公开(公告)号：US20190041498A1

公开(公告)日：2019-02-07

申请号：US15665796

申请日：2017-08-01

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  David Neil Hutchison ,  Ralph Hamilton Shepard

IPC: G01S7/481 ,  G01S7/486 ,  F21V8/00

Abstract: The present disclosure relates to limitation of noise on light detectors using an aperture. One example implementation includes a system. The system includes a lens disposed relative to a scene. The lens focuses light from the scene. The system also includes an opaque material that defines an aperture. The system also includes a waveguide having a first side that receives light focused by the lens and transmitted through the aperture. The waveguide guides the received light toward a second side of the waveguide opposite to the first side. The waveguide has a third side extending between the first side and the second side. The system also includes a mirror that reflects the guided light toward the third side of the waveguide. The system also includes an array of light detectors that detects the reflected light propagating out of the third side.

公开(公告)号：US11802942B2

公开(公告)日：2023-10-31

申请号：US17137299

申请日：2020-12-29

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  David Neil Hutchison ,  Ralph Hamilton Shepard ,  Nathaniel Golshan

IPC: G01C3/08 ,  G01S7/481 ,  G01S7/4914 ,  G01S7/4863 ,  G01S17/89

CPC classification number: G01S7/4818 ,  G01S7/4812 ,  G01S7/4814 ,  G01S7/4816 ,  G01S7/4817 ,  G01S7/4863 ,  G01S7/4914 ,  G01S17/89

Abstract: One example system includes a light source that emits light. The system also includes a waveguide that guides the emitted light from a first side of the waveguide toward a second side of the waveguide opposite the first side. The waveguide has a third side extending between the first side and the second side. The system also includes a mirror that reflects the guided light toward the third side of the waveguide. At least a portion of the reflected light propagates out of the waveguide toward a scene. The system also includes a light detector, and a lens that focuses light from the scene toward the waveguide and the light detector.

公开(公告)号：US20230280450A1

公开(公告)日：2023-09-07

申请号：US18317171

申请日：2023-05-15

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  David Neil Hutchison ,  Ralph Hamilton Shepard

IPC: G01S7/481 ,  G01S7/4863 ,  F21V8/00 ,  G01S17/42

CPC classification number: G01S7/4816 ,  G01S7/4863 ,  G01S17/42 ,  G02B6/003 ,  G02B6/0055 ,  G02B6/4298

Abstract: The present disclosure relates to limitation of noise on light detectors using an aperture. One example implementation includes a system. The system includes a lens disposed relative to a scene. The lens focuses light from the scene. The system also includes an opaque material that defines an aperture. The system also includes a waveguide having a first side that receives light focused by the lens and transmitted through the aperture. The waveguide guides the received light toward a second side of the waveguide opposite to the first side. The waveguide has a third side extending between the first side and the second side. The system also includes a mirror that reflects the guided light toward the third side of the waveguide. The system also includes an array of light detectors that detects the reflected light propagating out of the third side.

公开(公告)号：US10890650B2

公开(公告)日：2021-01-12

申请号：US15695755

申请日：2017-09-05

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  David Neil Hutchison ,  Ralph Hamilton Shepard ,  Nathaniel Golshan

IPC: G01C3/08 ,  G01S7/481 ,  G01S7/4914 ,  G01S7/4863 ,  G01S17/89

Abstract: One example system includes a light source that emits light. The system also includes a waveguide that guides the emitted light from a first side of the waveguide toward a second side of the waveguide opposite the first side. The waveguide has a third side extending between the first side and the second side. The system also includes a mirror that reflects the guided light toward the third side of the waveguide. At least a portion of the reflected light propagates out of the waveguide toward a scene. The system also includes a light detector, and a lens that focuses light from the scene toward the waveguide and the light detector.

公开(公告)号：US20200300979A1

公开(公告)日：2020-09-24

申请号：US16895191

申请日：2020-06-08

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  David Neil Hutchison ,  Ralph Hamilton Shepard

IPC: G01S7/481 ,  G01S7/4863 ,  F21V8/00 ,  G01S17/42

Abstract: The present disclosure relates to limitation of noise on light detectors using an aperture. One example implementation includes a system. The system includes a lens disposed relative to a scene. The lens focuses light from the scene. The system also includes an opaque material that defines an aperture. The system also includes a waveguide having a first side that receives light focused by the lens and transmitted through the aperture. The waveguide guides the received light toward a second side of the waveguide opposite to the first side. The waveguide has a third side extending between the first side and the second side. The system also includes a mirror that reflects the guided light toward the third side of the waveguide. The system also includes an array of light detectors that detects the reflected light propagating out of the third side.

公开(公告)号：US11686823B2

公开(公告)日：2023-06-27

申请号：US16895191

申请日：2020-06-08

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  David Neil Hutchison ,  Ralph Hamilton Shepard

IPC: G01C3/08 ,  G01S7/481 ,  G01S7/4863 ,  F21V8/00 ,  G01S17/42 ,  G02B6/42

CPC classification number: G01S7/4816 ,  G01S7/4863 ,  G01S17/42 ,  G02B6/003 ,  G02B6/0055 ,  G02B6/4214 ,  G02B6/4298

Abstract: The present disclosure relates to limitation of noise on light detectors using an aperture. One example implementation includes a system. The system includes a lens disposed relative to a scene. The lens focuses light from the scene. The system also includes an opaque material that defines an aperture. The system also includes a waveguide having a first side that receives light focused by the lens and transmitted through the aperture. The waveguide guides the received light toward a second side of the waveguide opposite to the first side. The waveguide has a third side extending between the first side and the second side. The system also includes a mirror that reflects the guided light toward the third side of the waveguide. The system also includes an array of light detectors that detects the reflected light propagating out of the third side.

公开(公告)号：US20230055071A1

公开(公告)日：2023-02-23

申请号：US17982078

申请日：2022-11-07

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  David Neil Hutchison ,  James Dunphy ,  Nathaniel Golshan ,  Ralph Hamilton Shepard

IPC: G01S17/02 ,  G02B27/09 ,  G02B6/122

Abstract: One example system comprises a light source configured to emit light. The system also comprises a waveguide configured to guide the emitted light from a first end of the waveguide toward a second end of the waveguide. The waveguide has an output surface between the first end and the second end. The system also comprises a plurality of mirrors including a first mirror and a second mirror. The first mirror reflects a first portion of the light toward the output surface. The second mirror reflects a second portion of the light toward the output surface. The first portion propagates out of the output surface toward a scene as a first transmitted light beam. The second portion propagates out of the output surface toward the scene as a second transmitted light beam.

公开(公告)号：US10698088B2

公开(公告)日：2020-06-30

申请号：US15665796

申请日：2017-08-01

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  David Neil Hutchison ,  Ralph Hamilton Shepard

IPC: G01C3/08 ,  G01S7/481 ,  G01S7/4863 ,  F21V8/00 ,  G01S17/42 ,  G02B6/42

Abstract: The present disclosure relates to limitation of noise on light detectors using an aperture. One example implementation includes a system. The system includes a lens disposed relative to a scene. The lens focuses light from the scene. The system also includes an opaque material that defines an aperture. The system also includes a waveguide having a first side that receives light focused by the lens and transmitted through the aperture. The waveguide guides the received light toward a second side of the waveguide opposite to the first side. The waveguide has a third side extending between the first side and the second side. The system also includes a mirror that reflects the guided light toward the third side of the waveguide. The system also includes an array of light detectors that detects the reflected light propagating out of the third side.

公开(公告)号：US10302749B2

公开(公告)日：2019-05-28

申请号：US16120361

申请日：2018-09-03

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  David Neil Hutchison ,  Luke Wachter ,  Alexander McCauley

IPC: G01S17/89 ,  G01S7/497 ,  G01S17/42 ,  G01S17/02

Abstract: One example method involves obtaining a plurality of images using a camera located at a given position relative to a light detection and ranging (LIDAR) device. A first image of the plurality may be obtained while a first aperture is interposed between the camera and the LIDAR device. A second image of the plurality may be obtained while a second aperture is interposed between the camera and the LIDAR device. The method also involves determining one or more alignment offsets between a transmitter of the LIDAR device and a receiver of the LIDAR device based on the plurality of images.

公开(公告)号：US20180372853A1

公开(公告)日：2018-12-27

申请号：US16120361

申请日：2018-09-03

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  David Neil Hutchison ,  Luke Wachter ,  Alexander McCauley

IPC: G01S7/497 ,  G01S17/89 ,  G01S17/42

Abstract: One example method involves obtaining a plurality of images using a camera located at a given position relative to a light detection and ranging (LIDAR) device. A first image of the plurality may be obtained while a first aperture is interposed between the camera and the LIDAR device. A second image of the plurality may be obtained while a second aperture is interposed between the camera and the LIDAR device. The method also involves determining one or more alignment offsets between a transmitter of the LIDAR device and a receiver of the LIDAR device based on the plurality of images.