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    Synthesizing three-dimensional visualizations from perspectives of onboard sensors of autonomous vehicles
    1.
    发明授权
    Synthesizing three-dimensional visualizations from perspectives of onboard sensors of autonomous vehicles 有权

    公开(公告)号：US12190463B2

    公开(公告)日：2025-01-07

    申请号：US18158740

    申请日：2023-01-24

    Applicant: Waymo LLC

    Inventor： Dillon Cower ,  Nirmal Patel

    IPC: G06T19/00 ,  G06T7/20 ,  G06T15/20 ,  G06T19/20

    Abstract: Aspects of the disclosure provide for generating a visualization of a three-dimensional (3D) world view from the perspective of a camera of a vehicle. For example, images of a scene captured by a camera of the vehicle and 3D content for the scene may be received. A virtual camera model for the camera of the vehicle may be identified. A set of matrices may be generated using the virtual camera model. The set of matrices may be applied to the 3D content to create a 3D world view. The visualization may be generated using the 3D world view as an overlay with the image, and the visualization provides a real-world image from the perspective of the camera of the vehicle with one or more graphical overlays of the 3D content.

    Camera peek into turn
    2.
    发明授权
    Camera peek into turn 有权

    公开(公告)号：US12137285B2

    公开(公告)日：2024-11-05

    申请号：US17207787

    申请日：2021-03-22

    Applicant: Waymo LLC

    Inventor： Nirmal Patel

    IPC: H04N23/60 ,  B60R1/27 ,  B60R1/28 ,  G05D1/00 ,  G06T15/20 ,  H04N23/63 ,  H04N23/69

    Abstract: Aspects of the disclosure relate to adjusting a virtual camera's orientation when a vehicle is making a turn. One or more computing devices may receive the vehicle's original heading prior to making the turn and the vehicle's current heading. Based on the vehicle's original heading and the vehicle's current heading, the one or more computing devices may determine an angle of a turn the vehicle is performing and The one or more computing devices may determine a camera rotation angle and adjust the virtual camera's orientation relative to the vehicle to an updated orientation by rotating the virtual camera by the camera rotation angle and generate a video corresponding to the virtual camera's updated orientation. The video may be displayed on the display by the one or more computing devices.

    Displaying sensor data and supplemental data as a mask for autonomous vehicles
    3.
    发明授权
    Displaying sensor data and supplemental data as a mask for autonomous vehicles 有权

    公开(公告)号：US12051328B1

    公开(公告)日：2024-07-30

    申请号：US18335337

    申请日：2023-06-15

    Applicant: Waymo LLC

    Inventor： Nirmal Patel ,  Maria Moon ,  Peter Crandall

    IPC: G01S7/51 ,  G01S17/89 ,  G01S17/931 ,  G08G1/0967

    CPC classification number: G08G1/096766 ,  G01S7/51 ,  G01S17/89 ,  G01S17/931

    Abstract: Aspects of the disclosure relate to providing sensor data on a display of a vehicle. For instance, data points generated by a lidar sensor may be received. The data points may be representative of one or more objects in an external environment of the vehicle. A scene including a representation of the vehicle from a perspective of a virtual camera, a first virtual object corresponding to at least one of the one or more objects, and a second virtual object corresponding to at least one object identified from pre-stored map information may be generated. Supplemental points corresponding to a surface of the at least one object identified from the pre-stored map information may be generated. A pulse including at least some of the data points generated by the sensor and the supplemental points may be generated. The scene may be displayed with the pulse on the display.

    Reachability User Experience Interfaces for Autonomous Vehicles
    5.
    发明公开
    Reachability User Experience Interfaces for Autonomous Vehicles 审中-公开

    公开(公告)号：US20230375362A1

    公开(公告)日：2023-11-23

    申请号：US18228720

    申请日：2023-08-01

    Applicant: WAYMO LLC

    Inventor： Salil Pandit ,  Nirmal Patel ,  Guilherme Villar ,  Matthew Corey Hall

    IPC: G01C21/36

    CPC classification number: G01C21/3682 ,  G01C21/367 ,  G01C21/3617 ,  G01C21/3694

    Abstract: The technology involves communicating the reachability status associated with an autonomous vehicle to a user such as a rider within the vehicle, a person awaiting pickup, or a customer that scheduled a package deliver. Reachability information about pickup and/or drop off locations is presentable via an app on a user device, which helps set expectations with customers about where the vehicle is most likely to be able to perform a pickup and/or drop off. This may include indicating how much variance there may be based on current congestion, parking or idling regulations, or weather conditions. The reachability information may be presented via one or more visualization tools to indicate the uncertainty and/or likely final location. Presenting such contextual information may be done based on real time information, and the presentation may be updated as needed. Historical information about the location may also be used to lower the level of uncertainty.

    LOITERING MODE FOR RIDER PICKUPS WITH AUTONOMOUS VEHICLES
    9.
    发明申请
    LOITERING MODE FOR RIDER PICKUPS WITH AUTONOMOUS VEHICLES 有权

    公开(公告)号：US20220309925A1

    公开(公告)日：2022-09-29

    申请号：US17212458

    申请日：2021-03-25

    Applicant: WAYMO LLC

    Inventor： Lauren Schwendimann ,  Ryan Powell ,  Salil Pandit ,  Nirmal Patel

    IPC: G08G1/00 ,  B60W60/00

    Abstract: The technology involves pickups of riders by autonomous vehicles in a manner that ensures the rider is picked up within an estimated time of arrival (ETA). For instance, in accordance with customer authorization, the autonomous vehicle may loiter or otherwise stay within a certain proximity (e.g., distance or time) to guarantee rider pickup within a predetermined time. One vehicle may be assigned to a rider for a set timeframe or multiple vehicles may be allocated to a particular event. Either approach may be used to ensure rider pickup with minimal waiting. One benefit is to avoid user-initiated ride requests when the customer is ready to depart a location, because a vehicle will already be present and ready to take the rider to their desired destination. Loitering may include prepositioning a vehicle at a given place, or driving autonomously to be nearby as needed.

    END OF TRIP SEQUENCE
    10.
    发明申请
    END OF TRIP SEQUENCE 有权

    公开(公告)号：US20220120581A1

    公开(公告)日：2022-04-21

    申请号：US17516000

    申请日：2021-11-01

    Applicant: Waymo LLC

    Inventor： Nirmal Patel ,  Maria Moon ,  Peter Crandall ,  Ryan Powell ,  Hans-olav Cavelie ,  Matthew Hall

    IPC: G01C21/36 ,  G06F3/04845 ,  G06F3/04842

    Abstract: Aspects of the disclosure relate to providing an end of trip sequence when a vehicle is nearing its destination. One or more computing devices may generate and display a video indicating a projected trajectory of the vehicle and objects detected by sensors on the vehicle, on a map corresponding to a route the vehicle is currently following, where the video is generated from a perspective of a virtual camera at a default position and default pitch A determination that the vehicle has reached a threshold relative to the route of the vehicle may be made and the position and pitch of the virtual camera may be adjusted to an updated position above the vehicle and a perspective which looks downwards towards a roof of the vehicle. The video may then be generated and displayed from the perspective of the virtual camera at the updated position.

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