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    MODIFYING BEHAVIOR OF AUTONOMOUS VEHICLE BASED ON PREDICTED BEHAVIOR OF OTHER VEHICLES
    2.
    发明公开
    MODIFYING BEHAVIOR OF AUTONOMOUS VEHICLE BASED ON PREDICTED BEHAVIOR OF OTHER VEHICLES 审中-公开
    进行一次自主车辆的上的其他车辆的前述行为基础的改变

    公开(公告)号：EP2825435A4

    公开(公告)日：2016-09-07

    申请号：EP13761643

    申请日：2013-02-11

    申请人： GOOGLE INC

    发明人： FERGUSON DAVID I ,  DOLGOV DMITRI A

    IPC分类号： B60W30/095 ,  B60W30/12 ,  B60W30/16 ,  G05D1/00

    CPC分类号： 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

    摘要： 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.

    摘要翻译： 车辆配置为在自主模式进行操作莫非确定性矿山车辆和车辆的环境的当前状态的当前状态。 车辆的环境包括至少一个其他车辆。 所述至少一个其他车辆的预测行为可以基于车辆的当前状态和所述车辆的环境的当前状态是确定的开采。 置信水平能如此确定的开采基于预测行为，车辆的当前状态和车辆的环境的当前状态。 在一些实施例中，置信度水平可以与所述至少一个其他车辆的可能性来执行预测行为。 在自主模式下，车辆可能基于预测行为，置信水平和车辆及其环境的当前状态来控制。

    MODIFYING BEHAVIOR OF AUTONOMOUS VEHICLES BASED ON SENSOR BLIND SPOTS AND LIMITATIONS
    4.
    发明公开
    MODIFYING BEHAVIOR OF AUTONOMOUS VEHICLES BASED ON SENSOR BLIND SPOTS AND LIMITATIONS 有权
    VERHALTENSMODIFIZIERUNG VON AUTONOMEN FAHRZEUGEN AUF基于VON TOTPUNKTEN UND BEGRENZUNGEN

    公开(公告)号：EP2948928A4

    公开(公告)日：2016-10-05

    申请号：EP14743710

    申请日：2014-01-17

    申请人： GOOGLE INC

    发明人： DOLGOV DMITRI A ,  URMSON CHRISTOPHER PAUL

    IPC分类号： G05D1/02 ,  B60W30/18 ,  B60W50/00 ,  G06T17/00

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

    摘要： 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.

    摘要翻译： 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那些区域，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场的单独的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。

    SENSOR FIELD SELECTION
    7.
    发明公开
    SENSOR FIELD SELECTION 审中-公开
    SENSORFELDAUSWAHL

    公开(公告)号：EP2771751A4

    公开(公告)日：2015-09-16

    申请号：EP11867078

    申请日：2011-09-30

    申请人： GOOGLE INC

    发明人： FAIRFIELD NATHANIEL ,  ZHU JIAJUN ,  DOLGOV DMITRI A

    IPC分类号： G05D1/02 ,  B60W30/00 ,  B60W30/08 ,  B60W40/02

    CPC分类号： G05D1/024 ,  G05D1/0246 ,  G05D1/0255 ,  G05D2201/0213

    摘要： Aspects of the present disclosure relate generally to safe and effective use of autonomous vehicles. More specifically, an autonomous vehicle is able to detect objects in its surroundings which are within the sensor fields. In response to detecting objects, the computer may adjust the autonomous vehicle's speed or change direction. In some examples, however, the sensor fields may be changed or become less reliable based on objects or other features in the vehicle's surroundings. As a result, the vehicle's computer may calculate the size and shape of the area of sensor diminution and a new sensor field based on this area of diminution. In response to identifying the area of sensor diminution or the new sensor field, the vehicle's computer may change the control strategies of the vehicle.

    摘要翻译： 本公开的方面通常涉及自主车辆的安全和有效的使用。 更具体地，自主车辆能够检测其周围的传感器场内的物体。 响应于检测对象，计算机可以调整自主车辆的速度或改变方向。 然而，在一些示例中，可以基于车辆周围环境中的物体或其它特征改变传感器场或变得不可靠。 因此，车辆的计算机可以计算出传感器减小面积的大小和形状以及基于该减小区域的新的传感器场。 响应于识别传感器减小的区域或新的传感器场，车辆的计算机可以改变车辆的控制策略。