公开(公告)号：US20240430384A1

公开(公告)日：2024-12-26

申请号：US18830115

申请日：2024-09-10

Applicant: Waymo LLC

Inventor： Simon Verghese ,  Alexander McCauley

IPC: H04N7/18 ,  B60W30/095 ,  B60W60/00 ,  G01S7/483 ,  G01S7/497 ,  G01S17/86 ,  G01S17/89 ,  G01S17/931 ,  G01W1/06 ,  G06V10/44 ,  G06V10/88 ,  G06V20/56 ,  G08G1/01 ,  G08G1/04 ,  G08G1/048 ,  H04N23/69

Abstract: An example method includes receiving, from one or more sensors associated with an autonomous vehicle, sensor data associated with a target object in an environment of the vehicle during a first environmental condition, where at least one sensor of the sensor(s) is configurable to be associated with one of a plurality of operating field of view volumes. The method also includes based on the sensor data, determining at least one parameter associated with the target object. The method also includes determining a degradation in the parameter(s) between the sensor data and past sensor data, where the past sensor data is associated with the target object in the environment during a second environmental condition different from the first and, based on the degradation, adjusting the operating field of view volume of the at least one sensor to a different one of the operating field of view volumes.

公开(公告)号：US20240243209A1

公开(公告)日：2024-07-18

申请号：US18623707

申请日：2024-04-01

Applicant: Waymo LLC

Inventor： Caner Onal ,  Simon Verghese ,  Pierre-Yves Droz

IPC: H01L31/0352 ,  G01S7/486 ,  G01S7/4863 ,  G01S17/89 ,  H01L27/144 ,  H01L31/107 ,  H01L31/18

CPC classification number: H01L31/035272 ,  G01S17/89 ,  H01L27/1443 ,  H01L31/035281 ,  H01L31/107 ,  H01L31/186 ,  G01S7/4863 ,  G01S7/4868

Abstract: Example embodiments relate to controlling detection time in photodetectors. An example embodiment includes a device. The device includes a substrate. The device also includes a photodetector coupled to the substrate. The photodetector is arranged to detect light emitted from a light source that irradiates a top surface of the device. A depth of the substrate is at most 100 times a diffusion length of a minority carrier within the substrate so as to mitigate dark current arising from minority carriers photoexcited in the substrate based on the light emitted from the light source.

公开(公告)号：US12032097B2

公开(公告)日：2024-07-09

申请号：US18171883

申请日：2023-02-21

Applicant: Waymo LLC

Inventor： Caner Onal ,  David Schleuning ,  Brendan Hermalyn ,  Simon Verghese ,  Alex McCauley ,  Brandyn White ,  Ury Zhilinsky

IPC: G01S7/48 ,  G01S7/481 ,  G01S7/4865 ,  G01S17/931

CPC classification number: G01S7/4865 ,  G01S7/4804 ,  G01S7/4816 ,  G01S17/931

Abstract: The present disclosure relates to systems and methods that provide both an image of a scene and depth information for the scene. An example system includes at least one time-of-flight (ToF) sensor and an imaging sensor. The ToF sensor and the imaging sensor are configured to receive light from a scene. The system also includes at least one light source 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 illumination light according to an illumination schedule. The operations also include causing the at least one ToF sensor to provide information indicative of a depth map of the scene based on the illumination light. The operations additionally include causing the imaging sensor to provide information indicative of an image of the scene based on the illumination light.

公开(公告)号：US20230184908A1

公开(公告)日：2023-06-15

申请号：US18163330

申请日：2023-02-02

Applicant: Waymo LLC

Inventor： Simon Verghese ,  Pierre-Yves Droz ,  Mark Shand

IPC: G01S7/486 ,  G01S17/42 ,  G01S7/487 ,  G01S17/10 ,  G01S17/931 ,  G01S7/484 ,  G01S7/4865 ,  G05D1/02

CPC classification number: G01S7/4868 ,  G01S17/42 ,  G01S7/487 ,  G01S17/10 ,  G01S17/931 ,  G01S7/484 ,  G01S7/4865 ,  G05D1/024

Abstract: Described herein are methods and systems for protecting a light detection and ranging (LIDAR) device against external light that is originated at a light source other than a light source of the LIDAR device and that is being emitted towards the LIDAR device. In particular, the LIDAR device may be equipped with a mitigation system that includes an interference filter, an absorptive filter, an adaptive filter, and/or a spatial filter. Additionally or alternatively, the LIDAR device may be operated to carry out reactive and/or proactive mitigation operations. For example, the LIDAR device may be operated to vary over time characteristics with which light is being emitted and to only detect light having characteristics that match the characteristics with which light is being emitted. In another example, the LIDAR device may be operated to activate a shutter to block the external light from being detected by the LIDAR device.

公开(公告)号：US11671564B2

公开(公告)日：2023-06-06

申请号：US17126231

申请日：2020-12-18

Applicant: Waymo LLC

Inventor： Simon Verghese ,  Alexander McCauley

IPC: H04N7/18 ,  G01S17/931 ,  G01S7/497 ,  B60W30/095 ,  G08G1/04 ,  G08G1/01 ,  B60W60/00 ,  G01S17/86 ,  G01S7/483 ,  G01S17/89 ,  G01W1/06 ,  G05D1/00 ,  G08G1/048 ,  G06V10/44 ,  G06V20/56 ,  H04N23/69 ,  G06V10/88 ,  G05D1/02

CPC classification number: H04N7/18 ,  B60W30/0956 ,  B60W60/001 ,  G01S7/483 ,  G01S7/497 ,  G01S17/86 ,  G01S17/89 ,  G01S17/931 ,  G01W1/06 ,  G05D1/0088 ,  G06V10/44 ,  G06V10/89 ,  G06V20/56 ,  G08G1/0112 ,  G08G1/0116 ,  G08G1/04 ,  G08G1/048 ,  H04N23/69 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2556/45 ,  G05D1/0251 ,  G05D1/0257 ,  G05D2201/0213

Abstract: An example method includes receiving, from one or more sensors associated with an autonomous vehicle, sensor data associated with a target object in an environment of the vehicle during a first environmental condition, where at least one sensor of the sensor(s) is configurable to be associated with one of a plurality of operating field of view volumes. The method also includes based on the sensor data, determining at least one parameter associated with the target object. The method also includes determining a degradation in the parameter(s) between the sensor data and past sensor data, where the past sensor data is associated with the target object in the environment during a second environmental condition different from the first and, based on the degradation, adjusting the operating field of view volume of the at least one sensor to a different one of the operating field of view volumes.

公开(公告)号：US20220276384A1

公开(公告)日：2022-09-01

申请号：US17739064

申请日：2022-05-06

Applicant: Waymo LLC

Inventor： Caner Onal ,  David Schleuning ,  Brendan Hermalyn ,  Simon Verghese ,  Alexander McCauley ,  Brandyn White ,  Ury Zhilinsky

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

Abstract: 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：US20210195112A1

公开(公告)日：2021-06-24

申请号：US17126231

申请日：2020-12-18

Applicant: Waymo LLC

Inventor： Simon Verghese ,  Alexander McCauley

IPC: H04N5/232 ,  G01S17/86 ,  G01S17/931 ,  G01S7/497 ,  H04N7/18 ,  G06K9/00 ,  G06K9/46 ,  B60W30/095 ,  G08G1/04 ,  G08G1/01 ,  B60W60/00

Abstract: An example method includes receiving, from one or more sensors associated with an autonomous vehicle, sensor data associated with a target object in an environment of the vehicle during a first environmental condition, where at least one sensor of the sensor(s) is configurable to be associated with one of a plurality of operating field of view volumes. The method also includes based on the sensor data, determining at least one parameter associated with the target object. The method also includes determining a degradation in the parameter(s) between the sensor data and past sensor data, where the past sensor data is associated with the target object in the environment during a second environmental condition different from the first and, based on the degradation, adjusting the operating field of view volume of the at least one sensor to a different one of the operating field of view volumes.

公开(公告)号：US20210185281A1

公开(公告)日：2021-06-17

申请号：US17187775

申请日：2021-02-27

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  Simon Verghese ,  Brendan Hermalyn

IPC: H04N7/18 ,  H04N5/232 ,  G01S7/481 ,  G01S17/86 ,  G01S17/931 ,  G01S17/87 ,  G01S17/89

Abstract: Example implementations are provided for an arrangement of co-aligned rotating sensors. One example device includes a light detection and ranging (LIDAR) transmitter that emits light pulses toward a scene according to a pointing direction of the device. The device also includes a LIDAR receiver that detects reflections of the emitted light pulses reflecting from the scene. The device also includes an image sensor that captures an image of the scene based on at least external light originating from one or more external light sources. The device also includes a platform that supports the LIDAR transmitter, the LIDAR receiver, and the image sensor in a particular relative arrangement. The device also includes an actuator that rotates the platform about an axis to adjust the pointing direction of the device.

公开(公告)号：US20180136321A1

公开(公告)日：2018-05-17

申请号：US15352717

申请日：2016-11-16

Applicant: Waymo LLC

Inventor： Simon Verghese ,  Pierre-Yves Droz ,  Mark Shand

IPC: G01S7/486 ,  G01S7/484 ,  G01S17/93 ,  G05D1/02

CPC classification number: G01S7/4868 ,  G01S7/484 ,  G01S7/4865 ,  G01S7/487 ,  G01S17/10 ,  G01S17/42 ,  G01S17/936 ,  G05D1/024

Abstract: Described herein are methods and systems for protecting a light detection and ranging (LIDAR) device against external light that is originated at a light source other than a light source of the LIDAR device and that is being emitted towards the LIDAR device. In particular, the LIDAR device may be equipped with a mitigation system that includes an interference filter, an absorptive filter, an adaptive filter, and/or a spatial filter. Additionally or alternatively, the LIDAR device may be operated to carry out reactive and/or proactive mitigation operations. For example, the LIDAR device may be operated to vary over time characteristics with which light is being emitted and to only detect light having characteristics that match the characteristics with which light is being emitted. In another example, the LIDAR device may be operated to activate a shutter to block the external light from being detected by the LIDAR device.

公开(公告)号：US12149868B2

公开(公告)日：2024-11-19

申请号：US18388458

申请日：2023-11-09

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  Simon Verghese ,  Brendan Hermalyn

IPC: G01S17/86 ,  G01S7/481 ,  G01S17/87 ,  G01S17/89 ,  G01S17/931 ,  H04N7/18 ,  H04N23/60 ,  H04N23/69

Abstract: Example implementations are provided for an arrangement of co-aligned rotating sensors. One example device includes a light detection and ranging (LIDAR) transmitter that emits light pulses toward a scene according to a pointing direction of the device. The device also includes a LIDAR receiver that detects reflections of the emitted light pulses reflecting from the scene. The device also includes an image sensor that captures an image of the scene based on at least external light originating from one or more external light sources. The device also includes a platform that supports the LIDAR transmitter, the LIDAR receiver, and the image sensor in a particular relative arrangement. The device also includes an actuator that rotates the platform about an axis to adjust the pointing direction of the device.