公开(公告)号：US20220204056A1

公开(公告)日：2022-06-30

申请号：US17558680

申请日：2021-12-22

申请人： WAYMO LLC.

发明人： Jared Stephen Russell ,  Tobias Kunz ,  Anup Menon

IPC分类号： B60W60/00

摘要： The technology relates to planning trajectories for self-driving vehicles in order to transport passengers or cargo from a pickup location to a destination. Trajectory planning includes generating a speed plan for an upcoming portion of the trip in view of one or more constraints. The constraints may be due to proximity to an adjacent vehicle or other road user, and can include projected overlaps between the vehicle and other objects in the vehicle's nearby environment. Certain constraints may be binary or otherwise discontinuous in nature, in which a condition either exists at a given point in time or it does not. Noise in sensor data or prediction models may trigger such binary conditions, which in turn may cause the vehicle to alter the speed plan. Aspects of the technology employ permeable speed constraints that enable the vehicle to avoid problems associated with discontinuous constraints.

公开(公告)号：US20220204017A1

公开(公告)日：2022-06-30

申请号：US17135259

申请日：2020-12-28

申请人： WAYMO LLC

发明人： Andrew Barton-Sweeney ,  Rami Hindiyeh ,  Peter Greene ,  Vadim Butakov ,  Diomidis Katzourakis

IPC分类号： B60W60/00 ,  G01C21/34 ,  G01C21/36 ,  G06K9/00

摘要： The technology employs a variable motion control envelope that enables an on-board computing system of a self-driving vehicle to estimate future vehicle driving behavior along an upcoming path, in order to maintain a desired amount of control during autonomous driving. Factors including intrinsic vehicle properties, extrinsic environmental influences and road friction information are evaluated. Such factors can be evaluated to derive an available acceleration model, which defines an envelope of maximum longitudinal and lateral accelerations for the vehicle. This model, which may identify dynamically varying acceleration limits that can be affected by road conditions and road configurations, may be used by the on-board control system (e.g., a planner module of the processing system) to control driving operations of the vehicle in an autonomous driving mode.

公开(公告)号：US20220197300A1

公开(公告)日：2022-06-23

申请号：US17131302

申请日：2020-12-22

申请人： Waymo LLC

发明人： Evan Cull ,  Nirav Dharia

IPC分类号： G05D1/02 ,  H01L31/02 ,  B60W30/095

摘要： A system includes an array of photodiode sensors positioned on an autonomous vehicle. Each photodiode sensor in the array of photodiode sensors is oriented in a different direction and configured to generate electrical current signals in response to detecting a flashing light in a surrounding environment of the autonomous vehicle. The system also includes a processor coupled to the array of photodiode sensors. The processor is configured to determine a location of a source of the flashing light relative to the autonomous vehicle based on electrical current signals from at least one photodiode sensor in the array of photodiode sensors. The processor is also configured to generate a command to maneuver the autonomous vehicle based on the location of the source relative to the autonomous vehicle.

公开(公告)号：US20220185333A1

公开(公告)日：2022-06-16

申请号：US17120069

申请日：2020-12-11

申请人： Waymo LLC

发明人： David Smith ,  Christopher Bowen

IPC分类号： B60W60/00 ,  B60W10/04 ,  B60W10/24 ,  B60W10/20

摘要： A control command is provided to a vehicle control module that identifies one or more vehicle actions to be performed by the vehicle control module to control a position of an autonomous vehicle (AV) with respect to an external environment. Whether one or more conditions pertaining to the position of the AV with respect to the external environment are satisfied is determined. Responsive to determining that the one or more conditions pertaining to the position of the AV with respect to the external environment are satisfied, a first instruction is provide to the vehicle control module that permits the vehicle control module to deviate from the one or more vehicle actions identified in the control command and to perform an energy saving action with respect to the AV.

公开(公告)号：USD954620S1

公开(公告)日：2022-06-14

申请号：US29696525

申请日：2019-06-28

申请人： Waymo LLC

设计人： YooJung Ahn ,  Joshua Newby ,  Robert Veitch

公开(公告)号：US11353588B2

公开(公告)日：2022-06-07

申请号：US16177626

申请日：2018-11-01

申请人： Waymo LLC

发明人： Caner Onal ,  David Schleuning ,  Brendan Hermalyn ,  Simon Verghese ,  Alex Mccauley ,  Brandyn White ,  Ury Zhilinsky

IPC分类号： G01S17/89 ,  G06T7/521 ,  G01S7/497 ,  G01S7/481 ,  G01S7/48 ,  G01S7/4865 ,  G01S17/08 ,  G01S17/931

摘要： The present disclosure relates to systems and methods that provide information about a scene based on a time-of-flight (ToF) sensor and a structured light pattern. In an example embodiment, a sensor system could include at least one ToF sensor configured to receive light from a scene. The sensor system could also include at least one light source configured to emit a structured light pattern and a controller that carries out operations. The operations include causing the at least one light source to illuminate at least a portion of the scene with the structured light pattern and causing the at least one ToF sensor to provide information indicative of a depth map of the scene based on the structured light pattern.

公开(公告)号：US20220174229A1

公开(公告)日：2022-06-02

申请号：US17651325

申请日：2022-02-16

申请人： Waymo LLC

发明人： Vlad Cardei ,  Lucian Ion ,  Nirav Dharia

IPC分类号： H04N5/345 ,  G06F9/50 ,  H04N5/369 ,  G06V10/22 ,  H04N5/232

摘要： A system includes an image sensor having a plurality of pixels that form a plurality of regions of interest (ROIs), image processing resources, and a scheduler configured to perform operations including determining a priority level for a particular ROI of the plurality of ROIs based on a feature detected by one or more image processing resources of the image processing resources within initial image data associated with the particular ROI. The operations also include selecting, based on the feature detected within the initial image data, a particular image processing resource of the image processing resources by which subsequent image data generated by the particular ROI is to be processed. The operations further include inserting, based on the priority level, the subsequent image data into a processing queue of the particular image processing resource to schedule the subsequent image data for processing by the particular image processing resource.

公开(公告)号：US20220172873A1

公开(公告)日：2022-06-02

申请号：US17107950

申请日：2020-11-30

申请人： Waymo LLC

发明人： Robert Lockwood ,  Kelvin Kwong

IPC分类号： H01F27/24 ,  H01F27/06 ,  G01S7/481 ,  G01S17/06

摘要： An example device includes a mounting structure including a first material having a first coefficient of thermal expansion (CTE). The mounting structure includes a center portion and an outer portion. The device further includes a magnetic core for an electrical component that is coupled to the outer portion of the mounting structure. The magnetic core includes a second material having a second CTE. The magnetic core is split into a plurality of sections separated by spaces extending from the center portion to an outer edge of the outer portion. Each of the plurality of sections is separately coupled to the mounting structure, and each of the plurality of sections is connected to the electrical component.

公开(公告)号：US11343435B2

公开(公告)日：2022-05-24

申请号：US17108049

申请日：2020-12-01

申请人： Waymo LLC

发明人： Benjamin Frevert ,  Lucian Ion ,  Nirav Dharia

IPC分类号： H04N5/235 ,  G05D1/02 ,  H04N5/243 ,  H04N9/04 ,  H04N5/357

摘要： Example embodiments relate to microlensing for real-time sensing of stray light. An example device includes an image sensor that includes a plurality of light-sensitive pixels. The device also includes a first lens positioned over a first subset of light-sensitive pixels selected from the plurality of light-sensitive pixels. Further, the device includes a controller. The controller is configured to determine a first angle of incidence of a first light signal detected by the first subset of light-sensitive pixels. The controller is also configured to, based on the first determined angle of incidence, determine an amount of stray light incident on the image sensor.

公开(公告)号：US20220156972A1

公开(公告)日：2022-05-19

申请号：US17526682

申请日：2021-11-15

申请人： Waymo LLC

发明人： Yu-Han Chen ,  Maya Kabkab ,  Ruichi Yu ,  Yingwei Li ,  Hang Zhao ,  Yu Ouyang

IPC分类号： G06T7/73 ,  G06N3/04 ,  G01S17/89

摘要： Methods, computer systems, and apparatus, including computer programs encoded on computer storage media, for generating a distance estimate for a target object that is depicted in an image of a scene in an environment. The system obtains data specifying (i) a target portion of the image that depicts the target object detected in the image, and (ii) one or more reference portions of the image that each depict a respective reference object detected in the image. The system further obtains, for each of the one or more reference objects, a respective distance measurement for the reference object that is a measurement of a distance from the reference object to a specified location in the environment. The system processes the obtained data to generate a distance estimate for the target object that is an estimate of a distance from the target object to the specified location in the environment.