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(11)

EP 4 416 521 A1

(12)

(43) Date of publication: 21.08.2024 Bulletin 2024/34 (21) Application number: 21967417.3 (22) Date of filing: 07.12.2021

(51) International Patent Classification (IPC):  G01S 7/481(2006.01) G05D 1/02(2020.01) C03C 17/245(2006.01) G01S 7/484(2006.01) G01S 17/931(2020.01) (52) Cooperative Patent Classification (CPC): G01S 17/931; C03C 17/23; G01S 7/4815; G01S 7/4813; G01S 13/865; G01S 13/931; G01S 13/87; G01S 17/87; G01S 2013/93273; G01S 17/86; G01S 7/4818 (86) International application number: PCT/US2021/062165 (87) International publication number: WO 2023/107099 (15.06.2023 Gazette 2023/24)

(84) Designated Contracting States: AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR Designated Extension States: BA ME Designated Validation States: KH MA MD TN (71) Applicant: Waymo LLC Mountain View, CA 94043 (US)

(72) Inventors: DROZ, Pierre-yves Mountain View, CA 94043 (US) SHEPARD, Ralph, H. Mountain View, CA 94043 (US) TAZZOLI, Augusto Mountain View, CA 94043 (US) HUTCHISON, David Mountain View, CA 94043 (US) SCHLEUNING, David Mountain View, CA 94043 (US) GOLSHAN, Nathaniel Mountain View, CA 94043 (US) QUILLIN, Nathaniel Mountain View, CA 94043 (US) ABO, Andrew Mountain View, CA 94043 (US) ONAL, Caner Mountain View, CA 94043 (US) TOM, Michael Mountain View, CA 94043 (US) LOCKWOOD, Robert Mountain View, CA 94043 (US) KWONG, Kelvin Mountain View, CA 94043 (US) LI, Daiwei Mountain View, CA 94043 (US) ULRICH, Drew Mountain View, CA 94043 (US) ELLGAS, Simon Mountain View, CA 94043 (US) KAKANL, Chandra Mountain View, California 94043 (US) EPPARD, Erin Mountain View, CA 94043 (US) LENIUS, Samuel Mountain View, CA 94043 (US) ANDRADE, Justin Mountain View, CA 94043 (US) DUNPHY, James Mountain View, CA 94043 (US) (74) Representative: Chettle, John Edward et al Venner Shipley LLP 200 Aldersgate London EC1A 4HD London EC1A 4HD (GB)