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公开(公告)号：US20180081361A1
公开(公告)日：2018-03-22
申请号：US15271140
申请日：2016-09-20
Applicant: Waymo LLC
Inventor： Craig Robinson , John Tisdale , Seth LaForge , Paul Karplus
Abstract: In one example, a vehicle includes a platform and a yaw sensor mounted on the platform. The yaw sensor provides an indication of a yaw rate of rotation of the yaw sensor. The vehicle also includes an actuator that rotates the platform. The vehicle also includes a controller coupled to the yaw sensor and the actuator. The controller receives the indication of the yaw rate from the yaw sensor. The controller also causes the actuator to rotate the platform (i) along a direction of rotation opposite to a direction of the rotation of the yaw sensor and (ii) at a rate of rotation based on the yaw rate of the yaw sensor. The controller also estimates a direction of motion of the vehicle in an environment of the vehicle based on at least the rate of rotation of the platform.
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公开(公告)号：US20250083695A1
公开(公告)日：2025-03-13
申请号：US18466061
申请日：2023-09-13
Applicant: WAYMO LLC
Inventor： Son-Ca Nguyen , Craig Robinson , Jakob Robert Zwiener
Abstract: Aspects of the disclosure provide for depot behaviors for autonomous vehicles. For instance, a signal to control an autonomous vehicle to a depot area may be received from a server computing device. A prioritized list of staging areas within the depot area may be identified. Each staging area of the prioritized list of staging areas enables the vehicle to observe stopping locations at which a need of the vehicle may be addressed. The vehicle may be controlled to a first staging area of the prioritized list. Once the vehicle has reached the first staging area, whether a stopping location that meets one or more needs of the vehicle is available may be determined. When is available, the vehicle may be controlled to the available stopping location. When not available, the vehicle may be controlled to a second staging area of the prioritized list.
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公开(公告)号：US11632823B1
公开(公告)日：2023-04-18
申请号：US17210284
申请日：2021-03-23
Applicant: Waymo LLC
Inventor： Shawn Nematbakhsh , Alec Berg , Craig Robinson , Alexander Zbrozek
Abstract: Systems and methods for estimating sensor timestamps by oversampling are provided. One example method involves observing, at a sampling frequency, sensor data from a register of a sensor. The sensor updates the register with sensor data at as sensor update frequency. The sampling frequency is different from the sensor update frequency. The method also involves generating, based on the sensor update frequency and the sampling frequency, an observed sequence representing the sensor data. The observed sequence indicates whether the register is observed to be updated or not updated. The method also involves estimating, from the observed sequence, the sensor update frequency and a sensor update phase. The method also involves determining, based on the sensor update frequency as estimated and the sensor update phase as estimated, a timestamp corresponding to an update of the register.
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Patent Agency Ranking
公开(公告)号：US12007487B1
公开(公告)日：2024-06-11
申请号：US17546496
申请日：2021-12-09
Applicant: Waymo LLC
Inventor： Craig Robinson
CPC classification number: G01S19/256 , B60W40/10 , G01S19/396 , G01S19/45 , G01S19/48 , B60W2420/408 , B60W2556/50
Abstract: A method of updating a clock associated with an autonomous vehicle includes determining, at a processor, a sensor-based position of the autonomous vehicle. The sensor-based position is determined based on data from one or more sensors and based on a digital map accessible to the processor. The method also includes determining, at the processor, a global positioning system (GPS) computed position of the autonomous vehicle and a GPS time. The GPS computed position and the GPS time are determined based on a plurality of GPS signals received from GPS satellites. The method further includes comparing the sensor-based position to the GPS computed position to determine whether the sensor-based position is within a threshold distance from the GPS computed position. The method also includes updating the clock associated with the autonomous vehicle based on the GPS time in response to a determination that the sensor-based position is within the threshold distance from the GPS computed position.
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公开(公告)号：US11959776B2
公开(公告)日：2024-04-16
申请号：US17437131
申请日：2020-03-13
Applicant: WAYMO LLC
Inventor： Craig Robinson , Alec Berg
IPC: G01D18/00 , G01B7/16 , G01C19/00 , G01D5/14 , G01S13/931 , G01S17/931
CPC classification number: G01D18/001 , G01B7/22 , G01C19/00 , G01D5/145 , G01S13/931 , G01S17/931
Abstract: One example method involves generating a calibration control signal that causes an actuator to rotate a first platform at least one complete rotation about an axis. The method also involves receiving encoder output signals. The encoder output signals are indicative of angular positions of the first platform about the axis. The method also involves receiving sensor output signals from an orientation sensor mounted on the first platform. The sensor output signals are indicative of a rate of change to an orientation of the orientation sensor. The method also involves determining calibration data based on given sensor output signals received from the orientation sensor during the at least one complete rotation. The calibration data is for mapping the encoder output signals to calibrated measurements of the angular positions of the first platform about the axis.
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公开(公告)号：US11959774B1
公开(公告)日：2024-04-16
申请号：US16950687
申请日：2020-11-17
Applicant: Waymo LLC
Inventor： Sheng Zhao , Damien Dusha , Craig Robinson , Volker Grabe
IPC: G01C25/00 , G01C21/16 , G01S7/40 , G01S7/497 , G06T7/80 , G01S13/931 , G01S17/931
CPC classification number: G01C25/005 , G01C21/1652 , G01C21/1656 , G01S7/40 , G01S7/4972 , G06T7/80 , G01S13/931 , G01S17/931
Abstract: Systems and methods for extrinsic calibration of vehicle-mounted sensors are provided. One example method involves obtaining first sensor data collected by a first sensor and a second sensor while a vehicle is aligned in a first yaw direction. The method also involves obtaining second sensor data collected by the first sensor and the second sensor while the vehicle is aligned in a second yaw direction. The method also involves determining, based on the first sensor data and the second sensor data, (i) first pitch and roll misalignments of the first sensor relative to the vehicle and (ii) second pitch and roll misalignments of the second sensor relative to the first sensor. The method also involves determining third pitch and roll misalignments of the second sensor relative to the vehicle based on (i) the first pitch and roll misalignments and (ii) the second pitch and roll misalignments.
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公开(公告)号：US11209276B2
公开(公告)日：2021-12-28
申请号：US16674159
申请日：2019-11-05
Applicant: Waymo LLC
Inventor： Craig Robinson , John Tisdale , Seth LaForge , Paul Karplus
Abstract: In one example, a vehicle includes a platform and a yaw sensor mounted on the platform. The yaw sensor provides an indication of a yaw rate of rotation of the yaw sensor. The vehicle also includes an actuator that rotates the platform. The vehicle also includes a controller coupled to the yaw sensor and the actuator. The controller receives the indication of the yaw rate from the yaw sensor. The controller also causes the actuator to rotate the platform (i) along a direction of rotation opposite to a direction of the rotation of the yaw sensor and (ii) at a rate of rotation based on the yaw rate of the yaw sensor. The controller also estimates a direction of motion of the vehicle in an environment of the vehicle based on at least the rate of rotation of the platform.
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公开(公告)号：US20200072612A1
公开(公告)日：2020-03-05
申请号：US16674159
申请日：2019-11-05
Applicant: Waymo LLC
Inventor： Craig Robinson , John Tisdale , Seth LaForge , Paul Karplus
Abstract: In one example, a vehicle includes a platform and a yaw sensor mounted on the platform. The yaw sensor provides an indication of a yaw rate of rotation of the yaw sensor. The vehicle also includes an actuator that rotates the platform. The vehicle also includes a controller coupled to the yaw sensor and the actuator. The controller receives the indication of the yaw rate from the yaw sensor. The controller also causes the actuator to rotate the platform (i) along a direction of rotation opposite to a direction of the rotation of the yaw sensor and (ii) at a rate of rotation based on the yaw rate of the yaw sensor. The controller also estimates a direction of motion of the vehicle in an environment of the vehicle based on at least the rate of rotation of the platform.
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