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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
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.
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公开(公告)号：US10797698B1
公开(公告)日：2020-10-06
申请号：US16699438
申请日：2019-11-29
Applicant: Waymo LLC
Inventor： Pierre-yves Droz , Augusto Tazzoli , Michael Marx
IPC: H05B33/08 , H05B37/02 , H05B41/00 , H03K17/969 , H03K17/0412 , H05B45/00
Abstract: An example circuit includes a plurality of light emitters connected in parallel between a first node and a second node. The circuit also includes a plurality of capacitors, with each capacitor corresponding to one of the light emitters, and a plurality of discharge-control switches, with each discharge-control switches corresponding to one of the capacitors. The circuit further includes a pulse-control switch connected to the plurality of light emitters. During a first period, the pulse-control switch restricts current flow, and each of the plurality of capacitors is charged via the first node. During a second period, one or more of the plurality of discharge-control switches allows current flow that discharges one or more corresponding capacitors. During a third period, the pulse-control switch allows current flow that discharges one or more undischarged capacitors of the plurality of capacitors through one or more corresponding light emitters.
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公开(公告)号：US20190322274A1
公开(公告)日：2019-10-24
申请号：US16456561
申请日：2019-06-28
Applicant: Waymo LLC.
Inventor： Pierre-yves Droz
Abstract: The present radio system transmits an electromagnetic signal to nearby devices requesting the device respond. The radio system also receives responses to the electromagnetic signal from the nearby devices. Based on the radio technology used, the signaling of the transmitted electromagnetic signal may be varied. For example, the transmitted electromagnetic signal may be a Bluetooth, 802.11, or other radio signal. A device that received the signal from the radio unit may transmit a response signal with the same radio technology. However, in some instances, the radio technology used for communication may operate on several radio (e.g., frequency) channels. Both the transmitter and receiver must operate on the same channel at the same time in order to communicate. Thus, it may be desirable to transmit the electromagnetic signal on more than one channel at the same time, in order to increase the chances that a nearby device responds.
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公开(公告)号：US10347127B2
公开(公告)日：2019-07-09
申请号：US13772615
申请日：2013-02-21
Applicant: Waymo LLC
Inventor： Pierre-yves Droz , Jiajun Zhu
Abstract: A computing device may be configured to receive sensor information indicative of respective characteristics of vehicles on a road of travel of a first vehicle. The computing device may be configured to identify, based on the respective characteristics, a second vehicle that exhibits an aggressive driving behavior manifested as an unsafe or unlawful driving action. Also, based on the respective characteristics, the computing device may be configured to determine a type of the second vehicle. The computing device may be configured to estimate a distance between the first vehicle and the second vehicle. The computing device may be configured to modify a control strategy of the first vehicle, based on the aggressive driving behavior of the second vehicle, the type of the second vehicle, and the distance between the first vehicle and the second vehicle; and control the first vehicle based on the modified control strategy.
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公开(公告)号：US10277007B1
公开(公告)日：2019-04-30
申请号：US15157578
申请日：2016-05-18
Applicant: Waymo LLC
Inventor： Samuel William Lenius , Pierre-yves Droz
Abstract: A laser diode firing circuit for a light detection and ranging device is disclosed. The firing circuit includes a laser diode coupled in series to a transistor, such that current through the laser diode is controlled by the transistor. The laser diode is configured to emit a pulse of light in response to current flowing through the laser diode. The firing circuit includes a capacitor that is configured to charge via a charging path that includes an inductor and to discharge via a discharge path that includes the laser diode. The transistor controlling current through the laser diode can be a Gallium nitride field effect transistor.
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Patent Agency Ranking
公开(公告)号：US10234546B2
公开(公告)日：2019-03-19
申请号：US15947515
申请日：2018-04-06
Applicant: Waymo LLC
Inventor： Pierre-yves Droz , Samuel William Lenius
Abstract: A light detection and ranging (LIDAR) system can emit light toward an environment and detect responsively reflected light to determine a distance to one or more points in the environment. The reflected light can be detected by a plurality of plurality of photodiodes that are reverse-biased using a high voltage. Signals from the plurality of reverse-biased photodiodes can be amplified by respective transistors and applied to an analog-to-digital converter (ADC). The signal from a particular photodiode can be applied to the ADC by biasing a respective transistor corresponding to the particular photodiode while not biasing transistors corresponding to other photodiodes. The gain of each photodiode/transistor pair can be controlled by adjusting the bias voltage applied to each photodiode using a digital-to-analog converter. The gain of each photodiode/transistor pair can be controlled based on the detected temperature of each photodiode.
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公开(公告)号：US10001551B1
公开(公告)日：2018-06-19
申请号：US15383842
申请日：2016-12-19
Applicant: Waymo LLC
Inventor： Blaise Gassend , Pierre-yves Droz , Benjamin T. Ingram
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.
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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
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.
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公开(公告)号：US09979061B1
公开(公告)日：2018-05-22
申请号：US14924351
申请日：2015-10-27
Applicant: Waymo LLC
Inventor： Pierre-yves Droz , Adam Brown , Daniel L. Rosenband , Samuel William Lenius
Abstract: A device is provided that includes a first waveguide configured to guide propagation of RF waves inside the first waveguide. A first side of the first waveguide is configured to emit an evanescent field associated with the propagation of the RF waves inside the first waveguide. The device also includes a second waveguide having a second side positioned within a predetermined distance to the first side of the first waveguide. The second waveguide is configured to guide propagation, inside the second waveguide, of induced RF waves associated with the evanescent field from the first waveguide. The device also includes a first probe coupled to the first waveguide and configured to emit the RF waves for propagation inside the first waveguide. The device also includes a second probe coupled to the second waveguide and configured to receive induced RF waves propagating inside the second waveguide.
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公开(公告)号：US09964632B1
公开(公告)日：2018-05-08
申请号：US15357630
申请日：2016-11-21
Applicant: Waymo LLC
Inventor： Pierre-yves Droz , Samuel William Lenius
CPC classification number: G01S7/4861 , G01S7/484 , G01S7/4865 , G01S7/497 , G01S17/10 , G01S17/42 , H04N5/341 , H04N5/3745 , H04N5/37455
Abstract: A light detection and ranging (LIDAR) system can emit light toward an environment and detect responsively reflected light to determine a distance to one or more points in the environment. The reflected light can be detected by a plurality of plurality of photodiodes that are reverse-biased using a high voltage. Signals from the plurality of reverse-biased photodiodes can be amplified by respective transistors and applied to an analog-to-digital converter (ADC). The signal from a particular photodiode can be applied to the ADC by biasing a respective transistor corresponding to the particular photodiode while not biasing transistors corresponding to other photodiodes. The gain of each photodiode/transistor pair can be controlled by adjusting the bias voltage applied to each photodiode using a digital-to-analog converter. The gain of each photodiode/transistor pair can be controlled based on the detected temperature of each photodiode.
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