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61. 发明专利

SG11202003366SA SEMANTIC OBJECT CLUSTERING FOR AUTONOMOUS VEHICLE DECISION MAKING 未知
公开(公告)号：SG11202003366SA
公开(公告)日：2020-05-28
申请号：SG11202003366S
申请日：2018-10-29
申请人： WAYMO LLC
发明人： RUSSELL JARED , DA FANG
IPC分类号： G05D1/02
摘要： The technology relates to controlling a vehicle in an autonomous driving mode. For example, sensor data identifying a plurality of objects may be received. Pairs of objects of the plurality of objects may be identified. For each identified pair of objects of the plurality of objects, a similarity value which indicates whether the objects of that identified pair of objects can be responded to by the vehicle as a group may be determined. The objects of one of the identified pairs of objects may be clustered together based on the similarity score. The vehicle may be controlled in the autonomous mode by responding to each object in the cluster in a same way.

62. 发明专利

SG10202003619TA ARRANGING PASSENGER PICKUPS FOR AUTONOMOUS VEHICLES 未知
公开(公告)号：SG10202003619TA
公开(公告)日：2020-05-28
申请号：SG10202003619T
申请日：2017-03-22
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： G05D1/00 , G01C21/34 , G06Q10/02 , G06Q50/30 , H04W4/02
摘要： 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.

63. 发明专利

AU2018309582B2 Use of extended detection periods for range aliasing detection and mitigation in a light detection and ranging (LIDAR) system 未知
公开(公告)号：AU2018309582B2
公开(公告)日：2020-05-21
申请号：AU2018309582
申请日：2018-06-06
申请人： WAYMO LLC
发明人： SHAND MARK ALEXANDER
IPC分类号： G01S7/491 , G01S17/89 , G05D1/02
摘要： A computing system may operate a LIDAR device to emit and detect light pulses in accordance with a time sequence including standard detection period(s) that establish a nominal detection range for the LIDAR device and extended detection period(s) having durations longer than those of the standard detection period(s). The system may then make a determination that the LIDAR detected return light pulse(s) during extended detection period(s) that correspond to particular emitted light pulse(s). Responsively, the computing system may determine that the detected return light pulse(s) have detection times relative to corresponding emission times of particular emitted light pulse(s) that are indicative of one or more ranges. Given this, the computing system may make a further determination of whether or not the one or more ranges indicate that an object is positioned outside of the nominal detection range, and may then engage in object detection in accordance with the further determination.

64. 发明专利

AU2020202527A1 Using wheel orientation to determine future heading 未知
公开(公告)号：AU2020202527A1
公开(公告)日：2020-05-07
申请号：AU2020202527
申请日：2020-04-15
申请人： WAYMO LLC
发明人： GUTMANN JENS-STEFFEN RALF
IPC分类号： G01S13/93 , B60W30/095 , G01S15/93 , G01S17/93 , G06K9/00 , G08G1/16
摘要： USING WHEEL ORIENTATION TO DETERMINE FUTURE HEADING In one aspect there is disclosed a method of determining a future heading of an object, the method comprising: receiving, by one or more processors, sensor data including information identifying an object in a vehicle's environment and sensor data points corresponding to the object; identifying, by the one or more processors, an area corresponding to an expected location of a wheel of the object using a model of wheel locations; and determining, by the one or more processors, a heading of the object based on the sensor data points of the sensor data that are within the area. In another aspect there is disclosed a method of determining a future heading of an object, the method comprising: receiving, by one or more processors, sensor data including information identifying an object in a vehicle's environment and sensor data points corresponding to the object; identifying, by the one or more processors, an area corresponding to an expected location of a wheel of the object using a model of wheel locations; and predicting, by the one or more processors, that the object is going to change lanes based on the sensor data points of the sensor data that are within the area.

65. 发明专利

AU2018358932A1 Semantic object clustering for autonomous vehicle decision making 未知
公开(公告)号：AU2018358932A1
公开(公告)日：2020-05-07
申请号：AU2018358932
申请日：2018-10-29
申请人： WAYMO LLC
发明人： RUSSELL JARED STEPHEN , DA FANG
IPC分类号： G05D1/02
摘要： The technology relates to controlling a vehicle (100) in an autonomous driving mode. For example, sensor data identifying a plurality of objects may be received. Pairs of objects of the plurality of objects may be identified. For each identified pair of objects of the plurality of objects, a similarity value which indicates whether the objects of that identified pair of objects can be responded to by the vehicle as a group may be determined. The objects of one of the identified pairs of objects may be clustered together based on the similarity score. The vehicle may be controlled in the autonomous mode by responding to each object in the cluster (610, 620, 710, 740, 760) in a same way.

66. 发明专利

IL272997D0 Lidar with co-aligned transmit and receive paths 未知
公开(公告)号：IL272997D0
公开(公告)日：2020-04-30
申请号：IL27299720
申请日：2020-03-01
申请人： WAYMO LLC
IPC分类号： G01S20060101
摘要： One example system includes a light source that emits light. The system also includes a waveguide that guides the emitted light from a first side of the waveguide toward a second side of the waveguide opposite the first side. The waveguide has a third side extending between the first side and the second side. The system also includes a mirror that reflects the guided light toward the third side of the waveguide. At least a portion of the reflected light propagates out of the waveguide toward a scene. The system also includes a light detector, and a lens that focuses light from the scene toward the waveguide and the light detector.

67. 发明专利

AU2018318833A9 Recognizing assigned passengers for autonomous vehicles 未知
公开(公告)号：AU2018318833A9
公开(公告)日：2020-04-16
申请号：AU2018318833
申请日：2018-08-03
申请人： WAYMO LLC
发明人： DYER JOHN WESLEY , TORRES LUIS , EPSTEIN MICHAEL , CHEN YU-HSIN
IPC分类号： G06Q50/30 , G05D1/02 , G08G1/0968
摘要： Aspects of the disclosure provide systems and methods for recognizing an assigned passenger. For instance, dispatching instructions to pick up a passenger at a pickup location 770 are received. The instructions include authentication information for authenticating a client computing device 420, 430 associated with the passenger. A vehicle 100, 100A is maneuvered in an autonomous driving mode towards the pickup location. The client device is then authenticated. After authentication, a set of pedestrians within a predetermined distance 702 of the vehicle are identified from sensor information generated by a sensor of the vehicle and location information is received over a period of time from the client device. The received location information is used to estimate a velocity of the passenger. This estimated velocity is used to identify a subset of set of pedestrians that is likely to be the passenger. The vehicle is stopped to allow the passenger to enter the vehicle based on the subset.

68. 发明专利

IL272452D0 Aggregating non-imaging spad architecture for full digital monolithic, frame averaging receivers 未知
公开(公告)号：IL272452D0
公开(公告)日：2020-03-31
申请号：IL27245220
申请日：2020-02-04
申请人： WAYMO LLC
IPC分类号： G01S20060101
摘要： The present disclosure relates to systems and methods that include a monolithic, single-chip receiver. An example system includes a plurality of macropixels, each made up of an array of single photon avalanche diodes (SPADs). The system also includes a plurality of pipelined adders communicatively coupled to a respective portion of the plurality of macropixels. The system additionally includes a controller configured to carry out operations. The operations include during a listening period, receiving, at each pipelined adder of the plurality of pipelined adders, respective photosignals from the respective portion of the plurality of macropixels. The operations also include causing each pipelined adder of the plurality of pipelined adders to provide an output that includes a series of frames that provide an average number of SPADs of the respective portion of the plurality of macropixels that were triggered during a given listening period.

69. 发明专利

AU2018313701A1 Aggregating non-imaging SPAD architecture for full digital monolithic, frame averaging receivers 未知
公开(公告)号：AU2018313701A1
公开(公告)日：2020-03-12
申请号：AU2018313701
申请日：2018-08-02
申请人： WAYMO LLC
发明人： ONAL CANER , DROZ PIERRE-YVES
IPC分类号： G01S7/486 , G01J1/44 , G01S7/487
摘要： The present disclosure relates to systems and methods that include a monolithic, single- chip receiver. An example system includes a plurality of macropixels, each made up of an array of single photon avalanche diodes (SPADs). The system also includes a plurality of pipelined adders communicatively coupled to a respective portion of the plurality of macropixels. The system additionally includes a controller configured to carry out operations. The operations include during a listening period, receiving, at each pipelined adder of the plurality of pipelined adders, respective photosignals from the respective portion of the plurality of macropixels. The operations also include causing each pipelined adder of the plurality of pipelined adders to provide an output that includes a series of frames that provide an average number of SPADs of the respective portion of the plurality of macropixels that were triggered during a given listening period.

70. 发明专利

SG11202000601PA RECOGNIZING ASSIGNED PASSENGERS FOR AUTONOMOUS VEHICLES 未知
公开(公告)号：SG11202000601PA
公开(公告)日：2020-02-27
申请号：SG11202000601P
申请日：2018-08-03
申请人： WAYMO LLC
发明人： DYER JOHN WESLEY , TORRES LUIS , EPSTEIN MICHAEL , CHEN YU-HSIN
IPC分类号： G06Q50/30 , G05D1/02 , G08G1/0968
摘要： Aspects of the disclosure provide systems and methods for recognizing an assigned passenger. For instance, dispatching instructions to pick up a passenger at a pickup location are received. The instructions include authentication information for authenticating a client computing device associated with the passenger. A vehicle is maneuvered in an autonomous driving mode towards the pickup location. The client device is then authenticated. After authentication, a set of pedestrians within a predetermined distance of the vehicle are identified from sensor information generated by a sensor of the vehicle and location information is received over a period of time from the client device. The received location information is used to estimate a velocity of the passenger. This estimated velocity is used to identify a subset of set of pedestrians that is likely to be the passenger. The vehicle is stopped to allow the passenger to enter the vehicle based on the subset.

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