公开(公告)号：US11774556B2

公开(公告)日：2023-10-03

申请号：US17245185

申请日：2021-04-30

Applicant: Waymo LLC

Inventor： Caner Onal ,  Blaise Gassend ,  Pierre-yves Droz

IPC: G01S7/48 ,  G01S7/481 ,  G01S7/486 ,  G01S7/4863 ,  G01S17/894 ,  G01J1/42 ,  G01S17/08 ,  G01J1/44

CPC classification number: G01S7/4816 ,  G01J1/4228 ,  G01S7/4863 ,  G01S7/4868 ,  G01S17/08 ,  G01S17/894 ,  G01J2001/442 ,  G01J2001/4466

Abstract: The present disclosure relates to methods and systems that improve the dynamic range of LIDAR systems. An example system includes a plurality of single-photon photodetectors and at least one additional photodetector monolithically integrated on a shared substrate. The plurality of single-photon photodetectors and the at least one additional photodetector are configured to detect light from a shared field of view. The system also includes a controller configured to carry out operations. The operations include: receiving respective photodetector signals from the plurality of single-photon photodetectors and the at least one additional photodetector; selecting a photodetector signal from at least two of: the two received photodetector signals and a combined photodetector signal formed by combining the two received photodetector signals; and determining an intensity of light in the field of view based on the selected photodetector signal.

公开(公告)号：US20230184955A1

公开(公告)日：2023-06-15

申请号：US18166550

申请日：2023-02-09

Applicant: Waymo LLC

Inventor： Blaise Gassend ,  Scott McCloskey ,  Stephen Osborn ,  Nicholas Armstrong-Crews

IPC: G01S17/931 ,  G01S7/4861 ,  G05D1/00 ,  G01S17/10 ,  G01S17/89

CPC classification number: G01S17/931 ,  G01S7/4861 ,  G05D1/0088 ,  G01S17/10 ,  G01S17/89

Abstract: Example implementations may relate to determining a strategy for a drop process associated with a light detection and ranging (LIDAR) device. In particular, the LIDAR device could emit light pulses and detect return light pulses, and could generate a set of data points representative of the detected return light pulses. The drop process could involve a computing system discarding data point(s) of the set and/or preventing emission of light pulse(s) by the LIDAR device. Accordingly, the computing system could detect a trigger to engage in the drop process, and may responsively (i) use information associated with the environment around the vehicle, operation of the vehicle, and/or operation of the LIDAR device as a basis to determine the strategy for the drop process, and (ii) engage in the drop process in accordance with the determined strategy.

公开(公告)号：US20230161019A1

公开(公告)日：2023-05-25

申请号：US18157951

申请日：2023-01-23

Applicant: Waymo LLC

Inventor： Rahim Pardhan ,  Blaise Gassend

IPC: G01S7/497 ,  G01S7/484 ,  G01S17/10

CPC classification number: G01S7/497 ,  G01S7/484 ,  G01S17/10

Abstract: The present disclosure relates to systems and methods that facilitate compliance of a laser device with a laser safety threshold. An example method includes receiving, from a sensing circuit, an operating voltage that is indicative of a charge of a capacitive element of a laser pulser circuit. The method also includes comparing a first voltage indicative of the operating voltage and a second voltage indicative of a reference voltage. The method additionally includes providing an output value based on the comparing. The method yet further includes evaluating compliance with the laser safety threshold based on the output value.

公开(公告)号：US11592524B2

公开(公告)日：2023-02-28

申请号：US16236780

申请日：2018-12-31

Applicant: Waymo LLC

Inventor： Mingcheng Chen ,  Christian Lauterbach ,  Blaise Gassend ,  Nathaniel Quillin ,  Luke Wachter ,  Gil Shotan ,  Mark Alexander Shand

IPC: G01C3/08 ,  G01S7/48 ,  H04W4/40 ,  G01S17/42 ,  G01S17/931

Abstract: Methods and systems for laser point clouds are described herein. The method and system may include receiving, at a computing device, lidar data indicative of an environment of a vehicle from a first lidar data source, where the lidar data includes a first plurality of data points indicative of locations of reflections from the environment and further includes a respective intensity for each data point. The method and system also include determining a first surface normal for at least a first data point of the first plurality of data points. The method and system further includes determining a first angle of incidence for the first data point based on the surface normal. Additionally, the method and system includes adjusting the intensity of the first data point based on the first angle of incidence to create a first adjusted intensity for the first data point.

公开(公告)号：US11561284B2

公开(公告)日：2023-01-24

申请号：US16236442

申请日：2018-12-29

Applicant: Waymo LLC

Inventor： Ralph Hamilton Shepard ,  Blaise Gassend ,  Pierre-Yves Droz

IPC: G01S7/481 ,  G01S17/08 ,  G01S17/931

Abstract: One example system includes a lens disposed relative to a scene and configured to focus light from the scene. The system also includes an opaque material. The opaque material defines a plurality of apertures including a primary aperture and one or more secondary apertures. The system also includes one or more light detectors (e.g., a single element detector or an array of detectors) configured to intercept and detect diverging light focused by the lens and transmitted through at least one of the plurality of apertures defined by the opaque material.

公开(公告)号：US11550039B2

公开(公告)日：2023-01-10

申请号：US17173128

申请日：2021-02-10

Applicant: Waymo LLC

Inventor： Blaise Gassend ,  Pierre-Yves Droz ,  Benjamin T. Ingram

IPC: G02B26/08 ,  G01S7/481 ,  G01S17/42 ,  G02B26/12 ,  G01S17/89

Abstract: The present disclosure relates to optical systems, specifically light detection and ranging (LIDAR) systems. An example optical system includes a laser light source operable to emit laser light along a first axis and a mirror element with a plurality of reflective surfaces. The mirror element is configured to rotate about a second axis. The plurality of reflective surfaces is disposed about the second axis. The mirror element and the laser light source are coupled to a base structure, which is configured to rotate about a third axis. While the rotational angle of the mirror element is within an angular range, the emitted laser light interacts with both a first reflective surface and a second reflective surface of the plurality of reflective surfaces and is reflected into the environment by the first and second reflective surfaces.

公开(公告)号：US20230003847A1

公开(公告)日：2023-01-05

申请号：US17941118

申请日：2022-09-09

Applicant: WAYMO LLC

Inventor： Paul Karplus ,  Blaise Gassend ,  David Duff

IPC: G01S7/481 ,  G02B26/12

Abstract: Aspects of the technology employ sensors having high speed rotating mirror assemblies. For instance, the sensors may be Lidar sensors configured to detect people and other objects in an area of interest. A given mirror assembly may have a triangular or other geometric cross-sectional shape. The reflective faces of the mirror assembly may connect along edges or corners. In order to minimize wind drag and torque issues, the corners are rounded, filleted, beveled, chamfered or otherwise truncated. Such truncation may extend the length of the mirror side. The mirror assembly may employ one or more beam stops, light baffles and/or acoustic/aerodynamic baffles. These sensors may be employed with self-driving or manual driven vehicles or other equipment. The sensors may also be used in and around buildings.

公开(公告)号：US11460662B2

公开(公告)日：2022-10-04

申请号：US16232323

申请日：2018-12-26

Applicant: Waymo LLC

Inventor： Blaise Gassend ,  Ryan Davis ,  David Duff

IPC: G02B7/18 ,  G02B7/182 ,  G01S17/06 ,  H01S3/081 ,  G02B26/10 ,  G02B6/26 ,  G01S7/481

Abstract: The present disclosure relates to optical devices and systems, specifically those related to light detection and ranging (LIDAR) systems. An example device includes a shaft defining a rotational axis. The shaft includes a first material having a first coefficient of thermal expansion. The device also includes a rotatable mirror disposed about the shaft. The rotatable mirror includes a multi-sided structure having an exterior surface and an interior surface. The multi-sided structure includes a second material having a second coefficient of thermal expansion. The second coefficient of thermal expansion is different from the first coefficient of thermal expansion. The multi-sided structure also includes a plurality of reflective surfaces disposed on the exterior surface of the multi-sided structure. The multi-sided structure yet further includes one or more support members coupled to the interior surface and the shaft.

公开(公告)号：US20220197285A1

公开(公告)日：2022-06-23

申请号：US17689615

申请日：2022-03-08

Applicant: Waymo LLC

Inventor： Blaise Gassend

IPC: G05D1/00 ,  G05D1/02 ,  G01S7/484 ,  G01S7/497 ,  G01S17/10 ,  G01S17/89 ,  G01S17/86 ,  G01S17/931

Abstract: An example system includes a light detection and ranging (LIDAR) device that scans a field-of-view defined by a pointing direction of the LIDAR device. The system also includes an actuator that adjusts the pointing direction of the LIDAR device. The system also includes one or more sensors that indicate measurements related to motion of a vehicle associated with the LIDAR device. The system also includes a controller that causes the actuator to adjust the pointing direction of the LIDAR device based on at least the motion of the vehicle indicated by the one or more sensors.

公开(公告)号：US11333746B2

公开(公告)日：2022-05-17

申请号：US16827214

申请日：2020-03-23

Applicant: Waymo LLC

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

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