公开(公告)号：US20220082660A1

公开(公告)日：2022-03-17

申请号：US17121918

申请日：2020-12-15

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  Ralph H. Shepard ,  Augusto Tazzoli ,  David Hutchison ,  David Schleuning ,  Nathaniel Golshan ,  Nathaniel Quillin ,  Andrew Abo ,  Caner Onal ,  Michael Tom ,  Robert Lockwood ,  Kelvin Kwong ,  Daiwei Li ,  Drew Ulrich ,  Simon Ellgas ,  Chandra Kakani ,  Erin Eppard ,  Samuel Lenius ,  Justin Andrade ,  James Dunphy

IPC: G01S7/484 ,  G01S7/481 ,  G01F23/00 ,  G01S17/931 ,  G01S17/89

Abstract: Example embodiments relate to light detection and ranging (lidar) devices having a light-guide manifold. An example lidar device includes a transmit subsystem. The transmit subsystem includes a light emitter. The transmit subsystem also includes a light-guide manifold optically coupled to the light emitter. Further, the transmit subsystem includes a telecentric lens assembly optically coupled to the light-guide manifold. The lidar device also includes a receive subsystem. The receive subsystem includes the telecentric lens assembly. The receive subsystem also includes an aperture plate having an aperture defined therein. The aperture plate is positioned at a focal plane of the telecentric lens assembly. Further, the receive subsystem includes a silicon photomultiplier (SiPM) positioned to receive light traveling through the aperture.

公开(公告)号：US11592524B2

公开(公告)日：2023-02-28

申请号：US16236780

申请日：2018-12-31

Applicant: Waymo LLC

Inventor： Mingcheng Chen ,  Christian Lauterbach ,  Blaise Gassend ,  Nathaniel Quillin ,  Luke Wachter ,  Gil Shotan ,  Mark Alexander Shand

IPC: G01C3/08 ,  G01S7/48 ,  H04W4/40 ,  G01S17/42 ,  G01S17/931

Abstract: Methods and systems for laser point clouds are described herein. The method and system may include receiving, at a computing device, lidar data indicative of an environment of a vehicle from a first lidar data source, where the lidar data includes a first plurality of data points indicative of locations of reflections from the environment and further includes a respective intensity for each data point. The method and system also include determining a first surface normal for at least a first data point of the first plurality of data points. The method and system further includes determining a first angle of incidence for the first data point based on the surface normal. Additionally, the method and system includes adjusting the intensity of the first data point based on the first angle of incidence to create a first adjusted intensity for the first data point.

公开(公告)号：US20200041995A1

公开(公告)日：2020-02-06

申请号：US16597454

申请日：2019-10-09

Applicant: Waymo LLC

Inventor： Nathaniel Quillin

IPC: G05D1/00

Abstract: Examples described may enable provision of remote operation for a vehicle. An example method includes receiving sensor data from the vehicle. The method may further include determining a latency of a communication link. Additionally, the method may include providing at least one rendering to an operator based on the sensor data and the latency, where the rendering is based on a future location of the vehicle. The method may also include receiving an operator input. In response to the operator input, the method includes providing an instruction to the autonomous vehicle for execution by the autonomous vehicle based on the operator input via the communication link.