公开(公告)号：US20220179057A1

公开(公告)日：2022-06-09

申请号：US17437115

申请日：2020-03-13

Applicant: WAYMO LLC

Inventor： Gil SHOTAN ,  Luke WACHTER ,  Colin BRALEY ,  Christian LAUTERBACH ,  Xiaoxiang HU ,  Ming ZOU

IPC: G01S7/497 ,  G01S7/481 ,  G01S17/931

Abstract: One example method involves obtaining a plurality of scans of a field-of-view (FOV) of a light detection and ranging (LIDAR) device disposed inside a housing. Obtaining each scan of the plurality of scans comprises: transmitting, through a plurality of sections of the housing, a plurality of light pulses emitted from the LIDAR device in different directions toward the housing; and detecting a plurality of returning light pulses comprising reflected portions of the transmitted plurality of light pulses that are reflected back toward the LIDAR device. The method also involves detecting an obstruction that at least partially occludes the LIDAR device from scanning the FOV through the housing based on the plurality of scans.

公开(公告)号：US20240183959A1

公开(公告)日：2024-06-06

申请号：US18438043

申请日：2024-02-09

Applicant: WAYMO LLC

Inventor： Gil SHOTAN ,  Luke WACHTER ,  Colin BRALEY ,  Christian LAUTERBACH ,  Xiaoxiang HU ,  Ming ZOU

IPC: G01S7/497 ,  G01S7/481 ,  G01S17/931

CPC classification number: G01S7/497 ,  G01S7/4813 ,  G01S7/4814 ,  G01S17/931 ,  G01S2007/4977

Abstract: One example method involves obtaining a plurality of scans of a field-of-view (FOV) of a light detection and ranging (LIDAR) device disposed inside a housing. Obtaining each scan of the plurality of scans comprises: transmitting, through a plurality of sections of the housing, a plurality of light pulses emitted from the LIDAR device in different directions toward the housing; and detecting a plurality of returning light pulses comprising reflected portions of the transmitted plurality of light pulses that are reflected back toward the LIDAR device. The method also involves detecting an obstruction that at least partially occludes the LIDAR device from scanning the FOV through the housing based on the plurality of scans.

公开(公告)号：US20180356500A1

公开(公告)日：2018-12-13

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

IPC: G01S7/481 ,  G01S17/10 ,  H01S3/11

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.