公开(公告)号：US11822022B2

公开(公告)日：2023-11-21

申请号：US17061172

申请日：2020-10-01

Applicant: Waymo LLC

Inventor： Gaetan Pennecot ,  Pierre-Yves Droz

IPC: G01S7/497 ,  G01S7/51 ,  G01S17/06 ,  G01S17/42 ,  G01S7/481 ,  G02B27/62 ,  G01S17/89 ,  G02B5/20

CPC classification number: G01S7/4972 ,  G01S7/4815 ,  G01S7/4817 ,  G01S7/51 ,  G01S17/06 ,  G01S17/42 ,  G01S17/89 ,  G02B27/62 ,  G02B5/20

Abstract: A method is provided that involves mounting a transmit block and a receive block in a LIDAR device to provide a relative position between the transmit block and the receive block. The method also involves locating a camera at a given position at which the camera can image light beams emitted by the transmit block and can image the receive block. The method also involves obtaining, using the camera, a first image indicative of light source positions of one or more light sources in the transmit block and a second image indicative of detector positions of one or more detectors in the receive block. The method also involves determining at least one offset based on the first image and the second image. The method also involves adjusting the relative position between the transmit block and the receive block based at least in part on the at least one offset.

公开(公告)号：USRE48961E1

公开(公告)日：2022-03-08

申请号：US15799926

申请日：2017-10-31

Applicant: Waymo LLC

Inventor： Daniel Gruver ,  Pierre-Yves Droz ,  Gaetan Pennecot ,  Anthony Levandowski ,  Drew Eugene Ulrich ,  Zachary Morriss ,  Luke Wachter ,  Dorel Ionut Iordache ,  Rahim Pardhan ,  William McCann ,  Bernard Fidric ,  Samuel William Lenius ,  Peter Avram

IPC: G01C3/00 ,  G01S7/48 ,  G01S17/931 ,  G01C3/02 ,  G01S7/481 ,  G01S17/10 ,  G01S17/42 ,  G01S17/66 ,  G01S17/87 ,  G01S17/89 ,  G01S17/93 ,  G01S17/86

Abstract: A vehicle is provided that includes one or more wheels positioned at a bottom side of the vehicle. The vehicle also includes a first light detection and ranging device (LIDAR) positioned at a top side of the vehicle opposite to the bottom side. The first LIDAR is configured to scan an environment around the vehicle based on rotation of the first LIDAR about an axis. The first LIDAR has a first resolution. The vehicle also includes a second LIDAR configured to scan a field-of-view of the environment that extends away from the vehicle along a viewing direction of the second LIDAR. The second LIDAR has a second resolution. The vehicle also includes a controller configured to operate the vehicle based on the scans of the environment by the first LIDAR and the second LIDAR.

公开(公告)号：USRE48874E1

公开(公告)日：2022-01-04

申请号：US16890789

申请日：2020-06-02

Applicant: Waymo LLC

Inventor： Gaetan Pennecot ,  Pierre-Yves Droz ,  Drew Eugene Ulrich ,  Daniel Gruver ,  Zachary Morriss ,  Anthony Levandowski

IPC: G01C3/08 ,  G01S7/481 ,  G01S17/89

Abstract: A LIDAR device may transmit light pulses originating from one or more light sources and may receive reflected light pulses that are then detected by one or more detectors. The LIDAR device may include a lens that both (i) collimates the light from the one or more light sources to provide collimated light for transmission into an environment of the LIDAR device and (ii) focuses the reflected light onto the one or more detectors. The lens may define a curved focal surface in a transmit path of the light from the one or more light sources and a curved focal surface in a receive path of the one or more detectors. The one or more light sources may be arranged along the curved focal surface in the transmit path. The one or more detectors may be arranged along the curved focal surface in the receive path.

公开(公告)号：US20210278503A1

公开(公告)日：2021-09-09

申请号：US17194447

申请日：2021-03-08

Applicant: Waymo LLC

Inventor： Gaetan Pennecot ,  Zachary Morriss ,  Samuel Lenius ,  Dorel lonut lordache ,  Daniel Gruver ,  Pierre-Yves Droz ,  Luke Wachter ,  Drew Ulrich ,  William McCann ,  Rahim Pardhan ,  Bernard Fidric ,  Anthony Levandowski ,  Peter Avram

IPC: G01S7/48 ,  G01S17/93 ,  G01S17/10 ,  G01S17/42 ,  G01S17/66 ,  G01S17/87 ,  G01S17/89 ,  G01S7/481 ,  G01S17/931 ,  G01C3/02

Abstract: A vehicle is provided that includes one or more wheels positioned at a bottom side of the vehicle. The vehicle also includes a first light detection and ranging device (LIDAR) positioned at a top side of the vehicle opposite to the bottom side. The first LIDAR is configured to scan an environment around the vehicle based on rotation of the first LIDAR about an axis. The first LIDAR has a first resolution. The vehicle also includes a second LIDAR configured to scan a field-of-view of the environment that extends away from the vehicle along a viewing direction of the second LIDAR. The second LIDAR has a second resolution. The vehicle also includes a controller configured to operate the vehicle based on the scans of the environment by the first LIDAR and the second LIDAR.

公开(公告)号：US10816648B2

公开(公告)日：2020-10-27

申请号：US15876129

申请日：2018-01-20

Applicant: Waymo LLC

Inventor： Gaetan Pennecot ,  Pierre-yves Droz

IPC: G01S7/497 ,  G01S7/51 ,  G01S17/06 ,  G01S17/42 ,  G01S7/481 ,  G02B27/62 ,  G01S17/89 ,  G02B5/20

Abstract: A method is provided that involves mounting a transmit block and a receive block in a LIDAR device to provide a relative position between the transmit block and the receive block. The method also involves locating a camera at a given position at which the camera can image light beams emitted by the transmit block and can image the receive block. The method also involves obtaining, using the camera, a first image indicative of light source positions of one or more light sources in the transmit block and a second image indicative of detector positions of one or more detectors in the receive block. The method also involves determining at least one offset based on the first image and the second image. The method also involves adjusting the relative position between the transmit block and the receive block based at least in part on the at least one offset.

公开(公告)号：US10788571B2

公开(公告)日：2020-09-29

申请号：US16828773

申请日：2020-03-24

Applicant: Waymo LLC

Inventor： Benjamin Ingram ,  Pierre-Yves Droz ,  Luke Wachter ,  Scott McCloskey ,  Blaise Gassend ,  Gaetan Pennecot

IPC: G01S7/48 ,  G01S7/481 ,  G01S17/931 ,  H01S3/11 ,  G01S7/484 ,  H01S5/40 ,  G01S17/10 ,  H01S3/23

Abstract: The present disclosure relates to systems and methods that facilitate light detection and ranging operations. An example transmit block includes at least one substrate with a plurality of angled facets. The plurality of angled facets provides a corresponding plurality of elevation angles. A set of angle differences between adjacent elevation angles includes at least two different angle difference values. A plurality of light-emitter devices is configured to emit light into an environment along the plurality of elevation angles toward respective target locations so as to provide a desired resolution and/or a respective elevation angle. The present disclosure also relates to adjusting shot power and a shot schedule based on the desired resolution and/or a respective elevation angle.

公开(公告)号：US10365351B2

公开(公告)日：2019-07-30

申请号：US15900189

申请日：2018-02-20

Applicant: Waymo LLC

Inventor： Benjamin Ingram ,  Pierre-Yves Droz ,  Luke Wachter ,  Scott McCloskey ,  Blaise Gassend ,  Gaetan Pennecot

IPC: H01S3/11 ,  H01S3/23 ,  G01S17/10 ,  G01S17/93 ,  G01S7/481 ,  G01S7/484 ,  H01S5/40

Abstract: The present disclosure relates to systems and methods that facilitate light detection and ranging operations. An example transmit block includes at least one substrate with a plurality of angled facets. The plurality of angled facets provides a corresponding plurality of elevation angles. A set of angle differences between adjacent elevation angles includes at least two different angle difference values. A plurality of light-emitter devices is configured to emit light into an environment along the plurality of elevation angles toward respective target locations so as to provide a desired resolution and/or a respective elevation angle. The present disclosure also relates to adjusting shot power and a shot schedule based on the desired resolution and/or a respective elevation angle.

公开(公告)号：US20180143309A1

公开(公告)日：2018-05-24

申请号：US15876129

申请日：2018-01-20

Applicant: Waymo LLC

Inventor： Gaetan Pennecot ,  Pierre-yves Droz

IPC: G01S7/497 ,  G02B27/62 ,  G01S17/42 ,  G01S17/89 ,  G01S7/481 ,  G01S17/06 ,  G01S7/51 ,  G02B5/20

Abstract: A method is provided that involves mounting a transmit block and a receive block in a LIDAR device to provide a relative position between the transmit block and the receive block. The method also involves locating a camera at a given position at which the camera can image light beams emitted by the transmit block and can image the receive block. The method also involves obtaining, using the camera, a first image indicative of light source positions of one or more light sources in the transmit block and a second image indicative of detector positions of one or more detectors in the receive block. The method also involves determining at least one offset based on the first image and the second image. The method also involves adjusting the relative position between the transmit block and the receive block based at least in part on the at least one offset.

公开(公告)号：US20180011196A1

公开(公告)日：2018-01-11

申请号：US15714326

申请日：2017-09-25

Applicant: Waymo LLC

Inventor： Gaetan Pennecot ,  Zachary Morriss ,  Samuel Lenius ,  Ionut Iordache ,  Daniel Gruver ,  Pierre-Yves Droz ,  Luke Wachter ,  Drew Ulrich ,  William Mccann ,  Rahim Pardhan ,  Bernard Fidric ,  Anthony Levandowski ,  Peter Avram

IPC: G01S17/93 ,  G01S17/87 ,  G01S17/10 ,  G01S17/89 ,  G01S7/481

CPC classification number: G01S17/93 ,  G01C3/02 ,  G01S7/4808 ,  G01S7/4813 ,  G01S7/4815 ,  G01S7/4816 ,  G01S7/4817 ,  G01S17/023 ,  G01S17/10 ,  G01S17/42 ,  G01S17/66 ,  G01S17/87 ,  G01S17/89 ,  G01S17/936

Abstract: A vehicle is provided that includes one or more wheels positioned at a bottom side of the vehicle. The vehicle also includes a first light detection and ranging device (LIDAR) positioned at a top side of the vehicle opposite to the bottom side. The first LIDAR is configured to scan an environment around the vehicle based on rotation of the first LIDAR about an axis. The first LIDAR has a first resolution. The vehicle also includes a second LIDAR configured to scan a field-of-view of the environment that extends away from the vehicle along a viewing direction of the second LIDAR. The second LIDAR has a second resolution. The vehicle also includes a controller configured to operate the vehicle based on the scans of the environment by the first LIDAR and the second LIDAR.

公开(公告)号：US09864063B2

公开(公告)日：2018-01-09

申请号：US15493066

申请日：2017-04-20

Applicant: Waymo LLC

Inventor： Daniel Gruver ,  Pierre-yves Droz ,  Gaetan Pennecot ,  Anthony Levandowski ,  Drew Eugene Ulrich ,  Zachary Morriss ,  Luke Wachter ,  Dorel Ionut Iordache ,  Rahim Pardhan ,  William McCann ,  Bernard Fidric ,  Samuel William Lenius

IPC: G01C3/08 ,  G01S17/93 ,  G01S17/87 ,  G01S17/89 ,  G01S7/481 ,  G01S17/10

CPC classification number: G01S17/93 ,  G01C3/02 ,  G01S7/4808 ,  G01S7/4813 ,  G01S7/4815 ,  G01S7/4816 ,  G01S7/4817 ,  G01S17/023 ,  G01S17/10 ,  G01S17/42 ,  G01S17/66 ,  G01S17/87 ,  G01S17/89 ,  G01S17/936

Abstract: A vehicle is provided that includes one or more wheels positioned at a bottom side of the vehicle. The vehicle also includes a first light detection and ranging device (LIDAR) positioned at a top side of the vehicle opposite to the bottom side. The first LIDAR is configured to scan an environment around the vehicle based on rotation of the first LIDAR about an axis. The first LIDAR has a first resolution. The vehicle also includes a second LIDAR configured to scan a field-of-view of the environment that extends away from the vehicle along a viewing direction of the second LIDAR. The second LIDAR has a second resolution. The vehicle also includes a controller configured to operate the vehicle based on the scans of the environment by the first LIDAR and the second LIDAR.