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公开(公告)号：US12133005B2
公开(公告)日：2024-10-29
申请号：US18150249
申请日：2023-01-05
Applicant: Waymo LLC
Inventor： Blaise Gassend , Benjamin Ingram , Andreas Wendel , Mark Alexander Shand
IPC: H04N5/353 , G01S17/42 , G01S17/86 , G01S17/89 , G06T7/521 , G06T7/90 , G06T17/05 , H04N5/225 , H04N5/232 , H04N5/235 , H04N5/247 , H04N5/341 , H04N23/45 , H04N23/698 , H04N23/71 , H04N23/73 , H04N23/90 , H04N25/40 , H04N25/531
CPC classification number: H04N25/531 , G01S17/42 , G01S17/86 , G01S17/89 , G06T7/521 , H04N23/45 , H04N23/698 , H04N23/71 , H04N23/73 , H04N23/90 , H04N25/40 , G06T7/90 , G06T17/05 , G06T2207/10028 , G06T2207/10144 , G06T2207/10152
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：US20240223882A1
公开(公告)日：2024-07-04
申请号：US18413521
申请日：2024-01-16
Applicant: Waymo LLC
Inventor： Andreas Wendel , Jeremy Dittmer , Brendan Hermalyn , Benjamin Ingram
IPC: H04N23/61 , H04N23/45 , H04N23/73 , H04N23/741
CPC classification number: H04N23/61 , H04N23/45 , H04N23/73 , H04N23/741
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：US11485328B1
公开(公告)日：2022-11-01
申请号：US16781126
申请日：2020-02-04
Applicant: Waymo LLC
Inventor： Benjamin Ingram , Eric Schmidt , Seth Gilbertson , Nicholas Wiles
Abstract: This technology relates to a system for clearing a sensor cover. The system may be comprised of a first sensor that rotates within a sensor cover, a plurality of second sensors that are fixed relative to the sensor cover, a first wiper that is configured to clear the sensor cover of debris, and a motor. The motor may rotate the first wiper in a first direction at a first predetermined rotation rate defined at least in part by a second predetermined rotation rate of the first sensor.
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公开(公告)号：US20200217934A1
公开(公告)日：2020-07-09
申请号：US16827214
申请日：2020-03-23
Applicant: Waymo LLC
Inventor： Benjamin Ingram , Pierre-Yves Droz , Luke Wachter , Scott McCloskey , Blaise Gassend , Gaetan Pennecot
Abstract: The present disclosure relates to systems and methods that facilitate light detection and ranging operations. An example transmit block includes at least one substrate with a plurality of angled facets. The plurality of angled facets provides a corresponding plurality of elevation angles. A set of angle differences between adjacent elevation angles includes at least two different angle difference values. A plurality of light-emitter devices is configured to emit light into an environment along the plurality of elevation angles toward respective target locations so as to provide a desired resolution and/or a respective elevation angle. The present disclosure also relates to adjusting shot power and a shot schedule based on the desired resolution and/or a respective elevation angle.
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公开(公告)号：US10416290B2
公开(公告)日：2019-09-17
申请号：US16030514
申请日：2018-07-09
Applicant: Waymo LLC
Inventor： Benjamin Ingram , Pierre-Yves Droz , Luke Wachter , Scott McCloskey , Blaise Gassend , Gaetan Pennecot
Abstract: The present disclosure relates to systems and methods that facilitate light detection and ranging operations. An example transmit block includes at least one substrate with a plurality of angled facets. The plurality of angled facets provides a corresponding plurality of elevation angles. A set of angle differences between adjacent elevation angles includes at least two different angle difference values. A plurality of light-emitter devices is configured to emit light into an environment along the plurality of elevation angles toward respective target locations so as to provide a desired resolution and/or a respective elevation angle. The present disclosure also relates to adjusting shot power and a shot schedule based on the desired resolution and/or a respective elevation angle.
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Patent Agency Ranking
公开(公告)号：US20180267146A1
公开(公告)日：2018-09-20
申请号：US15900189
申请日：2018-02-20
Applicant: Waymo LLC
Inventor： Benjamin Ingram , Pierre-Yves Droz , Luke Wachter , Scott McCloskey , Blaise Gassend , Gaetan Pennecot
CPC classification number: G01S7/4815 , G01S7/484 , G01S17/10 , G01S17/936 , H01S3/11 , H01S3/2308 , H01S5/4025 , H01S5/4056
Abstract: The present disclosure relates to systems and methods that facilitate light detection and ranging operations. An example transmit block includes at least one substrate with a plurality of angled facets. The plurality of angled facets provides a corresponding plurality of elevation angles. A set of angle differences between adjacent elevation angles includes at least two different angle difference values. A plurality of light-emitter devices is configured to emit light into an environment along the plurality of elevation angles toward respective target locations so as to provide a desired resolution and/or a respective elevation angle. The present disclosure also relates to adjusting shot power and a shot schedule based on the desired resolution and/or a respective elevation angle.
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公开(公告)号：US20240087451A1
公开(公告)日：2024-03-14
申请号：US18508354
申请日：2023-11-14
Applicant: Waymo LLC
Inventor： David Harrison Silver , Angus Leigh , Benjamin Ingram , Jennifer Taylor , Vaibhav Nangia
IPC: G08G1/0965 , G06F16/68 , G06F16/683 , G08G1/16 , H04R3/00
CPC classification number: G08G1/0965 , G06F16/683 , G06F16/686 , G08G1/166 , H04R3/005 , G08G1/09626 , H04R2499/13
Abstract: The technology relates to detecting and responding to emergency vehicles. This may include using a plurality of microphones to detect a siren noise corresponding to an emergency vehicle and to estimate a bearing of the emergency vehicle. This estimated bearing is compared to map information to identify a portion of roadway on which the emergency vehicle is traveling. In addition, information identifying a set of objects in the vehicle's environment as well as characteristics of those objects is received from a perception system is used to determine whether one of the set of objects corresponds to the emergency vehicle. How to respond to the emergency vehicle is determined based on the estimated bearing and identified road segments and the determination of whether one of the set of objects corresponds to the emergency vehicle. This determined response is then used to control the vehicle in an autonomous driving mode.
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公开(公告)号：US11752981B1
公开(公告)日：2023-09-12
申请号：US17953961
申请日：2022-09-27
Applicant: Waymo LLC
Inventor： Benjamin Ingram , Eric Schmidt , Seth Gilbertson , Nicholas Wiles
Abstract: This technology relates to a system for clearing a sensor cover. The system may be comprised of a first sensor that rotates within a sensor cover, a plurality of second sensors that are fixed relative to the sensor cover, a first wiper that is configured to clear the sensor cover of debris, and a motor. The motor may rotate the first wiper in a first direction at a first predetermined rotation rate defined at least in part by a second predetermined rotation rate of the first sensor.
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公开(公告)号：US20230282106A1
公开(公告)日：2023-09-07
申请号：US18118341
申请日：2023-03-07
Applicant: Waymo LLC
Inventor： David Harrison Silver , Angus Leigh , Benjamin Ingram , Jennifer Taylor , Vaibhav Nangia
IPC: G08G1/0965 , H04R3/00 , G08G1/16 , G06F16/683 , G06F16/68
CPC classification number: G08G1/0965 , H04R3/005 , G08G1/166 , G06F16/683 , G06F16/686 , H04R2499/13 , G08G1/09626
Abstract: The technology relates to detecting and responding to emergency vehicles. This may include using a plurality of microphones to detect a siren noise corresponding to an emergency vehicle and to estimate a bearing of the emergency vehicle. This estimated bearing is compared to map information to identify a portion of roadway on which the emergency vehicle is traveling. In addition, information identifying a set of objects in the vehicle's environment as well as characteristics of those objects is received from a perception system is used to determine whether one of the set of objects corresponds to the emergency vehicle. How to respond to the emergency vehicle is determined based on the estimated bearing and identified road segments and the determination of whether one of the set of objects corresponds to the emergency vehicle. This determined response is then used to control the vehicle in an autonomous driving mode.
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公开(公告)号：US11636761B2
公开(公告)日：2023-04-25
申请号：US17476830
申请日：2021-09-16
Applicant: Waymo LLC
Inventor： David Harrison Silver , Angus Leigh , Benjamin Ingram , Jennifer Taylor , Vaibhav Nangia
IPC: G08G1/0965 , H04R3/00 , G08G1/16 , G06F16/683 , G06F16/68 , G08G1/0962
Abstract: The technology relates to detecting and responding to emergency vehicles. This may include using a plurality of microphones to detect a siren noise corresponding to an emergency vehicle and to estimate a bearing of the emergency vehicle. This estimated bearing is compared to map information to identify a portion of roadway on which the emergency vehicle is traveling. In addition, information identifying a set of objects in the vehicle's environment as well as characteristics of those objects is received from a perception system is used to determine whether one of the set of objects corresponds to the emergency vehicle. How to respond to the emergency vehicle is determined based on the estimated bearing and identified road segments and the determination of whether one of the set of objects corresponds to the emergency vehicle. This determined response is then used to control the vehicle in an autonomous driving mode.
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