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公开(公告)号：US10670725B2
公开(公告)日：2020-06-02
申请号：US15658800
申请日：2017-07-25
Applicant: Waymo LLC
Inventor： John Tisdale , Michael Montemerlo , Andrew Chatham
Abstract: The present disclosure relates to methods and systems that facilitate determination of a pose of a vehicle based on various combinations of map data and sensor data received from light detection and ranging (LIDAR) devices and/or camera devices. An example method includes receiving point cloud data from a (LIDAR) device and transforming the point cloud data to provide a top-down image. The method also includes comparing the top-down image to a reference image and determining, based on the comparison, a yaw error. An alternative method includes receiving camera image data from a camera and transforming the camera image data to provide a top-down image. The method also includes comparing the top-down image to a reference image and determining, based on the comparison, a yaw error.
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公开(公告)号：US09915947B1
公开(公告)日：2018-03-13
申请号：US15054441
申请日：2016-02-26
Applicant: Waymo LLC
Inventor： Seth Michael LaForge , Craig Lewin Robinson , John Tisdale , Russell Smith
CPC classification number: G05D1/0077 , G05D2201/0213
Abstract: Example systems and methods are disclosed for determining vehicle pose data for an autonomous vehicle. The vehicle computer system may receive pose data from multiple pose measurement systems of the autonomous vehicle. Each pose measurement system may include one or more corresponding sensors of the autonomous vehicle. The vehicle computer system may determine a pose data quality for the received pose data for each pose measurement system. The vehicle computer system may set the vehicle pose data to the pose data of the pose measurement system with the highest pose data quality. The vehicle computer system may control the autonomous vehicle based on the vehicle pose data.
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公开(公告)号：US11675084B2
公开(公告)日：2023-06-13
申请号：US16856275
申请日：2020-04-23
Applicant: Waymo LLC
Inventor： John Tisdale , Michael Montemerlo , Andrew Chatham
CPC classification number: G01S17/89 , G01S7/4808 , G01S7/497 , G06V10/751 , G06V20/56 , H04N7/185
Abstract: The present disclosure relates to methods and systems that facilitate determination of a pose of a vehicle based on various combinations of map data and sensor data received from light detection and ranging (LIDAR) devices and/or camera devices. An example method includes receiving point cloud data from a (LIDAR) device and transforming the point cloud data to provide a top-down image. The method also includes comparing the top-down image to a reference image and determining, based on the comparison, a yaw error. An alternative method includes receiving camera image data from a camera and transforming the camera image data to provide a top-down image. The method also includes comparing the top-down image to a reference image and determining, based on the comparison, a yaw error.
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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：US11880199B1
公开(公告)日：2024-01-23
申请号：US16862808
申请日：2020-04-30
Applicant: Waymo LLC
Inventor： Seth Michael LaForge , Craig Lewin Robinson , John Tisdale , Russell Smith
CPC classification number: G05D1/0088 , G05D1/0268 , G05D1/0278 , G05D2201/02
Abstract: Example systems and methods are disclosed for determining vehicle pose data for an autonomous vehicle. The vehicle computer system may receive pose data from multiple pose measurement systems of the autonomous vehicle. Each pose measurement system may include one or more corresponding sensors of the autonomous vehicle. The vehicle computer system may determine a pose data quality for the received pose data for each pose measurement system. The vehicle computer system may set the vehicle pose data to the pose data of the pose measurement system with the highest pose data quality. The vehicle computer system may control the autonomous vehicle based on the vehicle pose data.
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Patent Agency Ranking
公开(公告)号：US20230152461A1
公开(公告)日：2023-05-18
申请号：US18156538
申请日：2023-01-19
Applicant: Waymo LLC
Inventor： John Tisdale , Michael Montemerlo , Andrew Chatham
CPC classification number: G01S17/89 , G01S7/497 , G01S7/4808 , G06V10/751 , G06V20/56 , H04N7/185
Abstract: The present disclosure relates to methods and systems that facilitate determination of a pose of a vehicle based on various combinations of map data and sensor data received from light detection and ranging (LIDAR) devices and/or camera devices. An example method includes receiving point cloud data from a (LIDAR) device and transforming the point cloud data to provide a top-down image. The method also includes comparing the top-down image to a reference image and determining, based on the comparison, a yaw error. An alternative method includes receiving camera image data from a camera and transforming the camera image data to provide a top-down image. The method also includes comparing the top-down image to a reference image and determining, based on the comparison, a yaw error.
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公开(公告)号：US10663969B1
公开(公告)日：2020-05-26
申请号：US16137136
申请日：2018-09-20
Applicant: Waymo LLC
Inventor： Seth Michael LaForge , Craig Lewin Robinson , John Tisdale , Russell Smith
Abstract: Example systems and methods are disclosed for determining vehicle pose data for an autonomous vehicle. The vehicle computer system may receive pose data from multiple pose measurement systems of the autonomous vehicle. Each pose measurement system may include one or more corresponding sensors of the autonomous vehicle. The vehicle computer system may determine a pose data quality for the received pose data for each pose measurement system. The vehicle computer system may set the vehicle pose data to the pose data of the pose measurement system with the highest pose data quality. The vehicle computer system may control the autonomous vehicle based on the vehicle pose data.
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公开(公告)号：US20190033459A1
公开(公告)日：2019-01-31
申请号：US15658800
申请日：2017-07-25
Applicant: Waymo LLC
Inventor： John Tisdale , Michael Montemerlo , Andrew Chatham
Abstract: The present disclosure relates to methods and systems that facilitate determination of a pose of a vehicle based on various combinations of map data and sensor data received from light detection and ranging (LIDAR) devices and/or camera devices. An example method includes receiving point cloud data from a (LIDAR) device and transforming the point cloud data to provide a top-down image. The method also includes comparing the top-down image to a reference image and determining, based on the comparison, a yaw error. An alternative method includes receiving camera image data from a camera and transforming the camera image data to provide a top-down image. The method also includes comparing the top-down image to a reference image and determining, based on the comparison, a yaw error.
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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：US20200249359A1
公开(公告)日：2020-08-06
申请号：US16856275
申请日：2020-04-23
Applicant: Waymo LLC
Inventor： John Tisdale , Michael Montemerlo , Andrew Chatham
Abstract: The present disclosure relates to methods and systems that facilitate determination of a pose of a vehicle based on various combinations of map data and sensor data received from light detection and ranging (LIDAR) devices and/or camera devices. An example method includes receiving point cloud data from a (LIDAR) device and transforming the point cloud data to provide a top-down image. The method also includes comparing the top-down image to a reference image and determining, based on the comparison, a yaw error. An alternative method includes receiving camera image data from a camera and transforming the camera image data to provide a top-down image. The method also includes comparing the top-down image to a reference image and determining, based on the comparison, a yaw error.
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