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公开(公告)号：US10757320B2
公开(公告)日：2020-08-25
申请号：US16199998
申请日：2018-11-26
Applicant: Waymo LLC
Inventor： Andreas Wendel , Jeremy Dittmer , Brendan Hermalyn , Benjamin Ingram
Abstract: Example embodiments relate to multiple operating modes to expand dynamic range. An example embodiment includes a camera system. The camera system may include a first image sensor having a first dynamic range corresponding to a first range of luminance levels in a scene. The system may also include a second image sensor having a second dynamic range corresponding to a second range of luminance levels in the scene. The camera system may further include a processor coupled to the first image sensor and the second image sensor. The processor may be configured to execute instructions to identify objects of a first type in a first image of the scene captured by the first image sensor and identify objects of a second object type in a second image of the scene captured by the second image sensor.
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公开(公告)号：US10558873B2
公开(公告)日：2020-02-11
申请号：US15842182
申请日：2017-12-14
Applicant: Waymo LLC
Inventor： Brendan Hermalyn , Andreas Wendel , Jeremy Dittmer
Abstract: Example implementations may relate to use of a light-control feature to control extent of light encountered by an image capture device of a self-driving vehicle. In particular, a computing system of the vehicle may make a determination that quality of image data generated by an image capture device is or is expected to be lower than a threshold quality due to external light encountered or expected to be encountered by the image capture device. In response to the determination, the computing system may make an adjustment to the light-control feature to control the extent of external light encountered or expected to be encountered by the image capture device. This adjustment may ultimately help improve quality of image data generated by the image capture device. As such, the computing system may operate the vehicle based at least on image data generated by the image capture device.
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公开(公告)号：US20190384313A1
公开(公告)日：2019-12-19
申请号：US16008462
申请日：2018-06-14
Applicant: Waymo LLC
Inventor： Kimberly Geneva Toth , Brendan Hermalyn , Shane Mcguire , Felix Jose Alvarez Rivera , Jeremy Dittmer , Andreas Wendel
Abstract: The technology relates to autonomous vehicles that use a perception system to detect objects and features in the vehicle's surroundings. A camera assembly having a ring-type structure is provided that gives the perception system an overall 360° field of view around the vehicle. Image sensors are arranged in camera modules around the assembly to provide a seamless panoramic field of view. One subsystem has multiple pairs of image sensors positioned to provide the overall 360° field of view, while another subsystem provides a set of image sensors generally facing toward the front of the vehicle to provide enhanced object identification. The camera assembly may be arranged in a housing located on top of the vehicle. The housing may include other sensors such as LIDAR and radar. The assembly includes a chassis and top and base plates, which may provide EMI protection from other sensors disposed in the housing.
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公开(公告)号：US20190208111A1
公开(公告)日：2019-07-04
申请号：US16199998
申请日：2018-11-26
Applicant: Waymo LLC
Inventor： Andreas Wendel , Jeremy Dittmer , Brendan Hermalyn , Benjamin Ingram
Abstract: Example embodiments relate to multiple operating modes to expand dynamic range. An example embodiment includes a camera system. The camera system may include a first image sensor having a first dynamic range corresponding to a first range of luminance levels in a scene. The system may also include a second image sensor having a second dynamic range corresponding to a second range of luminance levels in the scene. The camera system may further include a processor coupled to the first image sensor and the second image sensor. The processor may be configured to execute instructions to identify objects of a first type in a first image of the scene captured by the first image sensor and identify objects of a second object type in a second image of the scene captured by the second image sensor.
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公开(公告)号：US11762063B2
公开(公告)日：2023-09-19
申请号：US18082791
申请日：2022-12-16
Applicant: Waymo LLC
Inventor： Kimberly Geneva Toth , Brendan Hermalyn , Shane Mcguire , Felix Jose Alvarez Rivera , Jeremy Dittmer , Andreas Wendel
CPC classification number: G01S7/4813 , B60R11/04 , G05D1/0088 , G05D1/0246 , H04N23/51 , B60R2300/102 , B60R2300/105 , G05D2201/0213
Abstract: The technology relates to autonomous vehicles that use a perception system to detect objects and features in the vehicle's surroundings. A camera assembly having a ling-type structure is provided that gives the perception system an overall 360° field of view around the vehicle. Image sensors are arranged in camera modules around the assembly to provide a seamless panoramic field of view. One subsystem has multiple pairs of image sensors positioned to provide the overall 360° field of view, while another subsystem provides a set of image sensors generally facing toward the front of the vehicle to provide enhanced object identification. The camera assembly may be arranged in a housing located on top of the vehicle. The housing may include other sensors such as LIDAR and radar. The assembly includes a chassis and top and base plates, which may provide EMI protection from other sensors disposed in the housing.
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Patent Agency Ranking
公开(公告)号：US11653108B2
公开(公告)日：2023-05-16
申请号：US17243992
申请日：2021-04-29
Applicant: Waymo LLC
Inventor： Andreas Wendel , Jeremy Dittmer
CPC classification number: H04N5/3452 , H04N5/3532
Abstract: Examples described may related to an imaging sensor used by a vehicle, including a light sensor. The light sensor comprises a plurality of cells aligned in a plurality of horizontal rows and a plurality of vertical columns. The apparatus further includes an optical system configured to provide the light sensor with a field of view of an external environment of the apparatus. Additionally, the system includes a processing unit configured to: divide the plurality of horizontal rows of the light sensor into one or more enabled rows and one or more disabled rows; obtain image data from the light sensor by sampling one or more cells in the one or more enabled rows; and store the received image data in a memory.
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公开(公告)号：US20230125032A1
公开(公告)日：2023-04-20
申请号：US18082791
申请日：2022-12-16
Applicant: Waymo LLC
Inventor： Kimberly Geneva Toth , Brendan Hermalyn , Shane Mcguire , Felix Jose Alvarez Rivera , Jeremy Dittmer , Andreas Wendel
Abstract: The technology relates to autonomous vehicles that use a perception system to detect objects and features in the vehicle's surroundings. A camera assembly having a ling-type structure is provided that gives the perception system an overall 360° field of view around the vehicle. Image sensors are arranged in camera modules around the assembly to provide a seamless panoramic field of view. One subsystem has multiple pairs of image sensors positioned to provide the overall 360° field of view, while another subsystem provides a set of image sensors generally facing toward the front of the vehicle to provide enhanced object identification. The camera assembly may be arranged in a housing located on top of the vehicle. The housing may include other sensors such as LIDAR and radar. The assembly includes a chassis and top and base plates, which may provide EMI protection from other sensors disposed in the housing.
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公开(公告)号：US11561108B2
公开(公告)日：2023-01-24
申请号：US17149984
申请日：2021-01-15
Applicant: Waymo LLC
Inventor： Jeremy Dittmer , Andreas Wendel
Abstract: Example implementations may relate to sun-aware vehicle routing. In particular, a computing system of a vehicle may determine an expected position of the sun relative to a geographic area. Based on the expected position, the computing system may make a determination that travel of the vehicle through certain location(s) within the geographic area is expected to result in the sun being proximate to an object within a field of view of the vehicle's image capture device. Responsively, the computing system may generate a route for the vehicle in the geographic area based at least on the route avoiding travel of the vehicle through these certain location(s), and may then operate the vehicle to travel in accordance with the generated route. Ultimately, this may help reduce or prevent situations where quality of image(s) degrades due to sunlight, which may allow for use of these image(s) as basis for operating the vehicle.
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公开(公告)号：US11529973B1
公开(公告)日：2022-12-20
申请号：US17093274
申请日：2020-11-09
Applicant: Waymo LLC
Inventor： Jeremy Dittmer , Ruffin Evans , Vaibhav Nangia , Benjamin Ingram , Erik Chubb , Yonatan Winetraub
IPC: B60W60/00 , G01S13/89 , G01S17/89 , G01S17/58 , G05D1/02 , G01S13/58 , G06V10/22 , G06V20/58 , G06V20/56 , G05D1/00 , G01S17/931 , G01S13/931
Abstract: A method includes determining a target specification map that is associated with a task and that indicates, for each respective region of a plurality of regions around a vehicle equipped with a sensor, a target value of a parameter of the sensor. The method also includes determining a capability specification map that indicates, for each respective region, an attained value of the parameter that the sensor is configured to provide. The method additionally includes comparing the capability specification map to the target specification map to determine, for each respective region, a disparity between the target value and the attained value. The method further includes, based on the comparing, identifying one or more of: a first subset of the plurality of regions where the target value exceeds the attained value or a second subset of the plurality of regions where the attained value meets or exceeds the target value.
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公开(公告)号：US11493922B1
公开(公告)日：2022-11-08
申请号：US16737359
申请日：2020-01-08
Applicant: WAYMO LLC
Inventor： Peter Avram , Kimberly Toth , Jeremy Dittmer , Giulia Guidi
IPC: G05D1/00 , G01S17/86 , G01S7/481 , G01S13/86 , G01S7/02 , G01S17/89 , G01S13/89 , G05D1/02 , B60W60/00 , B60W10/18 , B60W10/20 , H04N5/235 , G06V20/58 , G06K9/62 , B60S1/56
Abstract: The technology relates to an exterior sensor system for a vehicle configured to operate in an autonomous driving mode. The technology includes a close-in sensing (CIS) camera system to address blind spots around the vehicle. The CIS system is used to detect objects within a few meters of the vehicle. Based on object classification, the system is able to make real-time driving decisions. Classification is enhanced by employing cameras in conjunction with lidar sensors. The specific arrangement of multiple sensors in a single sensor housing is also important to object detection and classification. Thus, the positioning of the sensors and support components are selected to avoid occlusion and to otherwise prevent interference between the various sensor housing elements.
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