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公开(公告)号：US20210165094A1
公开(公告)日：2021-06-03
申请号：US17028847
申请日：2020-09-22
Applicant: Waymo LLC
Inventor： Pierre-Yves Droz , Michael Marx , Ethan Stark
IPC: G01S17/10 , G01S17/931 , G01S7/481 , G01S7/484 , G01S17/89
Abstract: A light detection and ranging (LIDAR) device includes a light emitter configured to emit light pulses into a field of view and a detector configured to detect light in the field of view. The light emitter emits a first light pulse. The detector detects, during a first measurement period, at least one reflected light pulse that is indicative of reflection by a retroreflector based on a shape of a reflected light pulse, a magnitude of a reflected light pulse, and/or a time separation between two reflected light pulses. In response to detecting the at least one reflected light pulse indicative of reflection by a retroreflector, the light emitter is deactivated for one or more subsequent measurement periods. Additionally, the LIDAR device may inform one or more other LIDAR devices by transmitting to a computing device information indicative of the retroreflector being within the field of view of the light emitter.
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公开(公告)号：US10513273B1
公开(公告)日：2019-12-24
申请号：US15718477
申请日：2017-09-28
Applicant: Waymo LLC
Inventor： Ethan Stark , Daniel Trawick Egnor , Ryan Cash , Andrew Schultz
Abstract: Aspects of the disclosure relate to controlling a transition between a manual driving mode and an autonomous driving mode of a vehicle. For instance, one or more processors of one or more control computing devices may control the vehicle in the autonomous driving mode. While controlling the vehicle in the autonomous driving mode and decelerating at a given rate, the processors may receive at a user input of the vehicle input requesting a transition from the autonomous driving mode to the manual driving mode. In response to the input, the processors may transition the vehicle to the manual driving mode. After transitioning the vehicle to the manual driving mode, the processors may send deceleration signals to a deceleration actuator thereby causing the vehicle to continue to decelerate at the given rate.
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公开(公告)号：US11827235B1
公开(公告)日：2023-11-28
申请号：US17405363
申请日：2021-08-18
Applicant: Waymo LLC
Inventor： Ethan Stark , Daniel Trawick Egnor , Ryan Cash
CPC classification number: B60W50/06 , B60W10/04 , B60W10/18 , B60W10/20 , B60W30/10 , B60W50/0097 , B60W2050/0062 , B60W2552/15 , B60W2710/09 , B60W2710/18 , B60W2710/20 , B60W2720/106 , B60W2720/24
Abstract: Aspects of the disclosure relate to controlling a vehicle in an autonomous driving mode. For instance, a trajectory is identified. The trajectory defines a future desired path for the vehicle and includes a control requirement having a corresponding point in time. A command for achieving the control requirement is generated. A fixed delay value corresponding to a delay caused by transmission of the command to an actuator of the vehicle is generated. A variable delay value corresponding to a delay caused by an amount of time to change a physical state of the actuator to a desired state according to the command is generated. The command is then sent to the actuator based on the fixed delay value, the variable delay value, and so that the actuator causes the vehicle to move according to the command.
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4.发明申请公开(公告)号：US20210229666A1
公开(公告)日：2021-07-29
申请号：US17228078
申请日：2021-04-12
Applicant: Waymo LLC
Inventor： Ethan Stark , Daniel Trawick Egnor , Ryan Cash , Nolan McPeek-Bechtold
IPC: B60W30/188 , G05D1/00 , B60W10/06 , B60W10/02 , G05D1/02
Abstract: Aspects of the disclosure relate to stopping a vehicle. For instance, a vehicle is controlled in an autonomous driving mode by generating first commands for acceleration control and sending the first commands to an acceleration and/or steering actuator of an acceleration system of the vehicle in order to cause the vehicle to accelerate. Acceleration and/or orientation of the vehicle is monitored while the vehicle is being operated in an autonomous driving mode. The monitored acceleration and/or orientation is compared with the first commands. An error with the acceleration and/or steering system is determined based on the comparison. When the error is determined, the vehicle is controlled in the autonomous driving mode by generating second commands which do not require any acceleration and/or steering.
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5.发明申请公开(公告)号：US20200094832A1
公开(公告)日：2020-03-26
申请号：US16563017
申请日：2019-09-06
Applicant: Waymo LLC
Inventor： Ethan Stark , Daniel Trawick Egnor , Ryan Cash , Nolan McPeek-Bechtold
IPC: B60W30/188 , G05D1/02 , G05D1/00 , B60W10/06 , B60W10/02
Abstract: Aspects of the disclosure relate to stopping a vehicle. For instance, a vehicle is controlled in an autonomous driving mode by generating first commands for acceleration control and sending the first commands to an acceleration and/or steering actuator of an acceleration system of the vehicle in order to cause the vehicle to accelerate. Acceleration and/or orientation of the vehicle is monitored while the vehicle is being operated in an autonomous driving mode. The monitored acceleration and/or orientation is compared with the first commands. An error with the acceleration and/or steering system is determined based on the comparison. When the error is determined, the vehicle is controlled in the autonomous driving mode by generating second commands which do not require any acceleration and/or steering.
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Patent Agency Ranking
公开(公告)号：US12025702B2
公开(公告)日：2024-07-02
申请号：US17028847
申请日：2020-09-22
Applicant: Waymo LLC
Inventor： Pierre-Yves Droz , Michael Marx , Ethan Stark
IPC: G01S17/10 , G01S7/481 , G01S7/484 , G01S17/89 , G01S17/931
CPC classification number: G01S17/10 , G01S7/4815 , G01S7/4817 , G01S7/484 , G01S17/89 , G01S17/931
Abstract: A light detection and ranging (LIDAR) device includes a light emitter configured to emit light pulses into a field of view and a detector configured to detect light in the field of view. The light emitter emits a first light pulse. The detector detects, during a first measurement period, at least one reflected light pulse that is indicative of reflection by a retroreflector based on a shape of a reflected light pulse, a magnitude of a reflected light pulse, and/or a time separation between two reflected light pulses. In response to detecting the at least one reflected light pulse indicative of reflection by a retroreflector, the light emitter is deactivated for one or more subsequent measurement periods. Additionally, the LIDAR device may inform one or more other LIDAR devices by transmitting to a computing device information indicative of the retroreflector being within the field of view of the light emitter.
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公开(公告)号：US11965991B1
公开(公告)日：2024-04-23
申请号：US17029123
申请日：2020-09-23
Applicant: Waymo LLC
Inventor： Ethan Stark
CPC classification number: G01S7/497 , B60S1/02 , B60W50/02 , B60W60/0015 , G01N21/94 , G01S17/931 , B60W2555/00 , G01N2021/945 , G01N2201/06113 , G01S2007/4975
Abstract: The technology relates to detecting water or fouling on the exterior surface of a sensor cover, for instance due to precipitation or debris (fouling). Such objects on the sensor cover surface may degrade operation of the sensor, which can be problematic for vehicles operating in an autonomous driving mode. According to an aspect of the technology, a waveguide layer is provided on the sensor cover. A laser emits light at a selected wavelength along one side of the waveguide layer. The light waveform propagating along the waveguide layer is affected (distorted) by precipitation and/or fouling on the surface of this layer. A detector receives the distorted waveform. The system determines whether water and/or fouling is present based on the received waveform. This allows the system to determine whether to activate a cleaning module or to factor in the information when processing received sensor data.
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公开(公告)号：US11731644B1
公开(公告)日：2023-08-22
申请号：US17748565
申请日：2022-05-19
Applicant: Waymo LLC
Inventor： Ethan Stark , Daniel Trawick Egnor , Ryan Cash , Andrew Schultz
CPC classification number: B60W50/10 , G05D1/0088 , G05D1/0223 , B60W2540/12 , B60W2540/18 , B60W2720/106 , B60W2720/24 , G05D2201/0213
Abstract: Aspects of the disclosure relate to controlling a transition between a manual driving mode and an autonomous driving mode of a vehicle. For instance, one or more processors of one or more control computing devices may control the vehicle in the autonomous driving mode. While controlling the vehicle in the autonomous driving mode and decelerating at a given rate, the processors may receive at a user input of the vehicle input requesting a transition from the autonomous driving mode to the manual driving mode. In response to the input, the processors may transition the vehicle to the manual driving mode. After transitioning the vehicle to the manual driving mode, the processors may send deceleration signals to a deceleration actuator thereby causing the vehicle to continue to decelerate at the given rate.
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公开(公告)号：US11364928B1
公开(公告)日：2022-06-21
申请号：US16685209
申请日：2019-11-15
Applicant: Waymo LLC
Inventor： Ethan Stark , Daniel Trawick Egnor , Ryan Cash , Andrew Schultz
Abstract: Aspects of the disclosure relate to controlling a transition between a manual driving mode and an autonomous driving mode of a vehicle. For instance, one or more processors of one or more control computing devices may control the vehicle in the autonomous driving mode. While controlling the vehicle in the autonomous driving mode and decelerating at a given rate, the processors may receive at a user input of the vehicle input requesting a transition from the autonomous driving mode to the manual driving mode. In response to the input, the processors may transition the vehicle to the manual driving mode. After transitioning the vehicle to the manual driving mode, the processors may send deceleration signals to a deceleration actuator thereby causing the vehicle to continue to decelerate at the given rate.
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10.发明授权公开(公告)号：US10569784B2
公开(公告)日：2020-02-25
申请号：US15718459
申请日：2017-09-28
Applicant: Waymo LLC
Inventor： Ethan Stark , Daniel Trawick Egnor , Ryan Cash , Nolan McPeek-Bechtold
Abstract: Aspects of the disclosure relate to stopping a vehicle. For instance, a vehicle is controlled in an autonomous driving mode by generating first commands for acceleration control and sending the first commands to an acceleration and/or steering actuator of an acceleration system of the vehicle in order to cause the vehicle to accelerate. Acceleration and/or orientation of the vehicle is monitored while the vehicle is being operated in an autonomous driving mode. The monitored acceleration and/or orientation is compared with the first commands. An error with the acceleration and/or steering system is determined based on the comparison. When the error is determined, the vehicle is controlled in the autonomous driving mode by generating second commands which do not require any acceleration and/or steering.
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