公开(公告)号：US20230126631A1

公开(公告)日：2023-04-27

申请号：US18145149

申请日：2022-12-22

Applicant: Waymo LLC

Inventor： Pierre-yves Droz ,  Gaetan Pennecot ,  Drew Eugene Ulrich ,  Dorel Ionut Iordache ,  Rahim Pardhan

IPC: G01S7/48 ,  G01S17/93 ,  G01S17/10 ,  G01S17/42 ,  G01S17/66 ,  G01S17/87 ,  G01S17/89 ,  G01S7/481 ,  G01S17/931 ,  G01C3/02

Abstract: A vehicle is provided that includes one or more wheels positioned at a bottom side of the vehicle. The vehicle also includes a first light detection and ranging device (LIDAR) positioned at a top side of the vehicle opposite to the bottom side. The first LIDAR is configured to scan an environment around the vehicle based on rotation of the first LIDAR about an axis. The first LIDAR has a first resolution. The vehicle also includes a second LIDAR configured to scan a field-of-view of the environment that extends away from the vehicle along a viewing direction of the second LIDAR. The second LIDAR has a second resolution. The vehicle also includes a controller configured to operate the vehicle based on the scans of the environment by the first LIDAR and the second LIDAR.

公开(公告)号：US20210333361A1

公开(公告)日：2021-10-28

申请号：US17366768

申请日：2021-07-02

Applicant: Waymo, LLC

Inventor： Pierre-yves Droz ,  Gaetan Pennecot ,  Anthony Levandowski ,  Drew Eugene Ulrich ,  Zach Morriss ,  Luke Wachter ,  Dorel Ionut Iordache ,  William McCann ,  Daniel Gruver ,  Bernard Fidric ,  Samuel William Lenius

IPC: G01S7/48 ,  G01S7/481 ,  G01S17/87 ,  G01S17/86 ,  G01S17/931

Abstract: Systems and methods are described that relate to a light detection and ranging (LIDAR) device. The LIDAR device includes a fiber laser configured to emit light within a wavelength range, a scanning portion configured to direct the emitted light in a reciprocating manner about a first axis, and a plurality of detectors configured to sense light within the wavelength range. The device additionally includes a controller configured to receive target information, which may be indicative of an object, a position, a location, or an angle range. In response to receiving the target information, the controller may cause the rotational mount to rotate so as to adjust a pointing direction of the LIDAR. The controller is further configured to cause the LIDAR to scan a field-of-view (FOV) of the environment. The controller may determine a three-dimensional (3D) representation of the environment based on data from scanning the FOV.

公开(公告)号：US09910139B2

公开(公告)日：2018-03-06

申请号：US15482722

申请日：2017-04-08

Applicant: Waymo LLC

Inventor： Gaetan Pennecot ,  Pierre-yves Droz

IPC: G01S7/497 ,  G01S17/89 ,  G01S7/481 ,  G02B27/62 ,  G02B5/20

CPC classification number: G01S7/4972 ,  G01S7/4815 ,  G01S7/4817 ,  G01S7/51 ,  G01S17/06 ,  G01S17/42 ,  G01S17/89 ,  G02B5/20 ,  G02B27/62

Abstract: A method is provided that involves mounting a transmit block and a receive block in a LIDAR device to provide a relative position between the transmit block and the receive block. The method also involves locating a camera at a given position at which the camera can image light beams emitted by the transmit block and can image the receive block. The method also involves obtaining, using the camera, a first image indicative of light source positions of one or more light sources in the transmit block and a second image indicative of detector positions of one or more detectors in the receive block. The method also involves determining at least one offset based on the first image and the second image. The method also involves adjusting the relative position between the transmit block and the receive block based at least in part on the at least one offset.

公开(公告)号：US20170212229A1

公开(公告)日：2017-07-27

申请号：US15482722

申请日：2017-04-08

Applicant: Waymo LLC

Inventor： Gaetan Pennecot ,  Pierre-yves Droz

IPC: G01S7/497 ,  G01S7/481 ,  G02B27/62 ,  G01S17/89

CPC classification number: G01S7/4972 ,  G01S7/4815 ,  G01S7/4817 ,  G01S7/51 ,  G01S17/06 ,  G01S17/42 ,  G01S17/89 ,  G02B5/20 ,  G02B27/62

Abstract: A method is provided that involves mounting a transmit block and a receive block in a LIDAR device to provide a relative position between the transmit block and the receive block. The method also involves locating a camera at a given position at which the camera can image light beams emitted by the transmit block and can image the receive block. The method also involves obtaining, using the camera, a first image indicative of light source positions of one or more light sources in the transmit block and a second image indicative of detector positions of one or more detectors in the receive block. The method also involves determining at least one offset based on the first image and the second image. The method also involves adjusting the relative position between the transmit block and the receive block based at least in part on the at least one offset.

公开(公告)号：US11054505B2

公开(公告)日：2021-07-06

申请号：US15881049

申请日：2018-01-26

Applicant: Waymo LLC

Inventor： Pierre-yves Droz ,  Gaetan Pennecot ,  Anthony Levandowski ,  Drew Eugene Ulrich ,  Zach Morriss ,  Luke Wachter ,  Dorel Ionut Iordache ,  William McCann ,  Daniel Gruver ,  Bernard Fidric ,  Samuel William Lenius

IPC: G01S7/48 ,  G01S7/481 ,  G01S17/87 ,  G01S17/86 ,  G01S17/931 ,  G01S13/931

Abstract: Systems and methods are described that relate to a light detection and ranging (LIDAR) device. The LIDAR device includes a fiber laser configured to emit light within a wavelength range, a scanning portion configured to direct the emitted light in a reciprocating manner about a first axis, and a plurality of detectors configured to sense light within the wavelength range. The device additionally includes a controller configured to receive target information, which may be indicative of an object, a position, a location, or an angle range. In response to receiving the target information, the controller may cause the rotational mount to rotate so as to adjust a pointing direction of the LIDAR. The controller is further configured to cause the LIDAR to scan a field-of-view (FOV) of the environment. The controller may determine a three-dimensional (3D) representation of the environment based on data from scanning the FOV.

公开(公告)号：US20210026000A1

公开(公告)日：2021-01-28

申请号：US17061172

申请日：2020-10-01

Applicant: Waymo LLC

Inventor： Gaetan Pennecot ,  Pierre-Yves Droz

IPC: G01S7/497 ,  G01S7/51 ,  G01S17/06 ,  G01S17/42 ,  G01S7/481 ,  G02B27/62 ,  G01S17/89

Abstract: A method is provided that involves mounting a transmit block and a receive block in a LIDAR device to provide a relative position between the transmit block and the receive block. The method also involves locating a camera at a given position at which the camera can image light beams emitted by the transmit block and can image the receive block. The method also involves obtaining, using the camera, a first image indicative of light source positions of one or more light sources in the transmit block and a second image indicative of detector positions of one or more detectors in the receive block. The method also involves determining at least one offset based on the first image and the second image. The method also involves adjusting the relative position between the transmit block and the receive block based at least in part on the at least one offset.

公开(公告)号：US20200217934A1

公开(公告)日：2020-07-09

申请号：US16827214

申请日：2020-03-23

Applicant: Waymo LLC

Inventor： Benjamin Ingram ,  Pierre-Yves Droz ,  Luke Wachter ,  Scott McCloskey ,  Blaise Gassend ,  Gaetan Pennecot

IPC: G01S7/481 ,  G01S7/484 ,  H01S3/11 ,  G01S17/10 ,  H01S5/40 ,  G01S17/931

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.

公开(公告)号：US10416290B2

公开(公告)日：2019-09-17

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 ,  G01S7/484 ,  G01S17/93 ,  H01S3/11 ,  G01S17/10 ,  H01S5/40 ,  H01S3/23

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.

公开(公告)号：US10120079B2

公开(公告)日：2018-11-06

申请号：US15714326

申请日：2017-09-25

Applicant: Waymo LLC

Inventor： Gaetan Pennecot ,  Zachary Morriss ,  Samuel Lenius ,  Ionut Iordache ,  Daniel Gruver ,  Pierre-Yves Droz ,  Luke Wachter ,  Drew Ulrich ,  William McCann ,  Rahim Pardhan ,  Bernard Fidric ,  Anthony Levandowski ,  Peter Avram

IPC: G01C3/08 ,  G01S17/93 ,  G01S17/10 ,  G01S17/42 ,  G01S17/66 ,  G01S17/87 ,  G01S17/89 ,  G01S7/48 ,  G01S7/481 ,  G01C3/02 ,  G01S17/02

Abstract: A vehicle is provided that includes one or more wheels positioned at a bottom side of the vehicle. The vehicle also includes a first light detection and ranging device (LIDAR) positioned at a top side of the vehicle opposite to the bottom side. The first LIDAR is configured to scan an environment around the vehicle based on rotation of the first LIDAR about an axis. The first LIDAR has a first resolution. The vehicle also includes a second LIDAR configured to scan a field-of-view of the environment that extends away from the vehicle along a viewing direction of the second LIDAR. The second LIDAR has a second resolution. The vehicle also includes a controller configured to operate the vehicle based on the scans of the environment by the first LIDAR and the second LIDAR.

公开(公告)号：US20180267146A1

公开(公告)日：2018-09-20

申请号：US15900189

申请日：2018-02-20

Applicant: Waymo LLC

Inventor： Benjamin Ingram ,  Pierre-Yves Droz ,  Luke Wachter ,  Scott McCloskey ,  Blaise Gassend ,  Gaetan Pennecot

IPC: G01S7/481 ,  G01S7/484 ,  G01S17/10 ,  G01S17/93 ,  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.