Waymo LLC

Google Inc.

Canon Kabushiki Kaisha

Nissei Technology Corporation

Hui Seong Son

Blaise Gassend

Caner Onal

Michael Brickner

Pierre-yves Droz

Ralph Hamilton Shepard

Colin Andrew Braley

Jason Paul Watson

Oscar A Martinez

Chandra Kakani

Alex Rivas

Erin Eppard

Brian Choung Choi

Harrison Lee McKenzie Chapter

James C Dunphy

Philipp Helmut Schmaelzle

Ozan Cakmakci

Paul Karplus

Andrei Stefan Kazmierski

Yeh-Jiun Tung

Simon Prakash

Aleksandar Gabrovski

Justin Matthew Andrade

Arthur Safira

Akio Yamakawa

Alex Bogatko

Aspects and implementations of the present disclosure address shortcomings of existing technology by enabling autonomous vehicle simulations based on retro-reflection optical data. The subject matter of this specification can be implemented in, among other things, a method that involves initiating a simulation of an environment of an autonomous driving vehicle, the simulation including a plurality of simulated objects, each having an identification of a material type of the respective object. The method can further involve accessing simulated reflection data based on the plurality of simulated objects and retro-reflectivity data for the material types of the simulated objects, and determining, using an autonomous vehicle control system for the autonomous vehicle, a driving path relative to the simulated objects, the driving path based on the simulated reflection data.

High fidelity simulations for autonomous vehicles based on retro-reflection metrology

An example lidar system includes a housing defining an interior space. The housing includes at least one optical window. The lidar system also includes a rotatable mirror assembly disposed within the interior space. The rotatable mirror assembly includes a transmit mirror portion and a receive mirror portion. The lidar system additionally includes a transmitter disposed within the interior space. The transmitter is configured to emit emission light into an environment of the lidar system along a transmit path. The lidar system also includes a receiver disposed within the interior space. The receiver is configured to detect return light that is received from the environment along a receive path. The lidar system additionally includes at least one optical baffle configured to minimize stray light in the interior space.

Split window and baffling

Example embodiments described herein involve a static dome assembly for light detection and ranging (LiDAR) systems. The system may include a base. At least one LiDAR system may be coupled to the base. The at least one LiDAR system may be configured to transmit and receive light having one or more wavelengths. The assembly may further include a housing encompassing the at least one LiDAR system. The housing may be statically coupled to the base. The housing may further include a dome. The dome may include a wall that is transparent to the one or more wavelengths. The wall may also include a high impact polymethyl methacrylate (PMMA) material having an index of refraction of less than 1.55.

Static dome assembly for LiDAR systems

The present disclosure relates to optical systems and vehicles, which may incorporate lidar sensors. An example optical system includes a light-emitter device configured to emit emission light. The optical system also includes an optical element including a first surface and an opposing second surface. The first surface includes a diffusing surface configured to diffuse the emission light to form diffused light. The second surface includes a focusing surface. A combination of the first surface and the second surface are configured to provide an intensity profile of light emitted within a field of view of the optical system.

Combined collimation and diffuser lens for flood illuminator

The present disclosure relates to systems and devices having a rotatable mirror assembly. An example system includes a housing and a rotatable mirror assembly. The rotatable mirror assembly includes a plurality of reflective surfaces, a shaft defining a rotational axis, and a mirror body coupling the plurality of reflective surfaces to the shaft. The mirror body includes a plurality of flexible support members. The rotatable mirror assembly also includes a coupling bracket configured to removably couple the rotatable mirror assembly to the housing. The system also includes a transmitter configured to emit emission light into an environment of the system after interacting with at least one reflective surface of the plurality of reflective surfaces. The system additionally includes a receiver configured to detect return light from the environment after interacting with the at least one reflective surface of the plurality of reflective surfaces.

Rotatable mirror device

An apparatus includes an optical emitter configured to emit a first optical signal along an optical path towards a target object in an outdoor environment. The apparatus includes an optical detector positioned collinearly with respect to the optical emitter. The optical detector is configured to detect a second optical signal that is retro-reflected from the target object. The apparatus includes a lock-in amplifier coupled to the optical detector. The lock-in amplifier is configured to generate, based on the first optical signal and the second optical signal, a signal indicative of a retro-reflectivity of the target object in the outdoor environment.

Retro-reflectometer for measuring retro-reflectivity of objects in an outdoor environment

The present disclosure relates to optical systems and vehicles, which may incorporate lidar sensors. An example optical system includes a light-emitter device configured to emit emission light. The optical system also includes an optical element including a first surface and an opposing second surface. The first surface includes a diffusing surface configured to diffuse the emission light to form diffused light. The second surface includes a focusing surface configured to focus the diffused light to provide an intensity profile of light emitted within a field of view of the optical system.

Example embodiments relate to calibration systems for light detection and ranging (lidar) devices. An example calibration system includes a calibration target that includes a surface having at least one characterized reflectivity. The surface is configured to receive one or more calibration signals emitted by a lidar device along one or more optical axes when the lidar device is separated from the calibration target by an adjustable distance. The calibration system also includes at least one lens that modifies the one or more calibration signals. In addition, the system includes an adjustable attenuator configured to attenuate each of the one or more calibration signals to simulate, in combination with the at least one lens, a distance that is greater than the adjustable distance. Further, the system includes a calibration controller configured to analyze data associated with detected reflections of the one or more calibration signals.

Calibration system for light detection and ranging (lidar) devices

An apparatus for measuring retro-reflectivity of a target object in an outdoor environment includes a modulator to modulate a first optical signal based on a specified modulation value, an optical emitter, coupled to the modulator, to emit the first optical signal along an optical path towards the target object, and an optical detector positioned collinearly with respect to the optical emitter. The optical detector detects a second optical signal that is retro-reflected from the target object. The apparatus includes a lock-in amplifier coupled to the modulator and the optical detector. The lock-in amplifier receives a first electrical signal from the modulator and a second electrical signal from the optical detector, and generates, based on the first electrical signal and the second electrical signal, a third electrical signal indicative of the retro-reflectivity of the target object.

Retro-reflectometer for measuring retro-reflectivity of objects in an outdoor environment comprising a lock-in amplifier coupled to an optical modulator and an optical detector

A freeform projection display includes an optical emitter configured to output one or more wavelengths of light and an optical diffuser optically coupled to receive and disperse the one or more wavelengths of light from the optical emitter, wherein the optical diffuser has at least one radius of curvature. The freeform projection display further includes a refractive lens optically coupled to receive the one or more wavelengths of light from the optical diffuser and to project the one or more wavelengths of light. The freeform projection display further may include a light modulator disposed between the optical emitter and the optical diffuser, wherein the light modulator oscillates to project the image on the optical diffuser. An illuminated area of the optical diffuser is dimensioned so that the image produced by the light modulator fills an aperture of the refractive lens.

Freeform projected display

An apparatus includes a holographic film having one or more reflective holograms recorded therein. One or more light sources positioned to direct light toward a corresponding one of the one or more holograms, and a dynamic mask positioned between the one or more light sources and the holographic film to spatially modulate light traveling between the one or more light sources and the one or more reflective holograms but not spatially modulate ambient light traveling through the hologram.

Compact near-eye hologram display

A display apparatus includes a transparent substrate having first and second sides, an array of LED micro-display panels, and an array of collimating reflectors. The LED micro-display panels are disposed within the transparent substrate between the first and second sides and oriented to emit sub-image portions of a display image towards the first side. The collimating reflectors are disposed within the transparent substrate between the first side and the array of LED micro-display panels. The collimating reflectors are aligned with the LED micro-display panels to reflect the sub-image portions back out the second side of the transparent substrate. The LED micro-display panels are offset from the collimating reflectors to expand the sub-image portions prior to reflection by the collimating reflectors.

Display with reflected LED micro-display panels

Gloss-based material classification of an object fabricated from an unknown material, particularly where the unknown material is one from a limited set of predetermined materials. The object is illuminated with an area light source such that the object is illuminated from multiple angles. An image of the object is obtained, and specular reflections from the object are measured by analyzing the image. The object material is classified based on a number of high-intensity specular reflections.

Growing community of inventors

Hayward, CA, United States of America

Hui Seong Son