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公开(公告)号：US11275174B2
公开(公告)日：2022-03-15
申请号：US16554500
申请日：2019-08-28
Applicant: Waymo LLC
Inventor： Larry Smith , Filip Perich , Timothy Campbell , Michael Marx
IPC: G01S13/931 , G01S7/02 , G06K9/00 , G01S13/00
Abstract: A method is provided that includes a vehicle receiving data from an external computing device indicative of at least one other vehicle in an environment of the vehicle. The vehicle may include a sensor configured to detect the environment of the vehicle. The at least one other vehicle may include at least one sensor. The method also includes determining a likelihood of interference between the at least one sensor of the at least one other vehicle and the sensor of the vehicle. The method also includes initiating an adjustment of the sensor to reduce the likelihood of interference between the sensor of the vehicle and the at least one sensor of the at least one other vehicle responsive to the determination.
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公开(公告)号：US11016174B2
公开(公告)日：2021-05-25
申请号：US16221990
申请日：2018-12-17
Applicant: Waymo LLC
Inventor： Timothy Campbell , Larry Smith
IPC: G01S7/40 , G01S13/931
Abstract: The present application describes a method including transmitting at least two radar signals by a radar unit of a vehicle, where a first signal is transmitted from a first location and a second signal is transmitted from a second location. The method also includes receiving a respective reflection signal associated with each of the transmitted signals. Additionally, the method includes determining, by a processor, at least one stationary object that caused a reflection. Further, the method includes based on the determined stationary object, determining, by the processor, an offset for the radar unit. The method yet further includes operating the radar unit based on the determined offset. Furthermore, the method includes controlling an autonomous vehicle based on the radar unit being operated with the determined offset.
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公开(公告)号：US20210080568A1
公开(公告)日：2021-03-18
申请号：US17040903
申请日：2018-04-25
Applicant: Waymo LLC
Inventor： Adam Brown , Larry Smith
IPC: G01S13/931 , G01S13/87
Abstract: Example embodiments relate to underbody radar units. An example radar system may involve a set of radar units coupled to an underbody of a vehicle such that each radar unit has a field of view below a bumper line of the vehicle. The set of radar units may include a first radar unit configured to measure an environment of the vehicle in a first direction and a second radar unit configured to measure the environment of the vehicle in a second direction. The second direction differs from the first direction. In some implementations, the first radar unit is positioned proximate a front bumper of the vehicle, and the second radar unit is positioned proximate a back bumper of the vehicle. Other example configurations may involve using more or fewer radar units coupled to the underbody of a vehicle.
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公开(公告)号：US20210063566A1
公开(公告)日：2021-03-04
申请号：US16554500
申请日：2019-08-28
Applicant: Waymo LLC
Inventor： Larry Smith , Filip Perich , Timothy Campbell , Michael Marx
Abstract: A method is provided that includes a vehicle receiving data from an external computing device indicative of at least one other vehicle in an environment of the vehicle. The vehicle may include a sensor configured to detect the environment of the vehicle. The at least one other vehicle may include at least one sensor. The method also includes determining a likelihood of interference between the at least one sensor of the at least one other vehicle and the sensor of the vehicle. The method also includes initiating an adjustment of the sensor to reduce the likelihood of interference between the sensor of the vehicle and the at least one sensor of the at least one other vehicle responsive to the determination.
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公开(公告)号：US11435439B2
公开(公告)日：2022-09-06
申请号：US16544836
申请日：2019-08-19
Applicant: Waymo LLC
Inventor： Larry Smith
IPC: G01S7/295 , G01S13/72 , G01S13/931
Abstract: A method is provided that includes a method is provided that includes transmitting a radar signal by a radar system. The method also includes receiving reflections of the radar signal from an environment by the radar system. Additionally, the method includes receiving a location of a plurality of objects in the environment by a radar processing system. The method further includes tracking a plurality of reflecting objects in the environment based on the received reflections by the radar processing system. Yet further, the method includes determining, by the radar processing system, that a received radar reflection corresponds to one of the plurality objects in the environment having an incorrect location. Moreover, the method includes revising a tracking for the one of the plurality objects in the environment having an incorrect location.
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Patent Agency Ranking
公开(公告)号：US20190120935A1
公开(公告)日：2019-04-25
申请号：US16221990
申请日：2018-12-17
Applicant: Waymo LLC
Inventor： Timothy Campbell , Larry Smith
Abstract: The present application describes a method including transmitting at least two radar signals by a radar unit of a vehicle, where a first signal is transmitted from a first location and a second signal is transmitted from a second location. The method also includes receiving a respective reflection signal associated with each of the transmitted signals. Additionally, the method includes determining, by a processor, at least one stationary object that caused a reflection. Further, the method includes based on the determined stationary object, determining, by the processor, an offset for the radar unit. The method yet further includes operating the radar unit based on the determined offset. Furthermore, the method includes controlling an autonomous vehicle based on the radar unit being operated with the determined offset.
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公开(公告)号：US11435434B2
公开(公告)日：2022-09-06
申请号：US16544841
申请日：2019-08-19
Applicant: Waymo llc
Inventor： Larry Smith
Abstract: A method is provided that includes receiving reflections of a plurality of radar signals from an environment by a radar system. The method also includes determining, by a radar processing system, that two received radar reflections correspond to an object in the environment based on a location of the object, where at least one of the two received radar reflections had a reflection in the environment off of a secondary reflecting object. The method further includes revising a tracking for the object.
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公开(公告)号：US20210055373A1
公开(公告)日：2021-02-25
申请号：US16544841
申请日：2019-08-19
Applicant: Waymo llc
Inventor： Larry Smith
Abstract: A method is provided that includes receiving reflections of a plurality of radar signals from an environment by a radar system. The method also includes determining, by a radar processing system, that two received radar reflections correspond to an object in the environment based on a location of the object, where at least one of the two received radar reflections had a reflection in the environment off of a secondary reflecting object. The method further includes revising a tracking for the object.
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公开(公告)号：US10191144B2
公开(公告)日：2019-01-29
申请号：US15054570
申请日：2016-02-26
Applicant: Waymo LLC
Inventor： Timothy Campbell , Larry Smith
Abstract: The present application describes a method including transmitting at least two radar signals by a radar unit of a vehicle, where a first signal is transmitted from a first location and a second signal is transmitted from a second location. The method also includes receiving a respective reflection signal associated with each of the transmitted signals. Additionally, the method includes determining, by a processor, at least one stationary object that caused a reflection. Further, the method includes based on the determined stationary object, determining, by the processor, an offset for the radar unit. The method yet further includes operating the radar unit based on the determined offset. Furthermore, the method includes controlling an autonomous vehicle based on the radar unit being operated with the determined offset.
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公开(公告)号：US20210055375A1
公开(公告)日：2021-02-25
申请号：US16544836
申请日：2019-08-19
Applicant: Waymo LLC
Inventor： Larry Smith
Abstract: A method is provided that includes a method is provided that includes transmitting a radar signal by a radar system. The method also includes receiving reflections of the radar signal from an environment by the radar system. Additionally, the method includes receiving a location of a plurality of objects in the environment by a radar processing system. The method further includes tracking a plurality of reflecting objects in the environment based on the received reflections by the radar processing system. Yet further, the method includes determining, by the radar processing system, that a received radar reflection corresponds to one of the plurality objects in the environment having an incorrect location. Moreover, the method includes revising a tracking for the one of the plurality objects in the environment having an incorrect location.
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