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：US11860305B2

公开(公告)日：2024-01-02

申请号：US16453401

申请日：2019-06-26

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  Caner Onal ,  William McCann ,  Bernard Fidric ,  Vadim Gutnik ,  Laila Mattos ,  Rahim Pardhan

IPC: G01S7/481 ,  G05D1/02 ,  G01S17/89 ,  G01S7/4911 ,  G01S17/42 ,  G01S17/86 ,  G01S13/931 ,  G01S17/931

CPC classification number: G01S7/4813 ,  G01S7/4816 ,  G01S7/4817 ,  G01S7/4818 ,  G01S7/4911 ,  G01S13/931 ,  G01S17/42 ,  G01S17/86 ,  G01S17/89 ,  G01S17/931 ,  G05D1/024 ,  G05D2201/0213

Abstract: Described herein is a LIDAR device that may include a transmitter, first and second receivers, and a rotating platform. The transmitter may be configured to emit light having a vertical beam width. The first receiver may be configured to detect light at a first resolution while scanning the environment with a first FOV and the second receiver may be configured to detect light at a second resolution while scanning the environment with a second FOV. In this arrangement, the first resolution may be higher than the second resolution, the first FOV may be at least partially different from the second FOV, and the vertical beam width may encompass at least a vertical extent of the first and second FOVs. Further, the rotating platform may be configured to rotate about an axis such that the transmitter and first and second receivers each move based on the rotation.

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：US10396117B2

公开(公告)日：2019-08-27

申请号：US15294335

申请日：2016-10-14

Applicant: Waymo LLC

Inventor： Caner Onal ,  Pierre-Yves Droz ,  William McCann ,  Laila Mattos

IPC: G01S7/481 ,  H01L25/075 ,  H01L27/146 ,  G01S17/10

Abstract: The present disclosure relates to optical receiver systems. An example system includes a plurality of substrates disposed in an edge-to-edge array along a primary axis. Each respective substrate of the plurality of substrates includes a plurality of detector elements. Each detector element of the plurality of detector elements generates a respective detector signal in response to light received by the detector element. The plurality of detector elements is arranged with a detector pitch between adjacent detector elements of the plurality of detector elements. Each respective substrate of the plurality of substrates also includes a signal receiver circuit configured to receive the detector signals generated by the plurality of detector elements. The respective substrates of the plurality of substrates are disposed such that the detector pitch is maintained between adjacent detector elements on their respective substrates.

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：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：US20190317503A1

公开(公告)日：2019-10-17

申请号：US16453401

申请日：2019-06-26

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  Caner Onal ,  William McCann ,  Bernard Fidric ,  Vadim Gutnik ,  Laila Mattos ,  Rahim Pardhan

IPC: G05D1/02 ,  G01S7/481 ,  G01S13/93 ,  G01S7/491 ,  G01S17/93 ,  G01S17/42 ,  G01S17/02 ,  G01S17/89

Abstract: Described herein is a LIDAR device that may include a transmitter, first and second receivers, and a rotating platform. The transmitter may be configured to emit light having a vertical beam width. The first receiver may be configured to detect light at a first resolution while scanning the environment with a first FOV and the second receiver may be configured to detect light at a second resolution while scanning the environment with a second FOV. In this arrangement, the first resolution may be higher than the second resolution, the first FOV may be at least partially different from the second FOV, and the vertical beam width may encompass at least a vertical extent of the first and second FOVs. Further, the rotating platform may be configured to rotate about an axis such that the transmitter and first and second receivers each move based on the rotation.

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.