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71.发明申请公开(公告)号：US20250118089A1
公开(公告)日：2025-04-10
申请号：US18986974
申请日：2024-12-19
Applicant: WAYMO LLC
Inventor： Andreas Wendel , Benjamin Ingram
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：US12250476B2
公开(公告)日：2025-03-11
申请号：US17648692
申请日：2022-01-24
Applicant: Waymo LLC
Inventor： Andreas Wendel , Jeremy Dittmer
IPC: H04N25/441 , H04N25/531
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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73.发明授权公开(公告)号：US12211287B2
公开(公告)日：2025-01-28
申请号：US17729483
申请日：2022-04-26
Applicant: Waymo LLC
Inventor： Andreas Wendel , Benjamin Ingram
IPC: B60W30/095 , G05D1/00 , G06T7/593 , G06V10/147 , G06V20/58
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：US12099365B2
公开(公告)日：2024-09-24
申请号：US18117873
申请日：2023-03-06
Applicant: Waymo LLC
CPC classification number: G05D1/0246 , B60K28/04 , B60N2/002 , B60Q9/00 , G01C21/3602 , G05D1/0221
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：US20240217510A1
公开(公告)日：2024-07-04
申请号：US18411167
申请日：2024-01-12
Applicant: WAYMO LLC
Inventor： Jens-Steffen Ralf Gutmann , Andreas Wendel , Nathaniel Fairfield , Dmitri A. Dolgov , Donald Jason Burnette
IPC: B60W30/09 , B60W30/18 , G08G1/0962 , G08G1/0967
CPC classification number: B60W30/09 , B60W30/18154 , G08G1/09623 , G08G1/09626 , G08G1/096725 , B60W2555/60 , G08G1/096783 , G08G1/096791
Abstract: Aspects of the disclosure relate to determining whether a vehicle should continue through an intersection. For example, the one or more of the vehicle's computers may identify a time when the traffic signal light will turn from yellow to red. The one or more computers may also estimate a location of a vehicle at the time when the traffic signal light will turn from yellow to red. A starting point of the intersection may be identified. Based on whether the estimated location of the vehicle is at least a threshold distance past the starting point at the time when the traffic signal light will turn from yellow to red, the computers can determine whether the vehicle should continue through the intersection.
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Patent Agency Ranking
公开(公告)号：US11970160B2
公开(公告)日：2024-04-30
申请号：US17670900
申请日：2022-02-14
Applicant: WAYMO LLC
Inventor： Jens-Steffen Ralf Gutmann , Andreas Wendel , Nathaniel Fairfield , Dmitri A. Dolgov , Donald Jason Burnette
IPC: B60W30/09 , B60W30/18 , G08G1/0962 , G08G1/0967
CPC classification number: B60W30/09 , B60W30/18154 , G08G1/09623 , G08G1/09626 , G08G1/096725 , B60W2555/60 , G08G1/096783 , G08G1/096791
Abstract: Aspects of the disclosure relate to determining whether a vehicle should continue through an intersection. For example, the one or more of the vehicle's computers may identify a time when the traffic signal light will turn from yellow to red. The one or more computers may also estimate a location of a vehicle at the time when the traffic signal light will turn from yellow to red. A starting point of the intersection may be identified. Based on whether the estimated location of the vehicle is at least a threshold distance past the starting point at the time when the traffic signal light will turn from yellow to red, the computers can determine whether the vehicle should continue through the intersection.
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公开(公告)号：US20230205223A1
公开(公告)日：2023-06-29
申请号：US18117873
申请日：2023-03-06
Applicant: Waymo LLC
CPC classification number: G05D1/0246 , B60K28/04 , B60N2/002 , G01C21/3602 , G05D1/0221 , B60Q9/00 , G05D2201/0213
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：US11657536B2
公开(公告)日：2023-05-23
申请号：US17149621
申请日：2021-01-14
Applicant: Waymo LLC
Inventor： Andreas Wendel , Volker Grabe , Jeremy Dittmer , Zachary Morriss
IPC: G06T7/80 , H04N13/246 , H04N13/282 , G01B11/25 , G06T7/60 , G06V20/56
CPC classification number: G06T7/80 , G01B11/2504 , G06T7/60 , H04N13/246 , H04N13/282 , G06T2207/30204 , G06V20/56
Abstract: The present disclosure relates to a target, a method, and a system for calibrating a camera. One example embodiment includes a target. The target includes a first pattern of fiducial markers. The target also includes a second pattern of fiducial markers. The first pattern of fiducial markers is a scaled version of the second pattern of fiducial markers, such that a calibration image captured of the target simulates multiple images of a single pattern captured at multiple calibration perspectives.
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公开(公告)号：US11656358B2
公开(公告)日：2023-05-23
申请号：US16671858
申请日：2019-11-01
Applicant: Waymo LLC
Inventor： Blaise Gassend , Nicholas Armstrong-Crews , Andreas Wendel , Benjamin Ingram , Clayton Kunz
CPC classification number: G01S17/89 , G01S7/4817 , G01S17/10
Abstract: One example system includes a first light detection and ranging (LIDAR) device that scans a first field-of-view defined by a first range of pointing directions associated with the first LIDAR device. The system also includes a second LIDAR device that scans a second FOV defined by a second range of pointing directions associated with the second LIDAR device. The second FOV at least partially overlaps the first FOV. The system also includes a first controller that adjusts a first pointing direction of the first LIDAR device. The system also includes a second controller that adjusts a second pointing direction of the second LIDAR device synchronously with the adjustment of the first pointing direction of the first LIDAR device.
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公开(公告)号：US20230152107A1
公开(公告)日：2023-05-18
申请号：US18156475
申请日：2023-01-19
Applicant: Waymo LLC
Inventor： Jeremy Dittmer , Andreas Wendel
CPC classification number: G01C21/3461 , G06V20/56 , G06T7/70 , G05D1/0246 , B60W60/0015
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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