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公开(公告)号：US20250162618A1
公开(公告)日：2025-05-22
申请号：US18517750
申请日：2023-11-22
Applicant: Waymo LLC
Inventor： Yu Ouyang , Daniel Ho , Alper Ayvaci , Tencia Lee , Bayram Safa Cicek
Abstract: Methods and systems for predicting a trajectory an autonomous vehicle (AV) are disclosed. A method includes generating, based on sensor data from a sensing system of the AV, one or more embeddings, generating, using a machine learning model (MLM) and the one or more embeddings, one or more predicted future trajectories for the AV, and causing, using the one or more predicted future trajectories, a planning system of the AV to generate an update to a current trajectory of the AV.
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公开(公告)号：US12299916B2
公开(公告)日：2025-05-13
申请号：US17545987
申请日：2021-12-08
Applicant: Waymo LLC
Inventor： Longlong Jing , Ruichi Yu , Jiyang Gao , Henrik Kretzschmar , Kang Li , Ruizhongtai Qi , Hang Zhao , Alper Ayvaci , Xu Chen , Dillon Cower , Congcong Li
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for predicting three-dimensional object locations from images. One of the methods includes obtaining a sequence of images that comprises, at each of a plurality of time steps, a respective image that was captured by a camera at the time step; generating, for each image in the sequence, respective pseudo-lidar features of a respective pseudo-lidar representation of a region in the image that has been determined to depict a first object; generating, for a particular image at a particular time step in the sequence, image patch features of the region in the particular image that has been determined to depict the first object; and generating, from the respective pseudo-lidar features and the image patch features, a prediction that characterizes a location of the first object in a three-dimensional coordinate system at the particular time step in the sequence.
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公开(公告)号：US20250150311A1
公开(公告)日：2025-05-08
申请号：US19018742
申请日：2025-01-13
Applicant: Waymo LLC
Inventor： Kaushik Kannan , Pieter Kapsenberg , Pierre-Yves Droz
IPC: H04L25/02
Abstract: Example embodiments relate to communication links, computing systems, and methods for their use. An example embodiment includes a communication link. The communication link includes a low-voltage differential signaling (LVDS) driver. The LVDS driver is configured to provide a differential signal that is based on a digital bit stream. The digital bit stream includes a series of digital bits that are temporally arranged based on a nominal bit period. The communication link also includes a controllable delay device. The controllable delay device is configured to provide a delay signal to the LVDS driver so as to cause a rising edge or a falling edge of respective digital bits to vary in time with respect to the nominal bit period based on a predetermined sequence of delay amounts. The delay amounts represent positive and negative differences in time from the nominal bit period.
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公开(公告)号：US20250148918A1
公开(公告)日：2025-05-08
申请号：US19015091
申请日：2025-01-09
Applicant: Waymo LLC
Inventor： David I. Ferguson , Jiajun Zhu
Abstract: Methods and devices for actively modifying a field of view of an autonomous vehicle in view of constraints are disclosed. In one embodiment, an example method is disclosed that includes causing a sensor in an autonomous vehicle to sense information about an environment in a first field of view, where a portion of the environment is obscured in the first field of view. The example method further includes determining a desired field of view in which the portion of the environment is not obscured and, based on the desired field of view and a set of constraints for the vehicle, determining a second field of view in which the portion of the environment is less obscured than in the first field of view. The example method further includes modifying a position of the vehicle, thereby causing the sensor to sense information in the second field of view.
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公开(公告)号：US12276752B2
公开(公告)日：2025-04-15
申请号：US17445129
申请日：2021-08-16
Applicant: Waymo LLC
Inventor： Xu Chen , Nichola Abdo , Ruichi Yu , Chang Gao
Abstract: The described aspects and implementations enable fast and accurate verification of radar detection of objects in autonomous vehicle (AV) applications using combined processing of radar data and camera images. In one implementation, disclosed is a method and a system to perform the method that includes obtaining a radar data characterizing intensity of radar reflections from an environment of the AV, identifying, based on the radar data, a candidate object, obtaining a camera image depicting a region where the candidate object is located, and processing the radar data and the camera image using one or more machine-learning models to obtain a classification measure representing a likelihood that the candidate object is a real object.
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Patent Agency Ranking
公开(公告)号：US12275430B2
公开(公告)日：2025-04-15
申请号：US18437476
申请日：2024-02-09
Applicant: Waymo LLC
Inventor： Volker Grabe , Colin Braley , Volodymyr Ivanchenko , Alexander Meade
Abstract: Example embodiments relate to identification of proxy calibration targets for a fleet of sensors. An example method includes collecting, using a sensor coupled to a vehicle, data about one or more objects within an environment of the vehicle. The sensor has been calibrated using a ground-truth calibration target. The method also includes identifying, based on the collected data, at least one candidate object, from among the one or more objects, to be used as a proxy calibration target for other sensors coupled to vehicles within a fleet of vehicles. Further, the method includes providing, by the vehicle, data about the candidate object for use by one or more vehicles within the fleet of vehicles.
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公开(公告)号：US12273378B2
公开(公告)日：2025-04-08
申请号：US17377256
申请日：2021-07-15
Applicant: Waymo LLC
Inventor： TsengChan Stephan Huang
IPC: H04L9/40
Abstract: An in-vehicle communication network of a vehicle is monitored. An illicit signal is detected on the in-vehicle communication network. Whether the illicit signal satisfies a threshold severity condition is determined. A denial of service (DoS) operation with respect to at least part of the in-vehicle communication network is performed responsive to determining that the illicit signal satisfies the threshold severity condition.
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公开(公告)号：US20250110230A1
公开(公告)日：2025-04-03
申请号：US18479376
申请日：2023-10-02
Applicant: Waymo LLC
IPC: G01S13/58 , G01S7/41 , G01S13/89 , G01S13/931
Abstract: Example embodiments relate techniques and systems for generating multi-axis radar velocity images using stereo radar. A vehicle radar system receives radar first radar data from a first radar and second radar data from a second radar, which are coupled at different locations on a vehicle traveling in an environment. The system determines a first radial speed and a second radial speed for an object based on the first and second radar data, respectively, and then estimates a velocity vector for the object relative to the vehicle based on the first and second radial speeds. The system can provide the estimated velocity vector as an input into a neural network and enable vehicle systems to control the vehicle based on the output from the neural network.
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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：US20250091614A1
公开(公告)日：2025-03-20
申请号：US18969041
申请日：2024-12-04
Applicant: Waymo LLC
Inventor： Joshua P. Switkes , Andrew Barton-Sweeney , Vadim Butakov , Diomidis Katzourakis , Craig Latimer , David Smith
IPC: B60W60/00
Abstract: A method includes determining a maximum first parameter value and a maximum second parameter value corresponding to an autonomous vehicle (AV) for traveling a route. The method further includes determining, based on a first load value at a first distal end of a first axle of the AV and a second load value at a second distal end of the first axle, an updated first parameter value and an updated second parameter value corresponding to the AV for traveling the route. The method further includes causing the AV to travel the route based on the updated first parameter value and the updated second parameter value.
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