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公开(公告)号：US12158519B2
公开(公告)日：2024-12-03
申请号：US18456097
申请日：2023-08-25
Applicant: Waymo LLC
Inventor： Nicholas Armstrong-Crews
IPC: G01S13/89 , G01S13/931
Abstract: Example embodiments relate to self-reflection filtering techniques within radar data. A computing device may use radar data to determine a first radar representation that conveys information about surfaces in a vehicle's environment. The computing device may use a predefined model to generate a second radar representation that assigns predicted self-reflection values to respective locations of the environment based on the information about the surfaces conveyed by the first radar representation. The predefined model can enable a predefined self-reflection value to be assigned to a first location based on information about a surface positioned at a second location and a relationship between the first location and the second location. The computing device may then modify the first radar representation based on the predicted self-reflection values in the second radar representation and provide instructions to a control system of the vehicle based on modifying the first radar representation.
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公开(公告)号：US12140962B2
公开(公告)日：2024-11-12
申请号：US18200243
申请日：2023-05-22
Applicant: Waymo LLC
Inventor： Nicholas Armstrong-Crews , Christian Lauterbach , Scott McCloskey , Peter Morton
Abstract: The technology relates to developing a highly accurate understanding of a vehicle's sensor fields of view in relation to the vehicle itself. A training phase is employed to gather sensor data in various situations and scenarios, and a modeling phase takes such information and identifies self-returns and other signals that should either be excluded from analysis during real-time driving or accounted for to avoid false positives. The result is a sensor field of view model for a particular vehicle, which can be extended to other similar makes and models of that vehicle. This approach enables a vehicle to determine when sensor data is of the vehicle or something else. As a result, the detailed modeling allowing the on-board computing system to make driving decisions and take other actions based on accurate sensor information.
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公开(公告)号：US12130389B2
公开(公告)日：2024-10-29
申请号：US17198020
申请日：2021-03-10
Applicant: Waymo LLC
Inventor： Blaise Gassend , Nicholas Armstrong-Crews , Scott McCloskey
CPC classification number: G01S7/497 , G01S7/4813 , G02B27/0006 , G01S2007/4977
Abstract: One example method involves rotating a housing of a light detection and ranging (LIDAR) device about a first axis. The housing includes a first optical window and a second optical window. The method also involves transmitting a first plurality of light pulses through the first optical window to obtain a first scan of a field-of-view (FOV) of the LIDAR device. The method also involves transmitting a second plurality of light pulses through the second optical window to obtain a second scan of the FOV. The method also involves identifying, based on the first scan and the second scan, a portion of the FOV that is at least partially occluded by an occlusion.
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公开(公告)号：US20240134054A1
公开(公告)日：2024-04-25
申请号：US18535933
申请日：2023-12-11
Applicant: Waymo LLC
Inventor： Nicholas Armstrong-Crews , Mingcheng Chen , Xiaoxiang Hu
IPC: G01S17/931 , B60W30/09 , B60W30/095 , B60W60/00 , G01S17/06 , G01S17/50 , G01S17/58 , G01S17/89
CPC classification number: G01S17/931 , B60W30/09 , B60W30/0956 , B60W60/001 , G01S17/06 , G01S17/50 , G01S17/58 , G01S17/89 , B60W2554/20 , B60W2554/4029 , G01S17/04
Abstract: Aspects and implementations of the present disclosure address shortcomings of the existing technology by enabling Doppler-assisted segmentation of points in a point cloud for efficient object identification and tracking in autonomous vehicle (AV) applications, by: obtaining, by a sensing system of the AV, a plurality of return points comprising one or more velocity values and one or more coordinates of a reflecting region that reflects a signal emitted by the sensing system, the one or more velocity values and the one or more coordinates obtained for the same instance of time, identifying that the set of the return points is associated with an object in an environment, and causing a driving path of the AV to be determined in view of the object.
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公开(公告)号：US20220137227A1
公开(公告)日：2022-05-05
申请号：US17087464
申请日：2020-11-02
Applicant: Waymo LLC
Inventor： Nicholas Armstrong-Crews , Mingcheng Chen , Xiaoxiang Hu
IPC: G01S17/931 , G01S17/58 , G01S17/89 , B60W60/00 , B60W30/095 , B60W30/09
Abstract: Aspects and implementations of the present disclosure address shortcomings of the existing technology by enabling Doppler-assisted segmentation of points in a point cloud for efficient object identification and tracking in autonomous vehicle (AV) applications, by: obtaining, by a sensing system of the AV, a plurality of return points comprising one or more velocity values and one or more coordinates of a reflecting region that reflects a signal emitted by the sensing system, the one or more velocity values and the one or more coordinates obtained for the same instance of time, identifying that the set of the return points is associated with an object in an environment, and causing a driving path of the AV to be determined in view of the object.
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Patent Agency Ranking
公开(公告)号：US12233905B2
公开(公告)日：2025-02-25
申请号：US17087470
申请日：2020-11-02
Applicant: Waymo LLC
Inventor： Nicholas Armstrong-Crews , Mingcheng Chen
Abstract: Aspects and implementations of the present disclosure address shortcomings of the existing technology by enabling motion pattern-assisted object classification of objects in an environment of an autonomous vehicle (AV) by obtaining, from a sensing system of the AV, a plurality of return points, each return point comprising one or more velocity values and one or more coordinates of a reflecting region that reflects a signal emitted by the sensing system, identifying an association of the plurality of return points with an object in an environment of the AV, identifying, in view of the one or more velocity values of at least some of the plurality of return points, a type of the object or a type of a motion of the object, and causing a driving path of the AV to be determined in view of the identified type of the object.
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公开(公告)号：US20240402319A1
公开(公告)日：2024-12-05
申请号：US18799025
申请日：2024-08-09
Applicant: Waymo LLC
Inventor： Blaise Gassend , Nicholas Armstrong-Crews , Scott McCloskey
Abstract: One example method involves rotating a housing of a light detection and ranging (LIDAR) device about a first axis. The housing includes a first optical window and a second optical window. The method also involves transmitting a first plurality of light pulses through the first optical window to obtain a first scan of a field-of-view (FOV) of the LIDAR device. The method also involves transmitting a second plurality of light pulses through the second optical window to obtain a second scan of the FOV. The method also involves identifying, based on the first scan and the second scan, a portion of the FOV that is at least partially occluded by an occlusion.
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公开(公告)号：US12050267B2
公开(公告)日：2024-07-30
申请号：US16949657
申请日：2020-11-09
Applicant: Waymo LLC
Inventor： Nicholas Armstrong-Crews , Mingcheng Chen , Xiaoxiang Hu , Colin Andrew Braley , Yunshan Jiang
CPC classification number: G01S17/89 , B60W40/02 , G01S17/26 , G01S17/58 , B60W2420/408
Abstract: Aspects and implementations of the present disclosure address shortcomings of the existing technology by enabling efficient object identification and tracking in autonomous vehicle (AV) applications by using velocity data-assisted mapping of first set of points obtained for a first sensing data frame by a sensing system of the AV to a second set of points obtained for a second sensing data frame by the sensing system of the AV, the first set of points and the second set of points corresponding to an object in an environment of the AV, and causing a driving path of the AV to be determined in view of the performed mapping.
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公开(公告)号：US11656358B2
公开(公告)日：2023-05-23
申请号：US16671858
申请日：2019-11-01
Applicant: Waymo LLC
Inventor： Blaise Gassend , Nicholas Armstrong-Crews , Andreas Wendel , Benjamin Ingram , Clayton Kunz
CPC classification number: G01S17/89 , G01S7/4817 , G01S17/10
Abstract: One example system includes a first light detection and ranging (LIDAR) device that scans a first field-of-view defined by a first range of pointing directions associated with the first LIDAR device. The system also includes a second LIDAR device that scans a second FOV defined by a second range of pointing directions associated with the second LIDAR device. The second FOV at least partially overlaps the first FOV. The system also includes a first controller that adjusts a first pointing direction of the first LIDAR device. The system also includes a second controller that adjusts a second pointing direction of the second LIDAR device synchronously with the adjustment of the first pointing direction of the first LIDAR device.
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公开(公告)号：US20230019893A1
公开(公告)日：2023-01-19
申请号：US17947563
申请日：2022-09-19
Applicant: Waymo LLC
Inventor： Brandyn White , Congyu Gao , Sean Rafferty , Nicholas Armstrong-Crews
Abstract: Aspects of the disclosure provide for automatically generating labels for sensor data. For instance first sensor data for a first vehicle is identified. The first sensor data is defined in both a global coordinate system and a local coordinate system for the first vehicle. A second vehicle is identified based on a second location of the second vehicle within a threshold distance of the first vehicle within the first timeframe. The second vehicle is associated with second sensor data that is further associated with a label identifying a location of an object, and the location of the object is defined in a local coordinate system of the second vehicle. A conversion from the local coordinate system of the second vehicle to the local coordinate system of the first vehicle may be determined and used to transfer the label from the second sensor data to the first sensor data.
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