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公开(公告)号：US20250016466A1
公开(公告)日：2025-01-09
申请号：US18897239
申请日：2024-09-26
Applicant: Waymo LLC
Inventor： Blaise Gassend , Benjamin Ingram , Andreas Wendel , Mark Alexander Shand
IPC: H04N25/531 , G01S17/42 , G01S17/86 , G01S17/89 , G06T7/521 , G06T7/90 , G06T17/05 , H04N23/45 , H04N23/698 , H04N23/71 , H04N23/73 , H04N23/90 , H04N25/40
Abstract: One example system comprises a LIDAR sensor that rotates about an axis to scan an environment of the LIDAR sensor. The system also comprises one or more cameras that detect external light originating from one or more external light sources. The one or more cameras together provide a plurality of rows of sensing elements. The rows of sensing elements are aligned with the axis of rotation of the LIDAR sensor. The system also comprises a controller that operates the one or more cameras to obtain a sequence of image pixel rows. A first image pixel row in the sequence is indicative of external light detected by a first row of sensing elements during a first exposure time period. A second image pixel row in the sequence is indicative of external light detected by a second row of sensing elements during a second exposure time period.
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公开(公告)号：US20240419172A1
公开(公告)日：2024-12-19
申请号：US18814682
申请日：2024-08-26
Applicant: Waymo LLC
Abstract: Aspects of the disclosure relate to determining and responding to an internal state of a self-driving vehicle. For instance, an image of an interior of the vehicle captured by a camera mounted in the vehicle is received. The image is processed in order to identify one or more visible markers at predetermined locations within the vehicle. The internal state of the vehicle is determined based on the identified one or more visible markers. A responsive action is identified action using the determined internal state, and the vehicle is controlled in order to perform the responsive action.
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公开(公告)号：US20240361135A1
公开(公告)日：2024-10-31
申请号：US18768748
申请日：2024-07-10
Applicant: Waymo LLC
Inventor： Jeremy Dittmer , Andreas Wendel
CPC classification number: G01C21/3461 , 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：US11645852B2
公开(公告)日：2023-05-09
申请号：US17336856
申请日：2021-06-02
Applicant: Waymo LLC
Inventor： Maxim Krivokon , Abhijit S. Ogale , Edward Hsiao , Andreas Wendel
CPC classification number: G08G1/167 , G05D1/0088 , G06V20/584 , G06V20/588 , G06V30/194 , G08G1/0129 , G08G1/0145 , G08G1/04 , G08G1/095 , G08G1/166
Abstract: Methods and system are provided for training and using a model to determine states of lanes of interest. For instance, image data including an image and an associated label identifying at least one traffic light, a state of the at least one traffic light, and a lane controlled by the at least one traffic light are received and used to train the model such that the model is configured to, in response to receiving an image and a lane of interest included in the image, output a lane state for the lane of interest. This model is then used by a vehicle in order to determine a state of a lane of interest. This state is then used to control the vehicle in an autonomous driving mode based on the state of the lane of interest.
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公开(公告)号：US11558566B2
公开(公告)日：2023-01-17
申请号：US17186121
申请日：2021-02-26
Applicant: Waymo LLC
Inventor： Blaise Gassend , Benjamin Ingram , Andreas Wendel , Mark Alexander Shand
IPC: H04N5/353 , G06T7/521 , H04N5/235 , H04N5/247 , H04N5/341 , G01S17/89 , H04N5/225 , H04N5/232 , G01S17/42 , G01S17/86 , G06T17/05 , G06T7/90
Abstract: One example system comprises a LIDAR sensor that rotates about an axis to scan an environment of the LIDAR sensor. The system also comprises one or more cameras that detect external light originating from one or more external light sources. The one or more cameras together provide a plurality of rows of sensing elements. The rows of sensing elements are aligned with the axis of rotation of the LIDAR sensor. The system also comprises a controller that operates the one or more cameras to obtain a sequence of image pixel rows. A first image pixel row in the sequence is indicative of external light detected by a first row of sensing elements during a first exposure time period. A second image pixel row in the sequence is indicative of external light detected by a second row of sensing elements during a second exposure time period.
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Patent Agency Ranking
56.发明授权公开(公告)号：US11341667B2
公开(公告)日：2022-05-24
申请号：US16987501
申请日：2020-08-07
Applicant: Waymo LLC
Inventor： Andreas Wendel , Benjamin Ingram
IPC: G06T7/593 , G06V10/147 , G06V10/20 , G06V20/58 , B60W30/095 , G05D1/02
Abstract: The technology relates to camera systems for vehicles having an autonomous driving mode. An example system includes a first camera mounted on a vehicle in order to capture images of the vehicle's environment. The first camera has a first exposure time and being without an ND filter. The system also includes a second camera mounted on the vehicle in order to capture images of the vehicle's environment and having an ND filter. The system also includes one or more processors configured to capture images using the first camera and the first exposure time, capture images using the second camera and the second exposure time, use the images captured using the second camera to identify illuminated objects, use the images captured using the first camera to identify the locations of objects, and use the identified illuminated objects and identified locations of objects to control the vehicle in an autonomous driving mode.
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公开(公告)号：US20220150423A1
公开(公告)日：2022-05-12
申请号：US17648692
申请日：2022-01-24
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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公开(公告)号：US20220080990A1
公开(公告)日：2022-03-17
申请号：US17531946
申请日：2021-11-22
Applicant: Waymo LLC
Inventor： Emily Chi , Ryan Joseph Andrade , Andreas Wendel , Michael James , Christian Lauterbach , Etai Bruhis , Christopher Kennedy Ludwick , Alexander Zbrozek , Pieter Kapsenberg , Zhuyuan Liu , Daniel Rosenband
IPC: B60W50/029 , G05D1/00 , B60W10/04 , B60W10/20 , B60W50/02
Abstract: The technology relates to partially redundant equipment architectures for vehicles able to operate in an autonomous driving mode. Aspects of the technology employ fallback configurations, such as two or more fallback sensor configurations that provide some minimum amount of field of view (FOV) around the vehicle. For instance, different sensor arrangements are logically associated with different operating domains of the vehicle. Fallback configurations for computing resources and/or power resources are also provided. Each fallback configuration may have different reasons for being triggered, and may result in different types of fallback modes of operation. Triggering conditions may relate, e.g., to a type of failure, fault or other reduction in component capability, the current driving mode, environmental conditions in the vicinity of vehicle or along a planned route, or other factors. Fallback modes may involve altering a previously planned trajectory, altering vehicle speed, and/or altering a destination of the vehicle.
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公开(公告)号：US11227409B1
公开(公告)日：2022-01-18
申请号：US16105084
申请日：2018-08-20
Applicant: Waymo LLC
Inventor： Chen Wu , Carl Warren Craddock , Andreas Wendel
IPC: G06T7/80 , G06K9/00 , G06K9/62 , G01S17/86 , G01S17/931
Abstract: The disclosure relates to assessing operation of a camera. In one instance, a volume of space corresponding to a first vehicle in an environment of a second vehicle may be identified using sensor data generated by a LIDAR system of the second vehicle. An image captured by a camera of the second vehicle may be identified. The camera may have an overlapping field of view of the LIDAR system at a time when the sensor data was generated. An area of the image corresponding to the volume of space may be identified and processed in order to identify a vehicle light. The operation of the camera may be assessed based on the processing.
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公开(公告)号：US20210131816A1
公开(公告)日：2021-05-06
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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