehicle based on the scans of the environment by the first LIDAR and the second LIDAR.

公开(公告)号：US20160291134A1

公开(公告)日：2016-10-06

申请号：US14679683

申请日：2015-04-06

Applicant: Google Inc.

Inventor： Pierre-yves Droz ,  Gaetan Pennecot ,  Anthony Levandowski ,  Drew Eugene Ulrich ,  Zach Morriss ,  Luke Wachter ,  Dorel Ionut Iordach ,  William McCann ,  Daniel Gruver ,  Bernard Fidric ,  Samuel William Lenius

IPC: G01S7/48 ,  G01S17/06 ,  G01S17/93 ,  G01S7/481

CPC classification number: G01S7/4802 ,  G01S7/4817 ,  G01S17/023 ,  G01S17/87 ,  G01S17/936 ,  G01S2013/9375 ,  G01S2013/9378 ,  G01S2013/9382 ,  G01S2013/9385

Abstract: Systems and methods are described that relate to a light detection and ranging (LIDAR) device. The LIDAR device includes a fiber laser configured to emit light within a wavelength range, a scanning portion configured to direct the emitted light in a reciprocating manner about a first axis, and a plurality of detectors configured to sense light within the wavelength range. The device additionally includes a controller configured to receive target information, which may be indicative of an object, a position, a location, or an angle range. In response to receiving the target information, the controller may cause the rotational mount to rotate so as to adjust a pointing direction of the LIDAR. The controller is further configured to cause the LIDAR to scan a field-of-view (FOV) of the environment. The controller may determine a three-dimensional (3D) representation of the environment based on data from scanning the FOV.

Abstract translation: 描述了与光检测和测距（LIDAR）设备相关的系统和方法。 激光雷达装置包括被配置为发射波长范围内的光的光纤激光器，被配置为以围绕第一轴线往复运动的方式引导发射的光的扫描部分和被配置为感测波长范围内的光的多个检测器。 该装置还包括被配置为接收可以指示对象，位置，位置或角度范围的目标信息的控制器。 响应于接收到目标信息，控制器可以使旋转安装座旋转，以便调节激光雷达的指示方向。 控制器被进一步配置成使激光雷达扫描环境的视场（FOV）。 控制器可以基于来自扫描FOV的数据来确定环境的三维（3D）表示。

公开(公告)号：US09625582B2

公开(公告)日：2017-04-18

申请号：US14668452

申请日：2015-03-25

Applicant: Google Inc.

Inventor： Daniel Gruver ,  Pierre-yves Droz ,  Gaetan Pennecot ,  Anthony Levandowski ,  Drew Eugene Ulrich ,  Zachary Morriss ,  Luke Wachter ,  Dorel Ionut Iordache ,  Rahim Pardhan ,  William McCann ,  Bernard Fidric ,  Samuel William Lenius

IPC: G01C3/00 ,  G01S17/93 ,  G01S17/10 ,  G01S17/42 ,  G01S17/66 ,  G01S17/87 ,  G01S17/89 ,  G01S7/48 ,  G01S7/481 ,  G01S17/02

CPC classification number: G01S17/93 ,  G01C3/02 ,  G01S7/4808 ,  G01S7/4813 ,  G01S7/4815 ,  G01S7/4816 ,  G01S7/4817 ,  G01S17/023 ,  G01S17/10 ,  G01S17/42 ,  G01S17/66 ,  G01S17/87 ,  G01S17/89 ,  G01S17/936

Abstract: A vehicle is provided that includes one or more wheels positioned at a bottom side of the vehicle. The vehicle also includes a first light detection and ranging device (LIDAR) positioned at a top side of the vehicle opposite to the bottom side. The first LIDAR is configured to scan an environment around the vehicle based on rotation of the first LIDAR about an axis. The first LIDAR has a first resolution. The vehicle also includes a second LIDAR configured to scan a field-of-view of the environment that extends away from the vehicle along a viewing direction of the second LIDAR. The second LIDAR has a second resolution. The vehicle also includes a controller configured to operate the vehicle based on the scans of the environment by the first LIDAR and the second LIDAR.

公开(公告)号：US20150360692A1

公开(公告)日：2015-12-17

申请号：US14831777

申请日：2015-08-20

Applicant: Google Inc.

Inventor： David I. Ferguson ,  Nathaniel Fairfield ,  Anthony Levandowski

IPC: B60W30/18 ,  G05D1/00

CPC classification number: B60W30/18154 ,  B60W2550/22 ,  B60W2550/402 ,  G05D1/0088 ,  G05D1/0231 ,  G06K9/00791 ,  G06K9/00818 ,  G06K9/00825

Abstract: Methods and devices for detecting traffic signals and their associated states are disclosed. In one embodiment, an example method includes a scanning a target area using one or more sensors of a vehicle to obtain target area information. The vehicle may be configured to operate in an autonomous mode, and the target area may be a type of area where traffic signals are typically located. The method may also include detecting a traffic signal in the target area information, determining a location of the traffic signal, and determining a state of the traffic signal. Also, a confidence in the traffic signal may be determined. For example, the location of the traffic signal may be compared to known locations of traffic signals. Based on the state of the traffic signal and the confidence in the traffic signal, the vehicle may be controlled in the autonomous mode.

Abstract translation: 公开了用于检测交通信号及其相关状态的方法和设备。 在一个实施例中，示例性方法包括使用车辆的一个或多个传感器来扫描目标区域以获得目标区域信息。 车辆可以被配置为以自主模式操作，并且目标区域可以是交通信号通常位于的区域的类型。 该方法还可以包括检测目标区域信息中的业务信号，确定业务信号的位置，以及确定业务信号的状态。 此外，可以确定交通信号的置信度。 例如，可以将交通信号的位置与交通信号的已知位置进行比较。 基于交通信号灯的状态和交通信号的置信度，车辆可以被控制在自主模式中。

公开(公告)号：US08836922B1

公开(公告)日：2014-09-16

申请号：US13971606

申请日：2013-08-20

Applicant: Google Inc.

Inventor： Gaetan Pennecot ,  Pierre-Yves Droz ,  Drew Eugene Ulrich ,  Daniel Gruver ,  Zachary Morriss ,  Anthony Levandowski

IPC: G01C3/08 ,  G01S17/02

CPC classification number: G01S7/4813 ,  G01S7/4812 ,  G01S7/4815 ,  G01S7/4816 ,  G01S7/4817 ,  G01S17/42 ,  G01S17/89 ,  G01S17/936

Abstract: A LIDAR device may transmit light pulses originating from one or more light sources and may receive reflected light pulses that are then detected by one or more detectors. The LIDAR device may include a lens that both (i) collimates the light from the one or more light sources to provide collimated light for transmission into an environment of the LIDAR device and (ii) focuses the reflected light onto the one or more detectors. The lens may define a curved focal surface in a transmit path of the light from the one or more light sources and a curved focal surface in a receive path of the one or more detectors. The one or more light sources may be arranged along the curved focal surface in the transmit path. The one or more detectors may be arranged along the curved focal surface in the receive path.

Abstract translation: 激光雷达装置可以发射源自一个或多个光源的光脉冲，并且可以接收然后由一个或多个检测器检测的反射光脉冲。 激光雷达装置可以包括以下（i）对来自一个或多个光源的光进行准直以提供准直光以透射到激光雷达装置的环境中的透镜，以及（ii）将反射光聚焦到一个或多个检测器上。 透镜可以在来自一个或多个光源的光的发射路径中以及在一个或多个检测器的接收路径中的弯曲焦点表面限定弯曲的焦点表面。 一个或多个光源可以沿着发射路径中的弯曲焦点表面布置。 一个或多个检测器可以沿着接收路径中的弯曲焦点表面布置。

公开(公告)号：US20160282468A1

公开(公告)日：2016-09-29

申请号：US14668452

申请日：2015-03-25

Applicant: Google Inc.

Inventor： Daniel Gruver ,  Pierre-yves Droz ,  Gaetan Pennecot ,  Anthony Levandowski ,  Drew Eugene Ulrich ,  Zachary Morriss ,  Luke Wachter ,  Dorel Ionut Iordache ,  Rahim Pardhan ,  William McCann ,  Bernard Fidric ,  Samuel William Lenius

IPC: G01S17/93 ,  G01S7/483

CPC classification number: G01S17/93 ,  G01C3/02 ,  G01S7/4808 ,  G01S7/4813 ,  G01S7/4815 ,  G01S7/4816 ,  G01S7/4817 ,  G01S17/023 ,  G01S17/10 ,  G01S17/42 ,  G01S17/66 ,  G01S17/87 ,  G01S17/89 ,  G01S17/936

Abstract: A vehicle is provided that includes one or more wheels positioned at a bottom side of the vehicle. The vehicle also includes a first light detection and ranging device (LIDAR) positioned at a top side of the vehicle opposite to the bottom side. The first LIDAR is configured to scan an environment around the vehicle based on rotation of the first LIDAR about an axis. The first LIDAR has a first resolution. The vehicle also includes a second LIDAR configured to scan a field-of-view of the environment that extends away from the vehicle along a viewing direction of the second LIDAR. The second LIDAR has a second resolution. The vehicle also includes a controller configured to operate the vehicle based on the scans of the environment by the first LIDAR and the second LIDAR.

Abstract translation: 提供一种车辆，其包括位于车辆底部的一个或多个车轮。 车辆还包括位于与底侧相对的车辆顶侧的第一光检测和测距装置（LIDAR）。 第一激光雷达被配置为基于关于轴的第一激光雷达的旋转扫描车辆周围的环境。 第一个激光雷达具有第一个分辨率。 该车辆还包括第二激光雷达装置，其被配置成沿着第二激光雷达的观察方向扫描远离车辆的环境的视场。 第二个激光雷达具有第二个分辨率。 车辆还包括控制器，该控制器被配置为基于第一激光雷达和第二激光雷达对环境的扫描来操作车辆。

公开(公告)号：US20150055117A1

公开(公告)日：2015-02-26

申请号：US14462075

申请日：2014-08-18

Applicant: Google Inc.

Inventor： Gaetan Pennecot ,  Pierre-Yves Droz ,  Drew Eugene Ulrich ,  Daniel Gruver ,  Zachary Morriss ,  Anthony Levandowski

IPC: G01S7/481

CPC classification number: G01S7/4813 ,  G01S7/4812 ,  G01S7/4815 ,  G01S7/4816 ,  G01S7/4817 ,  G01S17/42 ,  G01S17/89 ,  G01S17/936

Abstract: A LIDAR device may transmit light pulses originating from one or more light sources and may receive reflected light pulses that are then detected by one or more detectors. The LIDAR device may include a lens that both (i) collimates the light from the one or more light sources to provide collimated light for transmission into an environment of the LIDAR device and (ii) focuses the reflected light onto the one or more detectors. The lens may define a curved focal surface in a transmit path of the light from the one or more light sources and a curved focal surface in a receive path of the one or more detectors. The one or more light sources may be arranged along the curved focal surface in the transmit path. The one or more detectors may be arranged along the curved focal surface in the receive path.

Abstract translation: 激光雷达装置可以发射源自一个或多个光源的光脉冲，并且可以接收然后由一个或多个检测器检测的反射光脉冲。 激光雷达装置可以包括：（i）对来自一个或多个光源的光进行准直以提供用于传输到激光雷达装置的环境中的准直光，以及（ii）将反射的光聚焦到一个或多个检测器上的透镜。 透镜可以在来自一个或多个光源的光的发射路径中以及在一个或多个检测器的接收路径中的弯曲焦点表面限定弯曲的焦点表面。 一个或多个光源可以沿着发射路径中的弯曲焦点表面布置。 一个或多个检测器可以沿着接收路径中的弯曲焦点表面布置。