公开(公告)号：US09489601B2

公开(公告)日：2016-11-08

申请号：US14883956

申请日：2015-10-15

Applicant: Google Inc.

Inventor： Nathaniel Fairfield ,  David Ian Ferguson ,  Abhijit Ogale ,  Matthew Wang ,  Yangli Hector Yee

IPC: G01C22/00 ,  G05D1/00 ,  G06K9/78 ,  H04N7/18 ,  G06K9/00 ,  B62D6/00 ,  B60T7/12 ,  B60W30/10 ,  B60W30/14 ,  B60W40/06 ,  G05D1/02 ,  B62D15/02 ,  B60T1/10 ,  B60T7/18 ,  B60T7/22

CPC classification number: G06K9/78 ,  B60T1/10 ,  B60T7/12 ,  B60T7/18 ,  B60T7/22 ,  B60T2201/08 ,  B60W30/10 ,  B60W30/143 ,  B60W40/06 ,  B60W2420/42 ,  B60W2550/14 ,  B60W2550/22 ,  B62D6/00 ,  B62D15/025 ,  B62D15/0255 ,  B62D15/0265 ,  G01S7/4802 ,  G01S7/4808 ,  G01S13/865 ,  G01S13/867 ,  G01S13/931 ,  G01S17/89 ,  G01S17/936 ,  G01S2013/9353 ,  G01S2013/936 ,  G05D1/0088 ,  G05D1/0214 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0257 ,  G05D1/027 ,  G05D1/0278 ,  G05D2201/0213 ,  G06K9/00798 ,  G06K9/00805 ,  G06K9/00818 ,  H04N7/18

Abstract: Methods and systems for detection of a construction zone sign are described. A computing device, configured to control the vehicle, may be configured to receive, from an image-capture device coupled to the computing device, images of a vicinity of the road on which the vehicle is travelling. Also, the computing device may be configured to determine image portions in the images that may depict sides of the road at a predetermined height range. Further, the computing device may be configured to detect a construction zone sign in the image portions, and determine a type of the construction zone sign. Accordingly, the computing device may be configured to modify a control strategy associated with a driving behavior of the vehicle; and control the vehicle based on the modified control strategy.

公开(公告)号：US08977007B1

公开(公告)日：2015-03-10

申请号：US13868353

申请日：2013-04-23

Applicant: Google Inc.

Inventor： David Ian Franklin Ferguson ,  Abhijit Ogale ,  Matthew Wang

IPC: G06K9/00 ,  G08G1/123 ,  H04N5/225

CPC classification number: G06K9/00825

Abstract: Methods and systems for detecting a vehicle signal through image differencing and filtering are described. A computing device may be configured to receive a sequence of images of an identified vehicle in a vicinity of a given vehicle. The computing device may be configured to determine, based on a comparison of a first image of a pair of images of the sequence of images to a second image of the pair of images, a portion of image data exhibiting a change in color and a change in brightness between the first image and the second image of the pair of images. The computing device may be configured to determine that the portion indicates a light signal for the identified vehicle; and provide instructions to control the given vehicle based on the light signal of the identified vehicle.

Abstract translation: 描述了通过图像差分和滤波检测车辆信号的方法和系统。 计算设备可以被配置为在给定车辆的附近接收识别的车辆的一系列图像。 计算设备可以被配置为基于图像序列的一对图像的第一图像与该对图像的第二图像的比较来确定表现出颜色变化和变化的图像数据的一部分 在第一图像和该对图像的第二图像之间的亮度。 计算设备可以被配置为确定该部分指示用于所识别的车辆的光信号; 并提供基于识别的车辆的光信号来控制给定车辆的指令。

公开(公告)号：US20160092755A1

公开(公告)日：2016-03-31

申请号：US14883956

申请日：2015-10-15

Applicant: Google Inc.

Inventor： Nathaniel Fairfield ,  David Ian Ferguson ,  Abhijit Ogale ,  Matthew Wang ,  Yangli Hector Yee

IPC: G06K9/78 ,  G05D1/02 ,  G05D1/00 ,  G06K9/00 ,  H04N7/18

CPC classification number: G06K9/78 ,  B60T1/10 ,  B60T7/12 ,  B60T7/18 ,  B60T7/22 ,  B60T2201/08 ,  B60W30/10 ,  B60W30/143 ,  B60W40/06 ,  B60W2420/42 ,  B60W2550/14 ,  B60W2550/22 ,  B62D6/00 ,  B62D15/025 ,  B62D15/0255 ,  B62D15/0265 ,  G01S7/4802 ,  G01S7/4808 ,  G01S13/865 ,  G01S13/867 ,  G01S13/931 ,  G01S17/89 ,  G01S17/936 ,  G01S2013/9353 ,  G01S2013/936 ,  G05D1/0088 ,  G05D1/0214 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0257 ,  G05D1/027 ,  G05D1/0278 ,  G05D2201/0213 ,  G06K9/00798 ,  G06K9/00805 ,  G06K9/00818 ,  H04N7/18

Abstract: Methods and systems for detection of a construction zone sign are described. A computing device, configured to control the vehicle, may be configured to receive, from an image-capture device coupled to the computing device, images of a vicinity of the road on which the vehicle is travelling. Also, the computing device may be configured to determine image portions in the images that may depict sides of the road at a predetermined height range. Further, the computing device may be configured to detect a construction zone sign in the image portions, and determine a type of the construction zone sign. Accordingly, the computing device may be configured to modify a control strategy associated with a driving behavior of the vehicle; and control the vehicle based on the modified control strategy.

Abstract translation: 描述了用于检测结构区域符号的方法和系统。 被配置为控制车辆的计算设备可以被配置为从耦合到计算设备的图像捕获设备接收车辆行驶的道路附近的图像。 此外，计算设备可以被配置为确定可以在预定高度范围处描绘道路的侧面的图像中的图像部分。 此外，计算装置可以被配置为检测图像部分中的构造区域标记，并且确定构造区域符号的类型。 因此，计算设备可以被配置为修改与车辆的驾驶行为相关联的控制策略; 并根据修改的控制策略控制车辆。