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公开(公告)号：US09330571B2
公开(公告)日：2016-05-03
申请号：US14165740
申请日：2014-01-28
Applicant: Google Inc.
Inventor： David Ian Franklin Ferguson , Dmitri A. Dolgov
CPC classification number: G08G1/166 , B60W30/095 , B60W30/12 , B60W30/16 , B60W30/18163 , B60W50/0097 , B60W2050/143 , B60W2520/10 , B60W2550/402 , B60W2750/40 , G05D1/00 , G05D1/0088 , G05D2201/0213 , Y02T10/84
Abstract: A vehicle configured to operate in an autonomous mode could determine a current state of the vehicle and the current state of the environment of the vehicle. The environment of the vehicle includes at least one other vehicle. A predicted behavior of the at least one other vehicle could be determined based on the current state of the vehicle and the current state of the environment of the vehicle. A confidence level could also be determined based on the predicted behavior, the current state of the vehicle, and the current state of the environment of the vehicle. In some embodiments, the confidence level may be related to the likelihood of the at least one other vehicle to perform the predicted behavior. The vehicle in the autonomous mode could be controlled based on the predicted behavior, the confidence level, and the current state of the vehicle and its environment.
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公开(公告)号：US09268332B2
公开(公告)日：2016-02-23
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 , G05D1/00 , B60W30/08 , B60W30/186 , B60W50/029 , G06K9/00 , G06K9/32
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.
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Patent Agency Ranking
公开(公告)号：US09221396B1
公开(公告)日：2015-12-29
申请号：US13628986
申请日：2012-09-27
Applicant: Google Inc.
Inventor： Jiajun Zhu , Dmitri A. Dolgov , Christopher Paul Urmson
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。
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公开(公告)号：US08965621B1
公开(公告)日：2015-02-24
申请号：US14134221
申请日：2013-12-19
Applicant: Google Inc.
Inventor： Christopher Paul Urmson , Dmitri A. Dolgov , Philip Nemec
IPC: G05D1/00
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: Systems and methods are provided for controlling a vehicle. A safe envelope driving pattern is determined to control the vehicle in an autonomous mode. User identification data and sensor data are received from one or more sensors associated with the vehicle. A driver-specific driving pattern is determined based on the received sensor data and the user identification data. Operation of the vehicle is controlled in the autonomous mode based on the identification of the user in the driver's seat, the safe envelope driving pattern, and the user-specific driving pattern.
Abstract translation: 提供了用于控制车辆的系统和方法。 确定安全信封驱动模式以在自主模式下控制车辆。 从与车辆相关联的一个或多个传感器接收用户识别数据和传感器数据。 基于所接收的传感器数据和用户识别数据来确定驾驶员特定的驾驶模式。 基于驾驶员座椅中的用户识别，安全信封驾驶模式和用户特定驾驶模式，以自主模式控制车辆的操作。
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49.发明授权公开(公告)号：US08935034B1
公开(公告)日：2015-01-13
申请号：US14190621
申请日：2014-02-26
Applicant: Google Inc.
Inventor： Jiajun Zhu , David Ian Franklin Ferguson , Dmitri A. Dolgov
IPC: G05D1/02
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.
Abstract translation: 本公开的方面通常涉及通过行驶车辆检测离散动作。 所描述的特征通过对自主车辆附近的移动物体进行行为分析来改善自主驾驶车辆的安全性，驾驶经验和性能。 具体来说，自主车辆能够检测和跟踪附近的车辆，并且能够通过将其跟踪的运动与地图数据进行比较来确定这些附近车辆何时已经执行感兴趣的动作。
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公开(公告)号：US08914212B1
公开(公告)日：2014-12-16
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
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.
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