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41. 发明专利

AU2021202531A1 TARGET, METHOD, AND SYSTEM FOR CAMERA CALIBRATION 未知
公开(公告)号：AU2021202531A1
公开(公告)日：2021-05-20
申请号：AU2021202531
申请日：2021-04-23
申请人： WAYMO LLC
发明人： WENDEL ANDREAS , GRABE VOLKER , DITTMER JEREMY , MORRISS ZACHARY
IPC分类号： G06T7/80 , G01B11/25 , G06K9/46
摘要： 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.

42. 发明专利

AU2018383447B2 Systems and methods for LIDARs with adjustable resolution and failsafe operation 未知
公开(公告)号：AU2018383447B2
公开(公告)日：2021-05-06
申请号：AU2018383447
申请日：2018-10-31
申请人： WAYMO LLC
发明人： DROZ PIERRE-YVES
IPC分类号： G01S17/89 , G01S7/481 , G01S7/483 , G05D1/02
摘要： The present disclosure relates to systems and methods operable to provide point cloud information about an environment based on reconfigurable spatial light emission patterns and reconfigurable light detector arrangements that correspond to the light emission patterns. Additionally, a LIDAR device with a plurality of light emitters and photodetectors may be operated in a first mode of operation or a second mode of operation. The first mode of operation could be a normal mode of operation. The second mode of operation could be a failsafe mode of operation that is used when a fault condition is detected.

43. 发明专利

IL281479D0 Methods and systems for dithering active sensor pulse emissions 未知
公开(公告)号：IL281479D0
公开(公告)日：2021-04-29
申请号：IL28147921
申请日：2021-03-14
申请人： WAYMO LLC
IPC分类号： G01S7/481 , G01S7/484 , G01S17/10 , G01S17/42
摘要： One example device comprises a plurality of emitters including at least a first emitter and a second emitter. The first emitter emits light that illuminates a first portion of a field-of-view (FOV) of the device. The second emitter emits light that illuminates a second portion of the FOV. The device also comprises a controller that obtains a scan of the FOV. The controller causes each emitter of the plurality of emitters to emit a respective light pulse during an emission time period associated with the scan. The controller causes the first emitter to emit a first-emitter light pulse at a first-emitter time offset from a start time of the emission time period. The controller causes the second emitter to emit a second-emitter light pulse at a second-emitter time offset from the start time of the emission time period.

44. 发明专利

AU2021200258A1 MULTIPLE OPERATING MODES TO EXPAND DYNAMIC RANGE 未知
公开(公告)号：AU2021200258A1
公开(公告)日：2021-03-18
申请号：AU2021200258
申请日：2021-01-16
申请人： WAYMO LLC
发明人： WENDEL ANDREAS , DITTMER JEREMY , HERMALYN BRENDAN , INGRAM BENJAMIN
IPC分类号： H04N5/355 , H04N5/369
摘要： Example embodiments relate to multiple operating modes to expand dynamic range. An example embodiment includes a camera system. The camera system may include a first image sensor having a first dynamic range corresponding to a first range of luminance levels in a scene. The system may also include a second image sensor having a second dynamic range corresponding to a second range of luminance levels in the scene. The camera system may further include a processor coupled to the first image sensor and the second image sensor. The processor may be configured to execute instructions to identify objects of a first type in a first image of the scene captured by the first image sensor and identify objects of a second object type in a second image of the scene captured by the second image sensor. WO 2019/133177 PCT/US2018/063332 Vehicle 100 Propulsion Sensor System Control System Peripherals System102 104 106 108 Global * GlobalWireless Engine ! Motor Positioning Steering Unit ication • 118 System 132 System4 • - System 146. Inertial EnergySource Measurement Throttle Touchscreen 119 Unit 134 148 Transmission RADAR Unit Brake Unit Microphone *120 126 136 150 Laser Sensor Fusion •Wheels/Tires Speaker 121 Rangefinder! Algorithm 152 LIDAR Unit 128 138 Computer Camera Cmr Vision System 130140 SteeingNavigation!/ Steering Throttle/Brake Pathing Sensor Sensor System 123 125 •42 Obstacle Avoidance I- - - , System Processor Instructions 144 13115_______ Computer I Data Storage Power Supply User Interface System 114 110 116

45. 发明专利

AU2020204157B2 Arranging passenger pickups for autonomous vehicles 未知
公开(公告)号：AU2020204157B2
公开(公告)日：2021-02-18
申请号：AU2020204157
申请日：2020-06-22
申请人： WAYMO LLC
发明人： FAIRFIELD NATHANIEL , HERBACH JOSHUA SETH , LUDWICK CHRISTOPHER KENNEDY , MCNAUGHTON MATTHEW PAUL , HUBERT RENAUD-ROLAND , ARDEN JENNIFER , CHAN MIN LI
IPC分类号： G06Q50/30 , G08G1/00
摘要： ARRANGING PASSENGER PICKUPS FOR AUTONOMOUS VEHICLES Aspects of the disclosure relate to arranging a pickup between a driverless vehicle and a passenger. For instance, dispatch instructions dispatching the vehicle to a predetermined pickup area in order to pick up the passenger are received by the vehicle which begins maneuvering to the predetermined pickup area. While doing so, the vehicle receives from the passenger's client computing device the device's location. An indication that the passenger is interested in a fly-by pickup is identified. The fly-by pickup allows the passenger to safely enter the vehicle at a location outside of the predetermined pickup area and prior to the one or more processors have maneuvered the vehicle to the predetermined pickup area. The vehicle determines that the fly-by pickup is appropriate based on at least the location of the client computing device and the indication, and based on the determination, maneuvers itself in order to attempt the fly-by pickup.

46. 发明专利

AU2019284146B2 Testing predictions for autonomous vehicles 未知
公开(公告)号：AU2019284146B2
公开(公告)日：2021-01-28
申请号：AU2019284146
申请日：2019-12-30
申请人： WAYMO LLC
发明人： FAIRFIELD NATHANIEL , FURMAN VADIM
IPC分类号： B60W30/14 , B60W50/00 , G05D1/00 , G05D1/02
摘要： TESTING PREDICTIONS FOR AUTONOMOUS VEHICLES Aspects of the disclosure relate to testing predictions of an autonomous vehicle relating to another vehicle or object in a roadway. For instance, one or more processors 120 may plan to maneuver a first vehicle 100 autonomously to complete an action and predict that a second vehicle 680, 780, 880 will take a responsive action. The first vehicle is maneuvered towards completing the action in a way that would allow the first vehicle to cancel completing the action without causing a collision between the first vehicle and the second vehicle, and in order to indicate to the second vehicle or a driver of the second vehicle that the first vehicle is attempting to complete the action. Thereafter, when the first vehicle is determined to be able to take the action, the action is completed by controlling the first vehicle autonomously using the determination of whether the second vehicle begins to take the particular responsive action.

47. 发明专利

AU2020281035A1 DETECTING MOTION OF AN AUTONOMOUS VEHICLE USING RADAR TECHNOLOGY 未知
公开(公告)号：AU2020281035A1
公开(公告)日：2021-01-07
申请号：AU2020281035
申请日：2020-12-01
申请人： WAYMO LLC
发明人： CAMPBELL TIMOTHY , SMITH L DONNIE
IPC分类号： G05D1/02
摘要： Examples relating to vehicle motion detection using radar technology are described. An example method may be performed by a computing system and may involve receiving, from at least one radar sensor mounted on an autonomous vehicle, radar data representative of an environment of the vehicle. The method may involve, based on the radar data, detecting at least one scatterer present in the environment and making a determination of a likelihood that the at least one scatterer is stationary with respect to the vehicle. The method may involve, in response to the likelihood being at least equal to a predefined confidence threshold, calculating a velocity of the vehicle based on the radar data, where calculating the velocity comprises one of: determining an indication that the vehicle is stationary, and determining an angular and linear velocity of the vehicle. And the method may involve controlling the vehicle teed on the calculated velocity.

48. 发明专利

CA3011715C DEVICES AND METHODS FOR A ROTARY JOINT WITH MULTIPLE WIRELESS LINKS 未知
公开(公告)号：CA3011715C
公开(公告)日：2020-12-22
申请号：CA3011715
申请日：2017-01-20
申请人： WAYMO LLC
发明人： ROSENBAND DANIEL , DROZ PIERRE-YVES , WANG MIN , BRUHIS ETAI , BROWN ADAM , LENIUS SAMUEL
IPC分类号： H04B5/00 , G05D1/00 , H04B5/02
摘要： A device is provided that includes a first platform having a first side, and a second platform having a second side positioned within a predetermined distance to the first side. The device also includes an actuator configured to cause a relative rotation between the first platform and the second platform such that the first side of the first platform remains within the predetermined distance to the second side of the second platform. The device also includes a probe mounted to the first platform, and a plurality of probes mounted to the second platform. The device also includes a signal conditioner coupled to the plurality of probes. The signal conditioner may select one of the plurality of probes based on an orientation of the first platform relative to the second platform. The signal conditioner may then to use the selected probe for wireless communication with the probe on the first platform.

49. 发明专利

AU2019285161A1 Camera ring structure for autonomous vehicles 未知
公开(公告)号：AU2019285161A1
公开(公告)日：2020-12-03
申请号：AU2019285161
申请日：2019-06-13
申请人： WAYMO LLC
发明人： TOTH KIMBERLY GENEVA , HERMALYN BRENDAN , MCGUIRE SHANE , RIVERA FELIX JOSE ALVAREZ , DITTMER JEREMY , WENDEL ANDREAS
IPC分类号： H04N5/225 , H04N5/232 , H04N5/247 , H05K9/00
摘要： The technology relates to autonomous vehicles that use a perception system (224) to detect objects and features in the vehicle's surroundings. A camera assembly (310) having a ring-type structure is provided that gives the perception system an overall 360° field of view around the vehicle. Image sensors are arranged in camera modules around the assembly to provide a seamless panoramic field of view. One subsystem has multiple pairs of image sensors (402, 404) positioned to provide the overall 360° field of view, while another subsystem provides a set of image sensors (406) generally facing toward the front of the vehicle to provide enhanced object identification. The camera assembly may be arranged in a housing (302) located on top of the vehicle. The housing may include other sensors (306, 308) such as LIDAR and radar. The assembly includes a chassis (1002) and top (1004) and base plates (1102), which may provide EMI protection from other sensors disposed in the housing.

50. 发明专利

AU2018291866B2 Light detection and ranging (LIDAR) device range aliasing resilience by multiple hypotheses 未知
公开(公告)号：AU2018291866B2
公开(公告)日：2020-11-19
申请号：AU2018291866
申请日：2018-06-06
申请人： WAYMO LLC
发明人： SHAND MARK ALEXANDER
IPC分类号： G01S7/486 , G01S17/89 , G05D1/02
摘要： A computing system may operate a LIDAR device to emit light pulses in accordance with a time sequence including a time-varying dither. The system may then determine that the LIDAR detected return light pulses during corresponding detection periods for each of two or more emitted light pulses. Responsively, the system may determine that the detected return light pulses have (i) detection times relative to corresponding emission times of a plurality of first emitted light pulses that are indicative of a first set of ranges and (ii) detection times relative to corresponding emission times of a plurality of second emitted light pulses that are indicative of a second set of ranges. Given this, the system may select between using the first set of ranges as a basis for object detection and using the second set of ranges as a basis for object detection, and may then engage in object detection accordingly.

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