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No. Publication Number Title Publication/Patent Number Publication/Patent Number Publication Date Publication Date
Application Number Application Number Filing Date Filing Date
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1 US10545023B1
Selecting vehicle locations
Publication/Patent Number: US10545023B1 Publication Date: 2020-01-28 Application Number: 14/948,754 Filing Date: 2015-11-23 Inventor: Herbach, Joshua Seth   Fairfield, Nathaniel   Assignee: WAYMO LLC   IPC: G01C21/34 Abstract: Aspects of the disclosure relate to providing pickup or drop off locations for transport services. In one example relating to a pickup location, a preferred location is identified. A plurality of possible locations is determined based on the preferred location and a set of heuristics including identifying at least one point on an opposite side of a roadway as the preferred location. For each given possible location of the plurality of possible locations, a route between a current location of a vehicle and that given possible location is determined. For each given possible location of the plurality of possible locations a cost value for the determined route of that given possible location is determined. A possible location is selected based on the determined cost values and provided as a pickup or drop off location for a passenger or cargo. Aspects of the disclosure relate to providing pickup or drop off locations for transport services. In one example relating to a pickup location, a preferred location is identified. A plurality of possible locations is determined based on the preferred location and a set of ...More Less
2 US2020142036A1
OPTIMIZED HIGH SPEED LIDAR MIRROR DESIGN
Publication/Patent Number: US2020142036A1 Publication Date: 2020-05-07 Application Number: 16/660,980 Filing Date: 2019-10-23 Inventor: Karplus, Paul   Gassend, Blaise   Duff, David   Assignee: WAYMO LLC   IPC: G01S7/481 Abstract: Aspects of the technology employ sensors having high speed rotating mirror assemblies. For instance, the sensors may be Lidar sensors configured to detect people and other objects in an area of interest. A given mirror assembly may have a triangular or other geometric cross-sectional shape. The reflective faces of the mirror assembly may connect along edges or corners. In order to minimize wind drag and torque issues, the corners are rounded, filleted, beveled, chamfered or otherwise truncated. Such truncation may extend the length of the mirror side. The mirror assembly may employ one or more beam stops, light baffles and/or acoustic/aerodynamic baffles. These sensors may be employed with self-driving or manual driven vehicles or other equipment. The sensors may also be used in and around buildings. Aspects of the technology employ sensors having high speed rotating mirror assemblies. For instance, the sensors may be Lidar sensors configured to detect people and other objects in an area of interest. A given mirror assembly may have a triangular or other geometric ...More Less
3 US10627825B2
Using discomfort for speed planning in autonomous vehicles
Publication/Patent Number: US10627825B2 Publication Date: 2020-04-21 Application Number: 15/820,757 Filing Date: 2017-11-22 Inventor: Gutmann, Jens-steffen Ralf   Kunz, Tobias   Furman, Vadim   Assignee: WAYMO LLC   IPC: G05D1/02 Abstract: Aspects of the disclosure relate to controlling a first vehicle in an autonomous driving mode. While doing so, a second vehicle may be identified. Geometry for a future trajectory of the first vehicle may be identified, and an initial allowable discomfort value may be identified. Determining a speed profile for the geometry that meets the value may be attempted by determining a discomfort value for the speed profile based on a set of factors relating to at least discomfort of a passenger of the first vehicle and discomfort of a passenger of the second vehicle. When a speed profile that meets the value cannot be determined, the value may be adjusted until a speed profile that meets the value is determined. The speed profile that meets an adjusted value is used to control the first vehicle in the autonomous driving mode. Aspects of the disclosure relate to controlling a first vehicle in an autonomous driving mode. While doing so, a second vehicle may be identified. Geometry for a future trajectory of the first vehicle may be identified, and an initial allowable discomfort value may be ...More Less
4 EP3212474B1
PASSIVE WIPER SYSTEM
Publication/Patent Number: EP3212474B1 Publication Date: 2020-03-04 Application Number: 15853658.1 Filing Date: 2015-10-23 Inventor: Doorley, Graham   Karplus, Paul Thomas Hansen   Avram, Peter   Assignee: WAYMO LLC   IPC: B60S1/28
5 EP3623842A1
PHOTODETECTOR ARRAY ON CURVED SUBSTRATE
Publication/Patent Number: EP3623842A1 Publication Date: 2020-03-18 Application Number: 19205858.4 Filing Date: 2014-07-23 Inventor: Droz, Pierre-yves   Prachar, Timothy John   Pennecot, Gaetan   Assignee: WAYMO LLC   IPC: G01S17/06 Abstract: In some applications, it may be desirable to position multiple photodetectors at precise locations on a curved focal surface defined by an optical system. To achieve this positioning, the photodetectors may be mounted at desired locations on a flexible substrate that is in a flat configuration. The flexible substrate with mounted photodetectors can then be shaped to substantially conform to the shape of the curved focal surface. This shaping can be accomplished by clamping the flexible substrate between at least two clamping pieces. The curved flexible substrate clamped between the at least two clamping pieces can be positioned relative to the optical system such that the photodetectors are positioned at desired three-dimensional locations on the curved focal surface. In some applications, it may be desirable to position multiple photodetectors at precise locations on a curved focal surface defined by an optical system. To achieve this positioning, the photodetectors may be mounted at desired locations on a flexible substrate that is in a ...More Less
6 EP3380904B1
FALL BACK TRAJECTORY SYSTEMS FOR AUTONOMOUS VEHICLES
Publication/Patent Number: EP3380904B1 Publication Date: 2020-06-03 Application Number: 16884203.7 Filing Date: 2016-12-22 Inventor: Barton-sweeney, Andrew   Egnor, Daniel Trawick   Fairfield, Nathaniel   Assignee: WAYMO LLC   IPC: G05D1/02
7 US10675945B2
Sensor condensation prevention
Publication/Patent Number: US10675945B2 Publication Date: 2020-06-09 Application Number: 15/922,483 Filing Date: 2018-03-15 Inventor: Lombrozo, Peter Craig   Switkes, Jonathan   Assignee: WAYMO LLC   IPC: G08B23/00 Abstract: This technology relates to a condensation reduction system for a sensor. The system may comprise a sensor cover, wherein the sensor cover is configured to house one or more sensor components, a flexible, external chamber, and a conduit. The external chamber may be communicably coupled to an interior of the sensor cover via the conduit configured such that during an increase of pressure of gas within the sensor cover the gas flows to the external chamber via the conduit and during a decrease in the pressure of gas within the sensor cover the gas flows from the external chamber to the sensor cover via the conduit. This technology relates to a condensation reduction system for a sensor. The system may comprise a sensor cover, wherein the sensor cover is configured to house one or more sensor components, a flexible, external chamber, and a conduit. The external chamber may be communicably ...More Less
8 US10545510B2
Fleet management for autonomous vehicles
Publication/Patent Number: US10545510B2 Publication Date: 2020-01-28 Application Number: 15/838,650 Filing Date: 2017-12-12 Inventor: Colijn, Peter   Feenstra, Laurens Andreas   Herbach, Joshua Seth   Patterson, Katharine   Assignee: WAYMO LLC   IPC: G05D1/02 Abstract: Aspects of the disclosure relate to assigning a fleet of driverless vehicles to a plurality of parking locations for parking vehicles of the fleet. For instance, locations of the vehicles of the fleet as well as a number of available spaces at each of the plurality of parking location locations may be tracked. A subset of the fleet not already located at one of the plurality of parking locations is identified. At least one assignment assigning each vehicle of the subset to a respective parking location of the plurality of parking locations is determined according to the numbers of available spaces and the identified locations of the subset. For the at least one assignment, a total cost is determined by determining a cost value for each of a plurality of factors. The given assignment is sent to the fleet based on the total cost and the cost value. Aspects of the disclosure relate to assigning a fleet of driverless vehicles to a plurality of parking locations for parking vehicles of the fleet. For instance, locations of the vehicles of the fleet as well as a number of available spaces at each of the plurality of parking ...More Less
9 US2020094786A1
Rotary Wiper System
Publication/Patent Number: US2020094786A1 Publication Date: 2020-03-26 Application Number: 16/229,506 Filing Date: 2018-12-21 Inventor: Gilbertson, Seth   Rivera, Felix Jose Alvarez   Best, Roger   Assignee: Waymo LLC   Waymo LLC   IPC: B60S1/38 Abstract: The disclosure provides for a wiper system for cleaning a surface of a sensor housing, such as a sensor housing positioned on top of a vehicle. The wiper system includes a plurality of windows spaced around a sensor housing, and a plurality of wipers positioned around the sensor housing, each of the wipers includes a wiper blade configured to clean a corresponding window of the plurality of windows. The wiper system further includes a drive system including a movable part coupled to a motor. The motor is configured to drive the drive system to simultaneously rotate the plurality of wipers around the sensor housing such that the plurality of wipers remove debris from the plurality of windows. The disclosure provides for a wiper system for cleaning a surface of a sensor housing, such as a sensor housing positioned on top of a vehicle. The wiper system includes a plurality of windows spaced around a sensor housing, and a plurality of wipers positioned around the sensor ...More Less
10 US2020004256A1
SEMANTIC OBJECT CLUSTERING FOR AUTONOMOUS VEHICLE DECISION MAKING
Publication/Patent Number: US2020004256A1 Publication Date: 2020-01-02 Application Number: 16/513,063 Filing Date: 2019-07-16 Inventor: Russell, Jared Stephen   Da, Fang   Assignee: WAYMO LLC   IPC: G05D1/02 Abstract: 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. 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 ...More Less
11 US2020192382A1
ARRANGING PASSENGER PICKUPS FOR AUTONOMOUS VEHICLES
Publication/Patent Number: US2020192382A1 Publication Date: 2020-06-18 Application Number: 16/799,945 Filing Date: 2020-02-25 Inventor: Pandit, Salil   Patel, Nirmal   Guney, Tacettin Dogacan   Rawlings, Kevin   Feenstra, Laurens Andreas   Assignee: WAYMO LLC   IPC: G05D1/00 Abstract: Aspects of the disclosure relate to arranging a pick up and drop off locations between a driverless vehicle and a passenger. As an example, a method of doing so may include receiving a request for a vehicle from a client computing device, wherein the request identifies a first location. Pre-stored map information and the first location are used to identify a recommended point according to a set of heuristics. Each heuristic of the set of heuristics has a ranking such that the recommended point corresponds to a location that satisfies at least one of the heuristics having a first rank and such that no other location satisfies any other heuristic of the set of heuristics having a higher rank than the first rank. The pre-stored map information identifying a plurality of pre-determined locations for the vehicle to stop, and the recommended point is one of the plurality of pre-determined locations. The recommended point is then provided the client computing device for display on a display of the client computing device with a map. Aspects of the disclosure relate to arranging a pick up and drop off locations between a driverless vehicle and a passenger. As an example, a method of doing so may include receiving a request for a vehicle from a client computing device, wherein the request identifies a first ...More Less
12 EP2834121B1
GESTURE-BASED AUTOMOTIVE CONTROLS
Publication/Patent Number: EP2834121B1 Publication Date: 2020-01-08 Application Number: 13772911.7 Filing Date: 2013-02-03 Inventor: Hobbs, Nicholas Kenneth   Chi, Liang-yu   Assignee: WAYMO LLC   IPC: B60W50/10
13 EP3274737B1
METHODS AND SYSTEMS FOR LIDAR OPTICS ALIGNMENT
Publication/Patent Number: EP3274737B1 Publication Date: 2020-06-24 Application Number: 16714672.9 Filing Date: 2016-03-18 Inventor: Pennecot, Gaetan   Droz, Pierre-yves   Assignee: WAYMO LLC   IPC: G01S7/497
14 EP3617020A1
OBSTACLE EVALUATION TECHNIQUE
Publication/Patent Number: EP3617020A1 Publication Date: 2020-03-04 Application Number: 19201798.6 Filing Date: 2013-05-29 Inventor: Dowdall, Jonathan Baldwin   Zhu, Jiajun   Assignee: WAYMO LLC   IPC: B60W30/08 Abstract: A vehicle configured to operate in an autonomous mode may engage in an obstacle evaluation technique that includes employing a sensor system to collect data relating to a plurality of obstacles, identifying from the plurality of obstacles an obstacle pair including a first obstacle and a second obstacle, engaging in an evaluation process by comparing the data collected for the first obstacle to the data collected for the second obstacle, and in response to engaging in the evaluation process, making a determination of whether the first obstacle and the second obstacle are two separate obstacles. A vehicle configured to operate in an autonomous mode may engage in an obstacle evaluation technique that includes employing a sensor system to collect data relating to a plurality of obstacles, identifying from the plurality of obstacles an obstacle pair including a first ...More Less
15 US2020189524A1
Wiper System
Publication/Patent Number: US2020189524A1 Publication Date: 2020-06-18 Application Number: 16/217,444 Filing Date: 2018-12-12 Inventor: Gilbertson, Seth   Khaykin, Alex   Assignee: Waymo LLC   Waymo LLC   IPC: B60S1/08 Abstract: The technology relates to a wiper systems. For instance, a system may include a sensor including a sensor housing and a housing window in the sensor housing. The system may also include a rotating drive mechanism. A first portion of the rotating drive mechanism is positioned adjacent to a top of the housing window. The system also includes a plurality of pulleys, and the rotating drive mechanism may be wrapped around at least a portion of the pulleys. The system also includes a wiper attached to the rotating drive mechanism and a motor. The motor may be configured to rotate at least one of the pulleys in order to cause at least the first portion of the rotating drive mechanism to rotate in a first direction. As a result, the wiper may move across the housing window from an initial position to a second position in order to move contaminants on the housing window. The technology relates to a wiper systems. For instance, a system may include a sensor including a sensor housing and a housing window in the sensor housing. The system may also include a rotating drive mechanism. A first portion of the rotating drive mechanism is positioned ...More Less
16 EP3145759B1
DEVICES AND METHODS FOR AN ENERGY-ABSORBING END OF A VEHICLE
Publication/Patent Number: EP3145759B1 Publication Date: 2020-04-01 Application Number: 15796151.7 Filing Date: 2015-05-09 Inventor: Larner, Daniel Lynn   Khaykin, Alex   Daniel, Thomas   Alvarez, Rivera Felix Jose   Assignee: WAYMO LLC   IPC: B60R19/18
17 EP3176666B1
SYSTEM AND METHOD FOR PREDICTING BEHAVIORS OF DETECTED OBJECTS
Publication/Patent Number: EP3176666B1 Publication Date: 2020-04-15 Application Number: 17151573.7 Filing Date: 2011-10-05 Inventor: Zhu, Jiajun   Ferguson, David I.   Dolgov, Dmitri A.   Assignee: WAYMO LLC   IPC: G05D1/02
18 EP3594043A1
AUTONOMOUS VEHICLES
Publication/Patent Number: EP3594043A1 Publication Date: 2020-01-15 Application Number: 19193841.4 Filing Date: 2015-05-22 Inventor: Nemec, Philip   Aula, Anne Kristiina   Lu, David Tse-zhou   Cullinane, Brian Douglas   Johnson, Calvin Karl   Shane, Albert   Ludwick, Christopher   Ahn, Yoojung   Assignee: WAYMO LLC   IPC: B60K35/00 Abstract: Aspects of the present disclosure relate to a vehicle 100 for maneuvering a passenger to a destination autonomously. The vehicle 100 includes one or more computing devices 110 and a set of user input buttons 612, 614 for communicating requests to stop the vehicle and to initiate a trip to the destination with the one or more computing devices. The set of user input buttons consisting essentially of a dual-purpose button and an emergency stopping button 612 different from the dual-purpose button 614 configured to stop the vehicle. The dual-purpose button 614 has a first purpose for communicating a request to initiate the trip to the destination and a second purpose for communicating a request to pull the vehicle over and stop the vehicle. The vehicle has no steering wheel and no user inputs for the steering, acceleration, and deceleration of the vehicle other than the set of user input buttons. Aspects of the present disclosure relate to a vehicle 100 for maneuvering a passenger to a destination autonomously. The vehicle 100 includes one or more computing devices 110 and a set of user input buttons 612, 614 for communicating requests to stop the vehicle and to initiate ...More Less
19 US10572717B1
System and method for evaluating the perception system of an autonomous vehicle
Publication/Patent Number: US10572717B1 Publication Date: 2020-02-25 Application Number: 16/209,429 Filing Date: 2019-02-27 Inventor: Zhu, Jiajun   Urmson, Christopher Paul   Haehnel, Dirk   Fairfield, Nathaniel   Smith, Russell Leigh   Assignee: WAYMO LLC   IPC: G06K9/00 Abstract: A method and apparatus are provided for optimizing one or more object detection parameters used by an autonomous vehicle to detect objects in images. The autonomous vehicle may capture the images using one or more sensors. The autonomous vehicle may then determine object labels and their corresponding object label parameters for the detected objects. The captured images and the object label parameters may be communicated to an object identification server. The object identification server may request that one or more reviewers identify objects in the captured images. The object identification server may then compare the identification of objects by reviewers with the identification of objects by the autonomous vehicle. Depending on the results of the comparison, the object identification server may recommend or perform the optimization of one or more of the object detection parameters. A method and apparatus are provided for optimizing one or more object detection parameters used by an autonomous vehicle to detect objects in images. The autonomous vehicle may capture the images using one or more sensors. The autonomous vehicle may then determine object labels ...More Less
20 US10611269B1
Moving seats in a vehicle to enhance occupant protection
Publication/Patent Number: US10611269B1 Publication Date: 2020-04-07 Application Number: 15/219,580 Filing Date: 2016-07-26 Inventor: Larner, Daniel Lynn   Mccool, Courtney   Daniel, Thomas   Gupta, Atul   Rivera, Felix Jose Alvarez   Lombrozo, Peter Craig   Assignee: WAYMO LLC   IPC: B60N2/02 Abstract: The disclosure provides for a system. The system may include a rotational control system configured to rotate a seat of a vehicle, and one or more computing devices. The one or more computing devices may have one or more processors that are configured to determine that an impact is imminent at a location on the vehicle along a collision axis. A most favorable orientation may be determined by the one or more processors based on the determined location and collision axis. Using the rotational control system, the one or more processors may rotate the seat of the vehicle to the most favorable orientation in order to reduce risks of serious injury to a passenger in the seat caused by the imminent impact. A translational control system may be used by the one or more processors to translate the seat of the vehicle to a position relative to the determined location. The disclosure provides for a system. The system may include a rotational control system configured to rotate a seat of a vehicle, and one or more computing devices. The one or more computing devices may have one or more processors that are configured to determine that an impact ...More Less