公开(公告)号：US09555740B1

公开(公告)日：2017-01-31

申请号：US14946967

申请日：2015-11-20

Applicant: Google Inc.

Inventor： Jiajun Zhu ,  Dmitri A. Dolgov ,  Christopher Paul Urmson

IPC: H04N7/18 ,  B60R1/00 ,  B60Q9/00 ,  G08G1/16 ,  G01D18/00

CPC classification number: B60W50/0205 ,  B60Q9/008 ,  B60R1/00 ,  B60R2300/8093 ,  B60W50/14 ,  B60W2050/0043 ,  B60W2050/0215 ,  B60W2050/146 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2420/62 ,  G01D18/00 ,  G01S7/40 ,  G01S7/497 ,  G01S13/723 ,  G01S13/862 ,  G01S13/865 ,  G01S13/867 ,  G01S13/931 ,  G01S17/023 ,  G01S17/936 ,  G06K9/00791 ,  G06K9/03 ,  G08G1/163 ,  G08G1/166 ,  H04N7/181

Abstract: Methods and systems are disclosed for cross-validating a second sensor with a first sensor. Cross-validating the second sensor may include obtaining sensor readings from the first sensor and comparing the sensor readings from the first sensor with sensor readings obtained from the second sensor. In particular, the comparison of the sensor readings may include comparing state information about a vehicle detected by the first sensor and the second sensor. In addition, comparing the sensor readings may include obtaining a first image from the first sensor, obtaining a second image from the second sensor, and then comparing various characteristics of the images. One characteristic that may be compared are object labels applied to the vehicle detected by the first and second sensor. The first and second sensors may be different types of sensors.

Abstract translation: 公开了用于与第一传感器交叉验证第二传感器的方法和系统。 交叉验证第二传感器可以包括从第一传感器获得传感器读数并将来自第一传感器的传感器读数与从第二传感器获得的传感器读数进行比较。 特别地，传感器读数的比较可以包括比较由第一传感器和第二传感器检测到的关于车辆的状态信息。 此外，比较传感器读数可以包括从第一传感器获得第一图像，从第二传感器获得第二图像，然后比较图像的各种特性。 可以比较的一个特征是应用于由第一和第二传感器检测到的车辆的对象标签。 第一和第二传感器可以是不同类型的传感器。

公开(公告)号：USD772274S1

公开(公告)日：2016-11-22

申请号：US29556607

申请日：2016-03-02

Applicant: Google Inc.

Designer： Robertus Christianus Elisabeth Mariet ,  Manuel Christian Clement ,  Philip Nemec ,  Brian Douglas Cullinane ,  Andrew Timothy Szybalski ,  Dmitri A. Dolgov

公开(公告)号：US09460622B1

公开(公告)日：2016-10-04

申请号：US14516044

申请日：2014-10-16

Applicant: Google Inc.

Inventor： David Ian Franklin Ferguson ,  Dmitri A. Dolgov

IPC: G08G1/0967 ,  G05D1/02 ,  G05D1/00 ,  G01C21/32 ,  B60W10/18 ,  B60W10/20 ,  B60W40/072 ,  G08G1/00

CPC classification number: G08G1/096725 ,  B60W10/04 ,  B60W10/18 ,  B60W10/184 ,  B60W10/20 ,  B60W30/0956 ,  B60W30/10 ,  B60W30/16 ,  B60W30/18163 ,  B60W40/072 ,  B60W2050/0077 ,  B60W2550/143 ,  B60W2550/306 ,  B60W2550/308 ,  B60W2550/402 ,  B60W2710/18 ,  B60W2710/20 ,  G01C21/32 ,  G05D1/0088 ,  G05D1/0212 ,  G05D1/0246 ,  G05D1/0257 ,  G05D1/0287 ,  G08G1/20 ,  G08G1/22

Abstract: A method and apparatus is provided for controlling the operation of an autonomous vehicle. According to one aspect, the autonomous vehicle may track the trajectories of other vehicles on a road. Based on the other vehicle's trajectories, the autonomous vehicle may generate a representative trajectory. Afterwards, the autonomous vehicle may change at least one of its speed or direction based on the representative trajectory.

Abstract translation: 提供了一种用于控制自主车辆的操作的方法和装置。 根据一个方面，自主车辆可以跟踪道路上的其他车辆的轨迹。 基于其他车辆的轨迹，自主车辆可以产生代表性轨迹。 之后，自主车辆可以基于代表性轨迹改变其速度或方向中的至少一个。

公开(公告)号：US20160266581A1

公开(公告)日：2016-09-15

申请号：US15137120

申请日：2016-04-25

Applicant: Google Inc.

Inventor： Dmitri A. Dolgov ,  Christopher Paul Urmson

IPC: G05D1/02

CPC classification number: G05D1/0274 ,  B60W30/18154 ,  B60W2050/0095 ,  B60W2550/12 ,  G05D1/0248 ,  G05D1/0257 ,  G05D1/0276 ,  G05D2201/0213

Abstract: Models can be generated of a vehicle's view of its environment and used to maneuver the vehicle. This view need not include what objects or features the vehicle is actually seeing, but rather those areas that the vehicle is able to observe using its sensors if the sensors were completely un-occluded. For example, for each of a plurality of sensors of the object detection component, a computer may generate an individual 3D model of that sensor's field of view. Weather information is received and used to adjust one or more of the models. After this adjusting, the models may be aggregated into a comprehensive 3D model. The comprehensive model may be combined with detailed map information indicating the probability of detecting objects at different locations. The model of the vehicle's environment may be computed based on the combined comprehensive 3D model and detailed map information.

Abstract translation: 可以产生车辆对其环境的视野的模型，并用于操纵车辆。 该视图不需要包括车辆实际看到的物体或特征，而是车辆能够使用其传感器观察的区域，如果传感器完全不被遮挡。 例如，对于物体检测部件的多个传感器中的每一个，计算机可以生成该传感器的视野的单独的3D模型。 接收天气信息并用于调整一个或多个模型。 经过这种调整，模型可能会聚合成一个全面的3D模型。 综合模型可以与指示在不同位置检测物体的概率的详细地图信息相结合。 车辆环境模型可以基于综合的综合3D模型和详细的地图信息进行计算。

公开(公告)号：US09381918B1

公开(公告)日：2016-07-05

申请号：US14454241

申请日：2014-08-07

Applicant: Google Inc.

Inventor： David Ian Franklin Ferguson ,  Dmitri A. Dolgov

IPC: G01C22/00 ,  G05D1/00 ,  B60T8/32 ,  G06F7/00 ,  G06F17/00 ,  B60T8/24 ,  G05D5/00 ,  B60T7/12 ,  B60W30/14

CPC classification number: B60W30/143 ,  B60L2240/00 ,  B60L2240/10 ,  B60L2240/12 ,  B60L2240/14 ,  B60L2240/16 ,  B60T7/042 ,  B60T7/22 ,  B60W30/14 ,  B60W30/146 ,  B60W50/085 ,  B60W2520/10 ,  B60W2550/141 ,  B60W2550/302 ,  B60W2550/306 ,  G05D1/0088

Abstract: Aspects of the disclosure relate generally to speed control in an autonomous vehicle. For example, an autonomous vehicle may include a user interface which allows the driver to input speed preferences. These preferences may include the maximum speed above the speed limit the user would like the autonomous vehicle to drive when other vehicles are present and driving above or below certain speeds. The other vehicles may be in adjacent or the same lane the vehicle, and need not be in front of the vehicle.

Abstract translation: 本公开的方面通常涉及自主车辆中的速度控制。 例如，自主车辆可以包括允许驾驶员输入速度偏好的用户界面。 这些偏好可以包括超过用户希望自主车辆在其他车辆存在并且行驶高于或低于特定速度时的驾驶速度的最大速度。 其他车辆可以在车辆的相邻车道或同一车道中，并且不需要在车辆前方。

公开(公告)号：US09367065B2

公开(公告)日：2016-06-14

申请号：US13749793

申请日：2013-01-25

Applicant: Google Inc.

Inventor： Dmitri A. Dolgov ,  Christopher Paul Urmson

IPC: G05D1/02 ,  B60W30/18 ,  B60W50/00

CPC classification number: G05D1/0274 ,  B60W30/18154 ,  B60W2050/0095 ,  B60W2550/12 ,  G05D1/0248 ,  G05D1/0257 ,  G05D1/0276 ,  G05D2201/0213

Abstract: Models can be generated of a vehicle's view of its environment and used to maneuver the vehicle. This view need not include what objects or features the vehicle is actually seeing, but rather those areas that the vehicle is able to observe using its sensors if the sensors were completely un-occluded. For example, for each of a plurality of sensors of the object detection component, a computer may generate an individual 3D model of that sensor's field of view. Weather information is received and used to adjust one or more of the models. After this adjusting, the models may be aggregated into a comprehensive 3D model. The comprehensive model may be combined with detailed map information indicating the probability of detecting objects at different locations. The model of the vehicle's environment may be computed based on the combined comprehensive 3D model and detailed map information.

Abstract translation: 可以产生车辆对其环境的视野的模型，并用于操纵车辆。 该视图不需要包括车辆实际看到的物体或特征，而是车辆能够使用其传感器观察的区域，如果传感器完全不被遮挡。 例如，对于物体检测部件的多个传感器中的每一个，计算机可以生成该传感器的视野的单独的3D模型。 接收天气信息并用于调整一个或多个模型。 经过这种调整，模型可能会聚合成一个全面的3D模型。 综合模型可以与指示在不同位置检测物体的概率的详细地图信息相结合。 车辆环境模型可以基于综合的综合3D模型和详细的地图信息进行计算。

公开(公告)号：USD753721S1

公开(公告)日：2016-04-12

申请号：US29531046

申请日：2015-06-23

Applicant: Google Inc.

Designer： Robertus Christianus Elisabeth Mariet ,  Brian Douglas Cullinane ,  Manuel Christian Clement ,  Andrew Timothy Szybalski ,  Dmitri A. Dolgov

公开(公告)号：US09216737B1

公开(公告)日：2015-12-22

申请号：US14570321

申请日：2014-12-15

Applicant: Google Inc.

Inventor： Jiajun Zhu ,  David Ian Franklin Ferguson ,  Dmitri A. Dolgov

IPC: G05D1/02 ,  B60W30/00 ,  G01C21/34

CPC classification number: B60W30/00 ,  B60W30/12 ,  B60W30/16 ,  B60W2050/0095 ,  B60W2550/30 ,  B60W2550/402 ,  G01C21/34 ,  G05D1/02

Abstract: Aspects of the disclosure relate generally to detecting discrete actions by traveling vehicles. The features described improve the safety, use, driver experience, and performance of autonomously controlled vehicles by performing a behavior analysis on mobile objects in the vicinity of an autonomous vehicle. Specifically, an autonomous vehicle is capable of detecting and tracking nearby vehicles and is able to determine when these nearby vehicles have performed actions of interest by comparing their tracked movements with map data.

公开(公告)号：US08954252B1

公开(公告)日：2015-02-10

申请号：US14095107

申请日：2013-12-03

Applicant: Google Inc.

Inventor： Christopher Paul Urmson ,  Ian James Mahon ,  Dmitri A. Dolgov ,  Jiajun Zhu

IPC: G08G1/16

CPC classification number: G08G1/167 ,  B60Q1/50 ,  B60Q5/005 ,  B60T8/17558 ,  B60T2201/022 ,  G08G1/165 ,  G08G1/166

Abstract: Aspects of the disclosure relate generally to notifying a pedestrian of the intent of a self-driving vehicle. For example, the vehicle may include sensors which detect an object such as a pedestrian attempting or about to cross the roadway in front of the vehicle. The vehicle's computer may then determine the correct way to respond to the pedestrian. For example, the computer may determine that the vehicle should stop or slow down, yield, or stop if it is safe to do so. The vehicle may then provide a notification to the pedestrian of what the vehicle is going to or is currently doing. For example, the vehicle may include a physical signaling device, an electronic sign or lights, a speaker for providing audible notifications, etc.

公开(公告)号：US20140324268A1

公开(公告)日：2014-10-30

申请号：US14324470

申请日：2014-07-07

Applicant: Google Inc.

Inventor： Michael Steven Montemerlo ,  Dmitri A. Dolgov ,  Christopher Paul Urmson

IPC: G05D1/02

CPC classification number: G06K9/00201 ,  B60R1/00 ,  B60R2300/30 ,  B60W30/08 ,  B60W30/186 ,  B60W2050/0292 ,  B60W2530/14 ,  B60W2550/22 ,  B62D6/00 ,  G01C21/3617 ,  G05D1/0055 ,  G05D1/0088 ,  G05D1/021 ,  G05D1/0214 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0257 ,  G05D1/0274 ,  G05D1/0276 ,  G05D1/0278 ,  G05D2201/0213 ,  G06K9/00791 ,  G06K9/00798 ,  G06K9/00805 ,  G06K9/3241 ,  G06T7/0044 ,  G06T7/0057 ,  G06T7/20 ,  G06T7/223 ,  G06T7/231 ,  G06T2207/10004 ,  G06T2207/10028 ,  G06T2207/30236 ,  G06T2207/30252 ,  G06T2207/30261

Abstract: A roadgraph may include a graph network of information such as roads, lanes, intersections, and the connections between these features. The roadgraph may also include one or more zones associated with particular rules. The zones may include locations where driving is typically challenging such as merges, construction zones, or other obstacles. In one example, the rules may require an autonomous vehicle to alert a driver that the vehicle is approaching a zone. The vehicle may thus require a driver to take control of steering, acceleration, deceleration, etc. In another example, the zones may be designated by a driver and may be broadcast to other nearby vehicles, for example using a radio link or other network such that other vehicles may be able to observer the same rule at the same location or at least notify the other vehicle's drivers that another driver felt the location was unsafe for autonomous driving.

Abstract translation: 道路图可以包括信息的图形网络，例如道路，车道，交叉路口以及这些特征之间的连接。 道路图也可以包括与特定规则相关联的一个或多个区域。 这些区域可以包括驾驶通常是具有挑战性的位置，例如合并，建筑区域或其他障碍物。 在一个示例中，规则可能需要自主车辆来警告驾驶员车辆正在接近区域。 因此，车辆可能需要驾驶员来控制转向，加速，减速等。在另一示例中，区域可以由驾驶员指定，并且可以广播到其他附近的车辆，例如使用无线电链路或其他网络 其他车辆可能能够在相同的位置观察相同的规则，或者至少通知另一车辆的司机，另一司机认为该位置对于自主驾驶是不安全的。