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公开(公告)号：US20240111054A1
公开(公告)日：2024-04-04
申请号：US18194758
申请日：2023-04-03
申请人： Waymo LLC
CPC分类号： G01S17/89 , G01S7/4817 , G01S17/10
摘要： One example system includes a first light detection and ranging (LIDAR) device that scans a first field-of-view defined by a first range of pointing directions associated with the first LIDAR device. The system also includes a second LIDAR device that scans a second FOV defined by a second range of pointing directions associated with the second LIDAR device. The second FOV at least partially overlaps the first FOV. The system also includes a first controller that adjusts a first pointing direction of the first LIDAR device. The system also includes a second controller that adjusts a second pointing direction of the second LIDAR device synchronously with the adjustment of the first pointing direction of the first LIDAR device.
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公开(公告)号：US11917281B2
公开(公告)日：2024-02-27
申请号：US17517882
申请日：2021-11-03
申请人： Waymo LLC
IPC分类号： H04N5/335 , H04N23/61 , H04N23/45 , H04N23/73 , H04N23/741
CPC分类号： H04N23/61 , H04N23/45 , H04N23/73 , H04N23/741
摘要： 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：US11790666B1
公开(公告)日：2023-10-17
申请号：US17711686
申请日：2022-04-01
申请人： Waymo LLC
IPC分类号： G06K9/00 , G06V20/58 , G06V30/194 , B60W30/00
CPC分类号： G06V20/584 , B60W30/00 , G06V30/194
摘要： The present disclosure is directed to an autonomous vehicle having a vehicle control system. The vehicle control system includes an image processing system. The image processing system receives an image that includes a plurality of image portions. The image processing system also calculates a score for each image portion. The score indicates a level of confidence that a given image portion represents an illuminated component of a traffic light. The image processing system further identifies one or more candidate portions from among the plurality of image portions. Additionally, the image processing system determines that a particular candidate portion represents an illuminated component of a traffic light using a classifier. Further, the image processing system provides instructions to control the autonomous vehicle based on the particular candidate portion representing an illuminated component of a traffic light.
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公开(公告)号：US20220060616A1
公开(公告)日：2022-02-24
申请号：US17517882
申请日：2021-11-03
申请人： Waymo LLC
摘要： 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：US11208111B2
公开(公告)日：2021-12-28
申请号：US16215713
申请日：2018-12-11
申请人： Waymo LLC
发明人： Emily Chi , Ryan Joseph Andrade , Andreas Wendel , Michael James , Christian Lauterbach , Etai Bruhis , Christopher Kennedy Ludwick , Alexander Zbrozek , Pieter Kapsenberg , Zhuyuan Liu , Daniel Rosenband
IPC分类号： B60W10/04 , B60W10/20 , B60W50/02 , B60W50/029 , G05D1/00
摘要： The technology relates to partially redundant equipment architectures for vehicles able to operate in an autonomous driving mode. Aspects of the technology employ fallback configurations, such as two or more fallback sensor configurations that provide some minimum amount of field of view (FOV) around the vehicle. For instance, different sensor arrangements are logically associated with different operating domains of the vehicle. Fallback configurations for computing resources and/or power resources are also provided. Each fallback configuration may have different reasons for being triggered, and may result in different types of fallback modes of operation. Triggering conditions may relate, e.g., to a type of failure, fault or other reduction in component capability, the current driving mode, environmental conditions in the vicinity of vehicle or along a planned route, or other factors. Fallback modes may involve altering a previously planned trajectory, altering vehicle speed, and/or altering a destination of the vehicle.
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公开(公告)号：US20200351434A1
公开(公告)日：2020-11-05
申请号：US16935931
申请日：2020-07-22
申请人： Waymo LLC
摘要： 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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7.发明申请公开(公告)号：US20200005477A1
公开(公告)日：2020-01-02
申请号：US16567221
申请日：2019-09-11
申请人： Waymo LLC
发明人： Andreas Wendel , Benjamin Ingram
IPC分类号： G06T7/593 , B60W30/095 , G05D1/02 , G06K9/32
摘要： The technology relates to camera systems for vehicles having an autonomous driving mode. An example system includes a first camera mounted on a vehicle in order to capture images of the vehicle's environment. The first camera has a first exposure time and being without an ND filter. The system also includes a second camera mounted on the vehicle in order to capture images of the vehicle's environment and having an ND filter. The system also includes one or more processors configured to capture images using the first camera and the first exposure time, capture images using the second camera and the second exposure time, use the images captured using the second camera to identify illuminated objects, use the images captured using the first camera to identify the locations of objects, and use the identified illuminated objects and identified locations of objects to control the vehicle in an autonomous driving mode.
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公开(公告)号：US10523880B2
公开(公告)日：2019-12-31
申请号：US15719366
申请日：2017-09-28
申请人： Waymo LLC
IPC分类号： H04N5/353 , G06T7/521 , H04N5/235 , H04N5/247 , H04N5/341 , G01S17/89 , H04N5/225 , H04N5/232 , G06T17/05 , G06T7/90
摘要： 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：US20190258263A1
公开(公告)日：2019-08-22
申请号：US15901379
申请日：2018-02-21
申请人： Waymo LLC
摘要： Aspects of the disclosure relate to determining and responding to an internal state of a self-driving vehicle. For instance, an image of an interior of the vehicle captured by a camera mounted in the vehicle is received. The image is processed in order to identify one or more visible markers at predetermined locations within the vehicle. The internal state of the vehicle is determined based on the identified one or more visible markers. A responsive action is identified action using the determined internal state, and the vehicle is controlled in order to perform the responsive action.
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公开(公告)号：US10203696B2
公开(公告)日：2019-02-12
申请号：US15292818
申请日：2016-10-13
申请人： Waymo LLC
发明人： David Ian Franklin Ferguson , Andreas Wendel , Zhinan Xu , David Harrison Silver , Brandon Douglas Luders
摘要： Aspects of the disclosure relate to maneuvering a vehicle. As an example, sensor information identifying a set of objects as well as a set of characteristics for each object of the set of objects is received from a perception system of a vehicle. The set of objects is filtered to remove objects corresponding to vehicles, bicycles, and pedestrians. An object within an expected future path of the vehicle is selected from the filtered set of objects. The object is classified as drivable or not drivable based on the set of characteristics. Drivable indicates that the vehicle can drive over the object without causing damage to the vehicle. The vehicle is maneuvered based on the classification such that when the object is classified as drivable, maneuvering the vehicle includes driving the vehicle over the object by not altering the expected future path of the vehicle.
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