公开(公告)号：US20210333361A1

公开(公告)日：2021-10-28

申请号：US17366768

申请日：2021-07-02

Applicant: Waymo, LLC

Inventor： Pierre-yves Droz ,  Gaetan Pennecot ,  Anthony Levandowski ,  Drew Eugene Ulrich ,  Zach Morriss ,  Luke Wachter ,  Dorel Ionut Iordache ,  William McCann ,  Daniel Gruver ,  Bernard Fidric ,  Samuel William Lenius

IPC: G01S7/48 ,  G01S7/481 ,  G01S17/87 ,  G01S17/86 ,  G01S17/931

Abstract: Systems and methods are described that relate to a light detection and ranging (LIDAR) device. The LIDAR device includes a fiber laser configured to emit light within a wavelength range, a scanning portion configured to direct the emitted light in a reciprocating manner about a first axis, and a plurality of detectors configured to sense light within the wavelength range. The device additionally includes a controller configured to receive target information, which may be indicative of an object, a position, a location, or an angle range. In response to receiving the target information, the controller may cause the rotational mount to rotate so as to adjust a pointing direction of the LIDAR. The controller is further configured to cause the LIDAR to scan a field-of-view (FOV) of the environment. The controller may determine a three-dimensional (3D) representation of the environment based on data from scanning the FOV.

公开(公告)号：US11054505B2

公开(公告)日：2021-07-06

申请号：US15881049

申请日：2018-01-26

Applicant: Waymo LLC

Inventor： Pierre-yves Droz ,  Gaetan Pennecot ,  Anthony Levandowski ,  Drew Eugene Ulrich ,  Zach Morriss ,  Luke Wachter ,  Dorel Ionut Iordache ,  William McCann ,  Daniel Gruver ,  Bernard Fidric ,  Samuel William Lenius

IPC: G01S7/48 ,  G01S7/481 ,  G01S17/87 ,  G01S17/86 ,  G01S17/931 ,  G01S13/931

Abstract: Systems and methods are described that relate to a light detection and ranging (LIDAR) device. The LIDAR device includes a fiber laser configured to emit light within a wavelength range, a scanning portion configured to direct the emitted light in a reciprocating manner about a first axis, and a plurality of detectors configured to sense light within the wavelength range. The device additionally includes a controller configured to receive target information, which may be indicative of an object, a position, a location, or an angle range. In response to receiving the target information, the controller may cause the rotational mount to rotate so as to adjust a pointing direction of the LIDAR. The controller is further configured to cause the LIDAR to scan a field-of-view (FOV) of the environment. The controller may determine a three-dimensional (3D) representation of the environment based on data from scanning the FOV.

公开(公告)号：US10120079B2

公开(公告)日：2018-11-06

申请号：US15714326

申请日：2017-09-25

Applicant: Waymo LLC

Inventor： Gaetan Pennecot ,  Zachary Morriss ,  Samuel Lenius ,  Ionut Iordache ,  Daniel Gruver ,  Pierre-Yves Droz ,  Luke Wachter ,  Drew Ulrich ,  William McCann ,  Rahim Pardhan ,  Bernard Fidric ,  Anthony Levandowski ,  Peter Avram

IPC: G01C3/08 ,  G01S17/93 ,  G01S17/10 ,  G01S17/42 ,  G01S17/66 ,  G01S17/87 ,  G01S17/89 ,  G01S7/48 ,  G01S7/481 ,  G01C3/02 ,  G01S17/02

Abstract: A vehicle is provided that includes one or more wheels positioned at a bottom side of the vehicle. The vehicle also includes a first light detection and ranging device (LIDAR) positioned at a top side of the vehicle opposite to the bottom side. The first LIDAR is configured to scan an environment around the vehicle based on rotation of the first LIDAR about an axis. The first LIDAR has a first resolution. The vehicle also includes a second LIDAR configured to scan a field-of-view of the environment that extends away from the vehicle along a viewing direction of the second LIDAR. The second LIDAR has a second resolution. The vehicle also includes a controller configured to operate the vehicle based on the scans of the environment by the first LIDAR and the second LIDAR.

公开(公告)号：USRE50338E1

公开(公告)日：2025-03-18

申请号：US17538574

申请日：2021-11-30

Applicant: Waymo LLC

Inventor： Gaetan Pennecot ,  Pierre-Yves Droz ,  Drew Eugene Ulrich ,  Daniel Gruver ,  Zachary Morriss ,  Anthony Levandowski

IPC: G01S3/08 ,  G01S7/481 ,  G01S17/42 ,  G01S17/89 ,  G01S17/931

Abstract: A LIDAR device may transmit light pulses originating from one or more light sources and may receive reflected light pulses that are then detected by one or more detectors. The LIDAR device may include a lens that both (i) collimates the light from the one or more light sources to provide collimated light for transmission into an environment of the LIDAR device and (ii) focuses the reflected light onto the one or more detectors. The lens may define a curved focal surface in a transmit path of the light from the one or more light sources and a curved focal surface in a receive path of the one or more detectors. The one or more light sources may be arranged along the curved focal surface in the transmit path. The one or more detectors may be arranged along the curved focal surface in the receive path.

公开(公告)号：USRE48961E1

公开(公告)日：2022-03-08

申请号：US15799926

申请日：2017-10-31

Applicant: Waymo LLC

Inventor： Daniel Gruver ,  Pierre-Yves Droz ,  Gaetan Pennecot ,  Anthony Levandowski ,  Drew Eugene Ulrich ,  Zachary Morriss ,  Luke Wachter ,  Dorel Ionut Iordache ,  Rahim Pardhan ,  William McCann ,  Bernard Fidric ,  Samuel William Lenius ,  Peter Avram

IPC: G01C3/00 ,  G01S7/48 ,  G01S17/931 ,  G01C3/02 ,  G01S7/481 ,  G01S17/10 ,  G01S17/42 ,  G01S17/66 ,  G01S17/87 ,  G01S17/89 ,  G01S17/93 ,  G01S17/86

Abstract: A vehicle is provided that includes one or more wheels positioned at a bottom side of the vehicle. The vehicle also includes a first light detection and ranging device (LIDAR) positioned at a top side of the vehicle opposite to the bottom side. The first LIDAR is configured to scan an environment around the vehicle based on rotation of the first LIDAR about an axis. The first LIDAR has a first resolution. The vehicle also includes a second LIDAR configured to scan a field-of-view of the environment that extends away from the vehicle along a viewing direction of the second LIDAR. The second LIDAR has a second resolution. The vehicle also includes a controller configured to operate the vehicle based on the scans of the environment by the first LIDAR and the second LIDAR.

公开(公告)号：USRE48874E1

公开(公告)日：2022-01-04

申请号：US16890789

申请日：2020-06-02

Applicant: Waymo LLC

Inventor： Gaetan Pennecot ,  Pierre-Yves Droz ,  Drew Eugene Ulrich ,  Daniel Gruver ,  Zachary Morriss ,  Anthony Levandowski

IPC: G01C3/08 ,  G01S7/481 ,  G01S17/89

Abstract: A LIDAR device may transmit light pulses originating from one or more light sources and may receive reflected light pulses that are then detected by one or more detectors. The LIDAR device may include a lens that both (i) collimates the light from the one or more light sources to provide collimated light for transmission into an environment of the LIDAR device and (ii) focuses the reflected light onto the one or more detectors. The lens may define a curved focal surface in a transmit path of the light from the one or more light sources and a curved focal surface in a receive path of the one or more detectors. The one or more light sources may be arranged along the curved focal surface in the transmit path. The one or more detectors may be arranged along the curved focal surface in the receive path.

公开(公告)号：US20210278503A1

公开(公告)日：2021-09-09

申请号：US17194447

申请日：2021-03-08

Applicant: Waymo LLC

Inventor： Gaetan Pennecot ,  Zachary Morriss ,  Samuel Lenius ,  Dorel lonut lordache ,  Daniel Gruver ,  Pierre-Yves Droz ,  Luke Wachter ,  Drew Ulrich ,  William McCann ,  Rahim Pardhan ,  Bernard Fidric ,  Anthony Levandowski ,  Peter Avram

IPC: G01S7/48 ,  G01S17/93 ,  G01S17/10 ,  G01S17/42 ,  G01S17/66 ,  G01S17/87 ,  G01S17/89 ,  G01S7/481 ,  G01S17/931 ,  G01C3/02

Abstract: A vehicle is provided that includes one or more wheels positioned at a bottom side of the vehicle. The vehicle also includes a first light detection and ranging device (LIDAR) positioned at a top side of the vehicle opposite to the bottom side. The first LIDAR is configured to scan an environment around the vehicle based on rotation of the first LIDAR about an axis. The first LIDAR has a first resolution. The vehicle also includes a second LIDAR configured to scan a field-of-view of the environment that extends away from the vehicle along a viewing direction of the second LIDAR. The second LIDAR has a second resolution. The vehicle also includes a controller configured to operate the vehicle based on the scans of the environment by the first LIDAR and the second LIDAR.

公开(公告)号：US20180011196A1

公开(公告)日：2018-01-11

申请号：US15714326

申请日：2017-09-25

Applicant: Waymo LLC

Inventor： Gaetan Pennecot ,  Zachary Morriss ,  Samuel Lenius ,  Ionut Iordache ,  Daniel Gruver ,  Pierre-Yves Droz ,  Luke Wachter ,  Drew Ulrich ,  William Mccann ,  Rahim Pardhan ,  Bernard Fidric ,  Anthony Levandowski ,  Peter Avram

IPC: G01S17/93 ,  G01S17/87 ,  G01S17/10 ,  G01S17/89 ,  G01S7/481

CPC classification number: G01S17/93 ,  G01C3/02 ,  G01S7/4808 ,  G01S7/4813 ,  G01S7/4815 ,  G01S7/4816 ,  G01S7/4817 ,  G01S17/023 ,  G01S17/10 ,  G01S17/42 ,  G01S17/66 ,  G01S17/87 ,  G01S17/89 ,  G01S17/936

Abstract: A vehicle is provided that includes one or more wheels positioned at a bottom side of the vehicle. The vehicle also includes a first light detection and ranging device (LIDAR) positioned at a top side of the vehicle opposite to the bottom side. The first LIDAR is configured to scan an environment around the vehicle based on rotation of the first LIDAR about an axis. The first LIDAR has a first resolution. The vehicle also includes a second LIDAR configured to scan a field-of-view of the environment that extends away from the vehicle along a viewing direction of the second LIDAR. The second LIDAR has a second resolution. The vehicle also includes a controller configured to operate the vehicle based on the scans of the environment by the first LIDAR and the second LIDAR.

公开(公告)号：US09864063B2

公开(公告)日：2018-01-09

申请号：US15493066

申请日：2017-04-20

Applicant: Waymo LLC

Inventor： Daniel Gruver ,  Pierre-yves Droz ,  Gaetan Pennecot ,  Anthony Levandowski ,  Drew Eugene Ulrich ,  Zachary Morriss ,  Luke Wachter ,  Dorel Ionut Iordache ,  Rahim Pardhan ,  William McCann ,  Bernard Fidric ,  Samuel William Lenius

IPC: G01C3/08 ,  G01S17/93 ,  G01S17/87 ,  G01S17/89 ,  G01S7/481 ,  G01S17/10

CPC classification number: G01S17/93 ,  G01C3/02 ,  G01S7/4808 ,  G01S7/4813 ,  G01S7/4815 ,  G01S7/4816 ,  G01S7/4817 ,  G01S17/023 ,  G01S17/10 ,  G01S17/42 ,  G01S17/66 ,  G01S17/87 ,  G01S17/89 ,  G01S17/936

Abstract: A vehicle is provided that includes one or more wheels positioned at a bottom side of the vehicle. The vehicle also includes a first light detection and ranging device (LIDAR) positioned at a top side of the vehicle opposite to the bottom side. The first LIDAR is configured to scan an environment around the vehicle based on rotation of the first LIDAR about an axis. The first LIDAR has a first resolution. The vehicle also includes a second LIDAR configured to scan a field-of-view of the environment that extends away from the vehicle along a viewing direction of the second LIDAR. The second LIDAR has a second resolution. The vehicle also includes a controller configured to operate the vehicle based on the scans of the environment by the first LIDAR and the second LIDAR.

公开(公告)号：US20170219713A1

公开(公告)日：2017-08-03

申请号：US15493066

申请日：2017-04-20

Applicant: Waymo LLC

Inventor： Daniel Gruver ,  Pierre-yves Droz ,  Gaetan Pennecot ,  Anthony Levandowski ,  Drew Eugene Ulrich ,  Zachary Morriss ,  Luke Wachter ,  Dorel Ionut Iordache ,  Rahim Pardhan ,  William McCann ,  Bernard Fidric ,  Samuel William Lenius

IPC: G01S17/93 ,  G01S17/10 ,  G01S7/481 ,  G01S17/87 ,  G01S17/89

CPC classification number: G01S17/93 ,  G01C3/02 ,  G01S7/4808 ,  G01S7/4813 ,  G01S7/4815 ,  G01S7/4816 ,  G01S7/4817 ,  G01S17/023 ,  G01S17/10 ,  G01S17/42 ,  G01S17/66 ,  G01S17/87 ,  G01S17/89 ,  G01S17/936

Abstract: A vehicle is provided that includes one or more wheels positioned at a bottom side of the vehicle. The vehicle also includes a first light detection and ranging device (LIDAR) positioned at a top side of the vehicle opposite to the bottom side. The first LIDAR is configured to scan an environment around the vehicle based on rotation of the first LIDAR about an axis. The first LIDAR has a first resolution. The vehicle also includes a second LIDAR configured to scan a field-of-view of the environment that extends away from the vehicle along a viewing direction of the second LIDAR. The second LIDAR has a second resolution. The vehicle also includes a controller configured to operate the vehicle based on the scans of the environment by the first LIDAR and the second LIDAR.