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11.发明申请Methods and Systems for Detecting Weather Conditions Including Fog Using Vehicle Onboard Sensors 有权使用车载传感器检测包括雾的天气条件的方法和系统公开(公告)号：US20150168556A1
公开(公告)日：2015-06-18
申请号：US14614853
申请日：2015-02-05
Applicant: Google Inc.
Inventor： Jiajun Zhu , Dmitri Dolgov , Dave Ferguson
CPC classification number: G01S17/95 , B60W30/00 , B60W50/14 , B60W2550/12 , G01S17/06 , G01W1/00 , G01W1/02
Abstract: Methods and systems for detecting weather conditions including fog using vehicle onboard sensors are provided. An example method includes receiving laser data collected from scans of an environment of a vehicle, and associating, by a computing device, laser data points of with one or more objects in the environment. The method also includes comparing laser data points that are unassociated with the one or more objects in the environment with stored laser data points representative of a pattern due to fog, and based on the comparison, identifying by the computing device an indication that a weather condition of the environment of the vehicle includes fog.
Abstract translation: 提供了使用车载传感器来检测包括雾的天气条件的方法和系统。 示例性方法包括接收从车辆的环境的扫描收集的激光数据，并且通过计算设备将激光数据点与环境中的一个或多个对象相关联。 该方法还包括将与环境中的一个或多个物体无关的激光数据点与表示由于雾引起的图案的存储的激光数据点进行比较，并且基于该比较，由计算设备识别天气条件 车辆的环境包括雾。
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12.发明授权Methods and systems for detecting weather conditions including sunlight using vehicle onboard sensors 有权使用车载传感器检测包括阳光在内的天气条件的方法和系统公开(公告)号：US09025140B2
公开(公告)日：2015-05-05
申请号：US13888883
申请日：2013-05-07
Applicant: Google Inc.
Inventor： Jiajun Zhu , Dmitri Dolgov , Dave Ferguson
CPC classification number: G01S17/95 , G01S5/0263 , G01S13/862 , G01S13/865 , G01S13/867 , G01S13/931 , G01S13/95 , G01S15/931 , G01S17/023 , G01S17/42 , G01S17/66 , G01S17/936 , G01S19/11 , G01S19/48 , Y02A90/18 , Y02A90/19
Abstract: Methods and systems for detecting weather conditions including sunlight using onboard vehicle sensors are described. In one example, a method is provided that includes receiving laser data collected for an environment of a vehicle. The method also includes associating laser data points with one or more objects in the environment, and determining given laser data points that are unassociated with the one or more objects in the environment as being representative of an untracked object at a given position with respect to the vehicle. The method also includes determining that the untracked object remains at a substantially same relative position with respect to the vehicle as the vehicle moves, and identifying by the computing device an indication that a weather condition of the environment of the vehicle is sunny.
Abstract translation: 描述了使用车载传感器检测包括阳光的天气条件的方法和系统。 在一个示例中，提供了一种包括接收为车辆的环境收集的激光数据的方法。 该方法还包括将激光数据点与环境中的一个或多个对象相关联，以及确定与环境中的一个或多个对象不相关的给定激光数据点，以代表相对于所述环境的给定位置处的未跟踪对象 车辆。 该方法还包括确定当车辆移动时未跟踪的物体相对于车辆保持基本相同的相对位置，并且由计算设备识别车辆的环境的天气条件是晴朗的指示。
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13.发明授权Methods and systems for detecting weather conditions including fog using vehicle onboard sensors 有权使用车载传感器检测天气状况（包括雾）的方法和系统公开(公告)号：US08983705B2
公开(公告)日：2015-03-17
申请号：US13873442
申请日：2013-04-30
Applicant: Google Inc.
Inventor： Jiajun Zhu , Dmitri Dolgov , Dave Ferguson
CPC classification number: G01S17/95 , B60W30/00 , B60W50/14 , B60W2550/12 , G01S17/06 , G01W1/00 , G01W1/02
Abstract: Methods and systems for detecting weather conditions including fog using vehicle onboard sensors are provided. An example method includes receiving laser data collected from scans of an environment of a vehicle, and associating, by a computing device, laser data points of with one or more objects in the environment. The method also includes comparing laser data points that are unassociated with the one or more objects in the environment with stored laser data points representative of a pattern due to fog, and based on the comparison, identifying by the computing device an indication that a weather condition of the environment of the vehicle includes fog.
Abstract translation: 提供了使用车载传感器来检测包括雾的天气条件的方法和系统。 示例性方法包括接收从车辆的环境的扫描收集的激光数据，并且通过计算设备将激光数据点与环境中的一个或多个对象相关联。 该方法还包括将与环境中的一个或多个物体无关的激光数据点与表示由于雾引起的图案的存储的激光数据点进行比较，并且基于该比较，由计算设备识别天气条件 车辆的环境包括雾。
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14.发明申请Methods and Systems for Detecting Weather Conditions Including Sunlight Using Vehicle Onboard Sensors 有权使用车载传感器检测包括阳光的天气条件的方法和系统公开(公告)号：US20140333468A1
公开(公告)日：2014-11-13
申请号：US13888883
申请日：2013-05-07
Applicant: Google Inc.
Inventor： Jiajun Zhu , Dmitri Dolgov , Dave Ferguson
CPC classification number: G01S17/95 , G01S5/0263 , G01S13/862 , G01S13/865 , G01S13/867 , G01S13/931 , G01S13/95 , G01S15/931 , G01S17/023 , G01S17/42 , G01S17/66 , G01S17/936 , G01S19/11 , G01S19/48 , Y02A90/18 , Y02A90/19
Abstract: Methods and systems for detecting weather conditions including sunlight using onboard vehicle sensors are described. In one example, a method is provided that includes receiving laser data collected for an environment of a vehicle. The method also includes associating laser data points with one or more objects in the environment, and determining given laser data points that are unassociated with the one or more objects in the environment as being representative of an untracked object at a given position with respect to the vehicle. The method also includes determining that the untracked object remains at a substantially same relative position with respect to the vehicle as the vehicle moves, and identifying by the computing device an indication that a weather condition of the environment of the vehicle is sunny.
Abstract translation: 描述了使用车载传感器检测包括阳光的天气条件的方法和系统。 在一个示例中，提供了一种包括接收为车辆的环境收集的激光数据的方法。 该方法还包括将激光数据点与环境中的一个或多个对象相关联，以及确定与环境中的一个或多个对象不相关的给定激光数据点，以代表相对于所述环境的给定位置处的未跟踪对象 车辆。 该方法还包括确定当车辆移动时未跟踪的物体相对于车辆保持基本相同的相对位置，并且由计算设备识别车辆的环境的天气条件是晴朗的指示。
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15.发明申请Methods and Systems for Detecting Weather Conditions Including Fog Using Vehicle Onboard Sensors 有权使用车载传感器检测包括雾的天气条件的方法和系统公开(公告)号：US20140324266A1
公开(公告)日：2014-10-30
申请号：US13873442
申请日：2013-04-30
Applicant: Google Inc.
Inventor： Jiajun Zhu , Dmitri Dolgov , Dave Ferguson
CPC classification number: G01S17/95 , B60W30/00 , B60W50/14 , B60W2550/12 , G01S17/06 , G01W1/00 , G01W1/02
Abstract: Methods and systems for detecting weather conditions including fog using vehicle onboard sensors are provided. An example method includes receiving laser data collected from scans of an environment of a vehicle, and associating, by a computing device, laser data points of with one or more objects in the environment. The method also includes comparing laser data points that are unassociated with the one or more objects in the environment with stored laser data points representative of a pattern due to fog, and based on the comparison, identifying by the computing device an indication that a weather condition of the environment of the vehicle includes fog.
Abstract translation: 提供了使用车载传感器来检测包括雾的天气条件的方法和系统。 示例性方法包括接收从车辆的环境的扫描收集的激光数据，并且通过计算设备将激光数据点与环境中的一个或多个对象相关联。 该方法还包括将与环境中的一个或多个物体无关的激光数据点与表示由于雾引起的图案的存储的激光数据点进行比较，并且基于该比较，由计算设备识别天气条件 车辆的环境包括雾。
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Patent Agency Ranking
公开(公告)号：US09632210B2
公开(公告)日：2017-04-25
申请号：US13888634
申请日：2013-05-07
Applicant: Google Inc.
Inventor： Jiajun Zhu , Dmitri Dolgov , Dave Ferguson
CPC classification number: G01W1/00 , G01N21/4738 , G01S17/023 , G01S17/87 , G01W1/14 , G05D1/0088 , G05D1/024 , G05D1/0246 , G05D1/0257 , G05D1/0276 , H04N7/183
Abstract: Example methods and systems for detecting weather conditions using vehicle onboard sensors are provided. An example method includes receiving laser data collected for an environment of a vehicle, and the laser data includes a plurality of laser data points. The method also includes associating, by a computing device, laser data points of the plurality of laser data points with one or more objects in the environment, and determining given laser data points of the plurality of laser data points that are unassociated with the one or more objects in the environment as being representative of an untracked object. The method also includes based on one or more untracked objects being determined, identifying by the computing device an indication of a weather condition of the environment.
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17.发明申请公开(公告)号：US20170039435A1
公开(公告)日：2017-02-09
申请号：US15331079
申请日：2016-10-21
Applicant: Google Inc.
Inventor： Abhijit Ogale , Dave Ferguson
CPC classification number: G06K9/00791 , B60R1/00 , B60R2300/80 , G05D1/0088 , G05D1/0246 , G06K9/00825 , G06K9/4604 , G06K9/4652 , G06K9/4661 , H04N5/2353
Abstract: An autonomous vehicle is configured to detect an active turn signal indicator on another vehicle. An image-capture device of the autonomous vehicle captures an image of a field of view of the autonomous vehicle. The autonomous vehicle captures the image with a short exposure to emphasize objects having brightness above a threshold. Additionally, a bounding area for a second vehicle located within the image is determined. The autonomous vehicle identifies a group of pixels within the bounding area based on a first color of the group of pixels. The autonomous vehicle also calculates an oscillation of an intensity of the group of pixels. Based on the oscillation of the intensity, the autonomous vehicle determines a likelihood that the second vehicle has a first active turn signal. Additionally, the autonomous vehicle is controlled based at least on the likelihood that the second vehicle has a first active turn signal.
Abstract translation: 自主车辆被配置为检测另一车辆上的主动转向信号指示器。 自主车辆的图像捕获装置捕获自主车辆的视野的图像。 自主车辆以短曝光捕获图像，以强调具有高于阈值的亮度的物体。 另外，确定位于图像内的第二车辆的边界区域。 自主车辆基于像素组的第一颜色识别边界区域内的一组像素。 自主车辆还计算该组像素的强度的振荡。 基于强度的振荡，自主车辆确定第二车辆具有第一主动转弯信号的可能性。 另外，至少基于第二车辆具有第一主动转弯信号的可能性来控制自主车辆。
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公开(公告)号：US20160292519A1
公开(公告)日：2016-10-06
申请号：US15186808
申请日：2016-06-20
Applicant: Google Inc.
Inventor： Bradley Templeton , Nathaniel Fairfield , Dave Ferguson
CPC classification number: G06K9/00805 , B60W30/14 , G05D1/0246 , G06K9/00825 , G06T7/00 , G06T7/292 , G06T7/73 , G06T7/77 , G06T2207/10016 , G06T2207/30236 , G06T2207/30241 , G06T2207/30244 , G06T2207/30252 , G06T2207/30261 , H04N5/2253 , H04N5/247
Abstract: A vehicle configured to operate in an autonomous mode may engage in a reverse-parallax analysis that includes a vehicle system detecting an object, capturing via a camera located at a first location a first image of the detected object, retrieving location data specifying (i) a location of a target object, (ii) the first location, and (iii) a direction of the camera, and based on the location data and the position of the detected object in the first image, predicting where in a second image captured from a second location the detected object would appear if the detected object is the target object.
Abstract translation: 被配置为以自主模式操作的车辆可以进行反向视差分析，其包括检测对象的车辆系统，经由位于第一位置处的摄像机拍摄检测到的对象的第一图像，检索位置数据，指定（i） 目标对象的位置，（ii）第一位置和（iii）相机的方向，并且基于位置数据和第一图像中检测到的对象的位置，预测从第二图像中捕获的第二图像中的哪个位置 如果检测到的对象是目标对象，则检测到的对象将显示第二个位置。
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公开(公告)号：US09381917B1
公开(公告)日：2016-07-05
申请号：US14827578
申请日：2015-08-17
Applicant: Google Inc.
Inventor： Dmitri Dolgov , Dave Ferguson
CPC classification number: B60W30/16 , B60W30/143 , B60W30/17 , B60W2420/42 , B60W2550/22 , B60W2550/30 , B60W2550/302 , B60W2550/308 , B60W2750/308 , G01S13/865 , G01S13/867 , G01S13/931 , G01S17/89 , G01S17/936 , G01S2013/9325 , G05D1/0088 , G08G1/167 , G08G1/22
Abstract: Methods and systems for predictive reasoning for controlling speed of a vehicle are described. A computing device may be configured to identify a first and second vehicle travelling ahead of an autonomous vehicle and in a same lane as the autonomous vehicle. The computing device may also be configured to determine a first buffer distance behind the first vehicle at which the autonomous vehicle will substantially reach a speed of the first vehicle and a second buffer distance behind the second vehicle at which the first vehicle will substantially reach a speed of the second vehicle. The computing device may further be configured to determine a distance at which to adjust a speed of the autonomous vehicle based on the first and second buffer distances and the speed of the autonomous vehicle, and then provide instructions to adjust the speed of the autonomous vehicle based on the distance.
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公开(公告)号：US09254846B2
公开(公告)日：2016-02-09
申请号：US13886563
申请日：2013-05-03
Applicant: Google Inc.
Inventor： Dmitri Dolgov , Dave Ferguson
CPC classification number: B60W30/16 , B60W30/143 , B60W30/17 , B60W2420/42 , B60W2550/22 , B60W2550/30 , B60W2550/302 , B60W2550/308 , B60W2750/308 , G01S13/865 , G01S13/867 , G01S13/931 , G01S17/89 , G01S17/936 , G01S2013/9325 , G05D1/0088 , G08G1/167 , G08G1/22
Abstract: Methods and systems for predictive reasoning for controlling speed of a vehicle are described. A computing device may be configured to identify a first and second vehicle travelling ahead of an autonomous vehicle and in a same lane as the autonomous vehicle. The computing device may also be configured to determine a first buffer distance behind the first vehicle at which the autonomous vehicle will substantially reach a speed of the first vehicle and a second buffer distance behind the second vehicle at which the first vehicle will substantially reach a speed of the second vehicle. The computing device may further be configured to determine a distance at which to adjust a speed of the autonomous vehicle based on the first and second buffer distances and the speed of the autonomous vehicle, and then provide instructions to adjust the speed of the autonomous vehicle based on the distance.
Abstract translation: 描述用于控制车辆速度的预测推理的方法和系统。 计算设备可以被配置为识别在自主车辆之前行驶的第一和第二车辆，并且与自主车辆在同一车道中。 计算设备还可以被配置为确定第一车辆后面的第一缓冲距离，自动车辆将基本达到第一车辆的速度，第二车辆后面的第二缓冲距离将在第一车辆基本达到速度 的第二辆车。 计算装置还可以被配置为基于第一和第二缓冲器距离和自主车辆的速度来确定用于调整自主车辆的速度的距离，然后提供基于自主车辆的速度来调整自主车辆的速度的指令 在距离。
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