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公开(公告)号：US20220035005A1
公开(公告)日：2022-02-03
申请号：US17503571
申请日：2021-10-18
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：US20210368109A1
公开(公告)日：2021-11-25
申请号：US17394823
申请日：2021-08-05
Applicant: Waymo LLC
Inventor： Andreas Wendel , Jeremy Dittmer , Brendan Hermalyn
Abstract: An optical system for a vehicle may be configured with a plurality of camera sensors. Each camera sensor may be configured to create respective image data of a respective field of view. The optical system is further configured with a plurality of image processing units coupled to the plurality of camera sensors. The image processing units are configured to compress the image data captured by the camera sensors. A computing system is configured to store the compressed image data in a memory. The computing system is further configured with a vehicle-control processor configured to control the vehicle based on the compressed image data. The optical system and the computing system can be communicatively coupled by a data bus.
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公开(公告)号：US11181619B2
公开(公告)日：2021-11-23
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：US10999539B2
公开(公告)日：2021-05-04
申请号：US16214572
申请日：2018-12-10
Applicant: Waymo LLC
Inventor： Andreas Wendel , Jeremy Dittmer
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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35.发明申请公开(公告)号：US20200151468A1
公开(公告)日：2020-05-14
申请号：US16741447
申请日：2020-01-13
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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Patent Agency Ranking
公开(公告)号：US12260650B2
公开(公告)日：2025-03-25
申请号：US18503422
申请日：2023-11-07
Applicant: WAYMO LLC
Inventor： Kimberly Toth , Jeremy Dittmer , Giulia Guidi , Peter Avram
IPC: G06V20/58 , B60R11/04 , G01S17/894 , G01S17/931 , H04N23/80
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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公开(公告)号：US12061091B2
公开(公告)日：2024-08-13
申请号：US18156475
申请日：2023-01-19
Applicant: Waymo LLC
Inventor： Jeremy Dittmer , Andreas Wendel
CPC classification number: G01C21/3461 , G05D1/0246 , G06T7/70 , G06V20/56 , B60W60/0015 , B60W2420/403 , G06T2207/10004
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：US20240223882A1
公开(公告)日：2024-07-04
申请号：US18413521
申请日：2024-01-16
Applicant: Waymo LLC
Inventor： Andreas Wendel , Jeremy Dittmer , Brendan Hermalyn , Benjamin Ingram
IPC: H04N23/61 , H04N23/45 , H04N23/73 , H04N23/741
CPC classification number: H04N23/61 , H04N23/45 , H04N23/73 , H04N23/741
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：US20240061425A1
公开(公告)日：2024-02-22
申请号：US18498149
申请日：2023-10-31
Applicant: WAYMO LLC
Inventor： Peter Avram , Kimberly Toth , Jeremy Dittmer , Giulia Guidi
IPC: G05D1/00 , G01S17/86 , B60W60/00 , G06V20/58 , B60W10/18 , B60W10/20 , G01S7/02 , G01S7/481 , G01S13/86 , G01S13/89 , G01S17/89 , G05D1/02 , H04N23/74
CPC classification number: G05D1/0088 , G01S17/86 , B60W60/001 , G06V20/58 , B60W10/18 , B60W10/20 , G01S7/02 , G01S7/4813 , G01S13/867 , G01S13/89 , G01S17/89 , G05D1/0214 , H04N23/74 , G01S7/027 , 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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公开(公告)号：US11887378B2
公开(公告)日：2024-01-30
申请号：US18081260
申请日：2022-12-14
Applicant: WAYMO LLC
Inventor： Kimberly Toth , Jeremy Dittmer , Giulia Guidi , Peter Avram
IPC: G06V20/58 , G01S17/931 , G01S17/894 , B60R11/04 , H04N23/80
CPC classification number: G06V20/58 , B60R11/04 , G01S17/894 , G01S17/931 , H04N23/80 , B60R2300/301 , B60R2300/802 , B60R2300/8093
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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