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    MODIFYING BEHAVIOR OF AUTONOMOUS VEHICLES BASED ON SENSOR BLIND SPOTS AND LIMITATIONS
    1.
    发明授权
    MODIFYING BEHAVIOR OF AUTONOMOUS VEHICLES BASED ON SENSOR BLIND SPOTS AND LIMITATIONS 有权
    基于传感器盲点和自身限制的自主车辆改装行为

    公开(公告)号：EP2948928B1

    公开(公告)日：2017-07-19

    申请号：EP14743710.7

    申请日：2014-01-17

    申请人： WAYMO LLC

    发明人： DOLGOV, Dmitri, A. ,  URMSON, Christopher, Paul

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

    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： 模型可以生成车辆的环境视图并用于操纵车辆。 该视图不需要包括车辆实际看到的物体或特征，而是如果传感器完全没有被遮挡，则车辆能够使用其传感器观察的那些区域。 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3D模型。 收到天气信息并用于调整一个或多个模型。 经过这种调整后，模型可以被汇总成综合的3D模型。 综合模型可以与指示在不同位置处检测物体的概率的详细地图信息组合。 可以基于组合的综合3D模型和详细的地图信息来计算车辆环境的模型。

    AUTONOMOUS VEHICLE SERVICES
    4.
    发明公开
    AUTONOMOUS VEHICLE SERVICES 审中-公开

    公开(公告)号：EP3357032A1

    公开(公告)日：2018-08-08

    申请号：EP16882489.4

    申请日：2016-12-27

    申请人： WAYMO LLC

    发明人： URMSON, Christopher, Paul ,  COLIJN, Peter ,  DOLGOV, Dmitri, A. ,  FAIRFIELD, Nathaniel ,  PANDIT, Salil ,  PATEL, Nirmal ,  POWELL, Ryan ,  CHAN, Min Li

    IPC分类号： G06Q50/30 ,  H04W4/02 ,  H04W12/06

    CPC分类号： G06Q50/30 ,  G01C21/3617 ,  G06Q10/06315 ,  G08G1/005 ,  G08G1/202

    摘要： The technology relates to facilitating transportation services between a user and a vehicle having an autonomous driving mode. For instance, one or more server computing devices having one or more processors may information identifying the current location of the vehicle. The one or more server computing devices may determine that the user is likely to want to take a trip to a particular destination based on prior location history for the user. The one or more server computing devices may dispatch the vehicle to cause the vehicle to travel in the autonomous driving mode towards a location of the user. In addition, after dispatching, the one or more server computing devices sending a notification to a client computing device associated with the user indicating that the vehicle is currently available to take the passenger to the particular destination.

    DETECTING ROAD WEATHER CONDITIONS
    5.
    发明授权
    DETECTING ROAD WEATHER CONDITIONS 有权
    检测道路天气情况

    公开(公告)号：EP2897845B1

    公开(公告)日：2017-08-09

    申请号：EP13838660.2

    申请日：2013-09-19

    申请人： WAYMO LLC

    发明人： URMSON, Christopher, Paul ,  MONTEMERLO, Michael, Steven ,  ZHU, Jiajun

    IPC分类号： B60W40/02 ,  B60W40/06 ,  B60W30/18 ,  B60W10/00 ,  G01S17/02

    CPC分类号： G01S7/4802 ,  G01S17/023 ,  G01S17/936 ,  G01S17/95 ,  Y02A90/19

    摘要： Aspects of the disclosure relate generally to detecting road weather conditions. Vehicle sensors including a laser 310, 311, precipitation sensors 340, and/or cameras 320, 322 may be used to detect information such as the brightness of the road, variations in the brightness of the road, brightness of the world, current precipitation, as well as the detected height of the road. Information received from other sources such as networked based weather information (forecasts, radar, precipitation reports, etc.) may also be considered. The combination of the received and detected information may be used to estimate the probability of precipitation such as water, snow or ice in the roadway. This information may then be used to maneuver an autonomous vehicle 101 (for steering, accelerating, or braking) or identify dangerous situations.

    摘要翻译： 本公开的各方面一般涉及检测道路天气状况。 包括激光器310,311，降水传感器340和/或相机320,322的车辆传感器可以用于检测诸如道路亮度，道路亮度变化，世界亮度，当前降水量， 以及检测到的道路高度。 也可以考虑从其他来源收到的信息，如基于网络的天气信息（预报，雷达，降水报告等）。 接收到的和检测到的信息的组合可以用来估计降水的概率，例如道路中的水，雪或冰。 然后该信息可用于操纵自主车辆101（用于转向，加速或制动）或识别危险情况。