公开(公告)号：US20240385320A1

公开(公告)日：2024-11-21

申请号：US18429644

申请日：2024-02-01

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  Blaise Gassend ,  Caner Onal ,  David Hutchison

IPC: G01S17/08 ,  G01J1/04 ,  G01J1/42 ,  G01J1/44 ,  G01J3/02 ,  G01S7/481 ,  G01S7/486 ,  G01S7/4863 ,  G01S17/10 ,  G01S17/42

Abstract: The present disclosure relates to limitation of noise on light detectors using an aperture. One example embodiment includes a system. The system includes a lens disposed relative to a scene and configured to focus light from the scene onto a focal plane. The system also includes an aperture defined within an opaque material disposed at the focal plane of the lens. The aperture has a cross-sectional area. In addition, the system includes an array of light detectors disposed on a side of the focal plane opposite the lens and configured to intercept and detect diverging light focused by the lens and transmitted through the aperture. A cross-sectional area of the array of light detectors that intercepts the diverging light is greater than the cross-sectional area of the aperture.

公开(公告)号：US12147000B2

公开(公告)日：2024-11-19

申请号：US17411845

申请日：2021-08-25

Applicant: Waymo LLC

Inventor： Simon Verghese ,  Caner Onal ,  Pierre-Yves Droz

IPC: G01T1/24 ,  G01S17/90 ,  G01T1/20 ,  G01T1/208 ,  G01T1/29

Abstract: The present disclosure relates to devices, systems, and methods relating to configurable silicon photomultiplier (SiPM) devices. An example device includes a substrate and a plurality of single photon avalanche diodes (SPADs) coupled to the substrate. The device also includes a plurality of outputs coupled to the substrate and a plurality of electrical components coupled to the substrate. The plurality of electrical components are configured to selectively connect the plurality of SPADs to the plurality of outputs by selecting which output of the plurality of outputs is connected to each SPAD of the plurality of SPADs and to thereby define a plurality of SiPMs in the device such that each SiPM of the plurality of SiPMs comprises a respective set of one or more SPADs connected to a respective output of the plurality of outputs.

公开(公告)号：US11922829B2

公开(公告)日：2024-03-05

申请号：US17529745

申请日：2021-11-18

Applicant: Waymo LLC

Inventor： Ralph Hamilton Shepard ,  Pierre-Yves Droz ,  Simon Verghese

IPC: G09F13/04 ,  G09F9/33 ,  G09F13/22 ,  G09F13/30 ,  G09F21/04

CPC classification number: G09F13/0413 ,  G09F9/33 ,  G09F13/22 ,  G09F13/30 ,  G09F21/04 ,  G09F13/044 ,  G09F2013/222

Abstract: This technology relates to a display mounted messaging system. The display mounted messaging system may include a light emitting diode (LED) display attached to a housing of a sensor. The housing of the sensor may rotate. The display mounted messaging system may also include an LED controller which is configured to selectively activate and deactivate at least one LED in the LED display, to provide a message in the direction of an intended recipient.

公开(公告)号：US11906671B2

公开(公告)日：2024-02-20

申请号：US16700543

申请日：2019-12-02

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  Simon Verghese

IPC: G01S7/497 ,  G01S7/48 ,  G01S17/42 ,  G01S17/04 ,  G01S17/931 ,  G05D1/00

CPC classification number: G01S7/497 ,  G01S7/4804 ,  G01S17/04 ,  G01S17/42 ,  G01S17/931 ,  G05D1/0231

Abstract: In one example, a LIDAR device includes a light sources that emits light and a transmit lens that directs the emitted light to illuminate a region of an environment with a field-of-view defined by the transmit lens. The LIDAR device also includes a receive lens that focuses at least a portion of incoming light propagating from the illuminated region of the environment along a predefined optical path. The LIDAR device also includes an array of light detectors positioned along the predefined optical path. The LIDAR device also includes an offset light detector positioned outside the predefined optical path. The LIDAR device also includes a controller that determines whether collected sensor data from the array of light detectors includes data associated with another light source different than the light source of the device based on output from the offset light detector.

公开(公告)号：US20240012447A1

公开(公告)日：2024-01-11

申请号：US18473591

申请日：2023-09-25

Applicant: Waymo LLC

Inventor： David Sobel ,  Pieter Kaspenberg ,  Pierre-Yves Droz ,  Srikanth Muroor

IPC: G06F1/12 ,  G06F1/08

CPC classification number: G06F1/12 ,  G06F1/08

Abstract: A method and system to provide timebase synchronization for multiple processors in a multi-processor sensor system, where each processor operates according to a respective reference clock, and where the processors' respective reference clocks are off sync from each other. An example method includes simultaneously injecting a synchronization pulse respectively into the multiple processors. Further, the method includes recording for each processor, according to the processor's respective reference clock, a respective synchronization-pulse timestamp of the simultaneously injected synchronization pulse, comparing the respective synchronization-pulse timestamps recorded for the processors, and, based on the comparing, computing for each processor a respective time offset. Additionally, the method includes using the per-processor computed time offsets as a basis to provide a synchronized timebase across the processors.

公开(公告)号：US11860305B2

公开(公告)日：2024-01-02

申请号：US16453401

申请日：2019-06-26

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  Caner Onal ,  William McCann ,  Bernard Fidric ,  Vadim Gutnik ,  Laila Mattos ,  Rahim Pardhan

IPC: G01S7/481 ,  G05D1/02 ,  G01S17/89 ,  G01S7/4911 ,  G01S17/42 ,  G01S17/86 ,  G01S13/931 ,  G01S17/931

CPC classification number: G01S7/4813 ,  G01S7/4816 ,  G01S7/4817 ,  G01S7/4818 ,  G01S7/4911 ,  G01S13/931 ,  G01S17/42 ,  G01S17/86 ,  G01S17/89 ,  G01S17/931 ,  G05D1/024 ,  G05D2201/0213

Abstract: Described herein is a LIDAR device that may include a transmitter, first and second receivers, and a rotating platform. The transmitter may be configured to emit light having a vertical beam width. The first receiver may be configured to detect light at a first resolution while scanning the environment with a first FOV and the second receiver may be configured to detect light at a second resolution while scanning the environment with a second FOV. In this arrangement, the first resolution may be higher than the second resolution, the first FOV may be at least partially different from the second FOV, and the vertical beam width may encompass at least a vertical extent of the first and second FOVs. Further, the rotating platform may be configured to rotate about an axis such that the transmitter and first and second receivers each move based on the rotation.

公开(公告)号：US11822377B2

公开(公告)日：2023-11-21

申请号：US17647633

申请日：2022-01-11

Applicant: Waymo LLC

Inventor： David Sobel ,  Pieter Kaspenberg ,  Pierre-Yves Droz ,  Srikanth Muroor

IPC: G06F1/12

CPC classification number: G06F1/12

Abstract: A method and system to provide timebase synchronization for multiple processors in a multi-processor sensor system, where each processor operates according to a respective reference clock, and where the processors' respective reference clocks are off sync from each other. An example method includes simultaneously injecting a synchronization pulse respectively into the multiple processors. Further, the method includes recording for each processor, according to the processor's respective reference clock, a respective synchronization-pulse timestamp of the simultaneously injected synchronization pulse, comparing the respective synchronization-pulse timestamps recorded for the processors, and, based on the comparing, computing for each processor a respective time offset. Additionally, the method includes using the per-processor computed time offsets as a basis to provide a synchronized timebase across the processors.

公开(公告)号：US11808887B2

公开(公告)日：2023-11-07

申请号：US16272258

申请日：2019-02-11

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  Caner Onal ,  Michael Marx ,  Blaise Gassend

IPC: G01S7/481 ,  G01S17/04 ,  G01S7/483 ,  G01S7/487 ,  G01S17/10 ,  G01S17/89 ,  G06V10/60 ,  G06V10/145 ,  G06V20/00 ,  G06F18/22

CPC classification number: G01S7/4817 ,  G01S7/483 ,  G01S7/487 ,  G01S7/4815 ,  G01S7/4873 ,  G01S17/04 ,  G01S17/10 ,  G01S17/89 ,  G06F18/22 ,  G06V10/145 ,  G06V10/60 ,  G06V20/00

Abstract: One example method involves a light detection and ranging (LIDAR) device focusing light from a target region in a scene for receipt by a detector. The method also involves emitting a primary light pulse. The method also involves directing, via one or more optical elements, the primary light pulse toward the target region. The primary light pulse illuminates the target region according to a primary light intensity of the primary light pulse. The method also involves emitting a secondary light pulse. At least a portion of the secondary light pulse illuminates the target region according to a secondary light intensity of the secondary light pulse. The secondary light intensity is less than the primary light intensity.

公开(公告)号：US20230333319A1

公开(公告)日：2023-10-19

申请号：US18337119

申请日：2023-06-19

Applicant: Waymo LLC

Inventor： James Dunphy ,  David Hutchison ,  Pierre-Yves Droz ,  Yeh-Jiun Tung

IPC: G02B6/125 ,  G02B6/122 ,  G01S7/481 ,  G02B6/42 ,  G01S17/10 ,  G01S17/42

CPC classification number: G02B6/125 ,  G02B6/1228 ,  G01S7/4815 ,  G02B6/4202 ,  G01S17/10 ,  G01S17/42 ,  G01S7/4812

Abstract: One example LIDAR device comprises a substrate and a waveguide disposed on the substrate. A first section of the waveguide extends lengthwise on the substrate in a first direction. A second section of the waveguide extends lengthwise on the substrate in a second direction different than the first direction. A third section of the waveguide extends lengthwise on the substrate in a third direction different than the second direction. The second section extends lengthwise between the first section and the second section. The LIDAR device also comprises a light emitter configured to emit light. The waveguide is configured to guide the light inside the first section toward the second section, inside the second section toward the third section, and inside the third section away from the second section.

公开(公告)号：US20230324521A1

公开(公告)日：2023-10-12

申请号：US18334039

申请日：2023-06-13

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  Caner Onal ,  Simon Ellgas ,  Augusto Tazzoli

IPC: G01S7/484 ,  G01S7/497 ,  G01S17/42 ,  G01S17/931

CPC classification number: G01S7/484 ,  G01S7/497 ,  G01S17/42 ,  G01S17/931

Abstract: Example embodiments relate to pulse energy plans for light detection and ranging (lidar) devices based on areas of interest and thermal budgets. An example lidar device includes a plurality of light emitters configured to emit light pulses into an environment in a plurality of different emission directions. The lidar device also includes circuitry configured to power the plurality of light emitters. Further, the lidar device includes a plurality of detectors configured to detect reflections of light pulses emitted by the plurality of light emitters. In addition, the lidar device includes a controller configured to (i) determine a pulse energy plan based on one or more regions of interest in the environment and a thermal budget and (ii) control the circuitry based on the pulse energy plan. The pulse energy plan specifies a pulse energy level for each light pulse emitted by each light emitter in the plurality of light emitters.