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1.发明申请公开(公告)号：US20170057510A1
公开(公告)日：2017-03-02
申请号：US15347389
申请日：2016-11-09
Applicant: Google Inc.
Inventor： Joshua Seth Herbach , Nathaniel Fairfield
CPC classification number: B60W30/181 , B60W10/18 , B60W10/20 , B60W30/09 , B60W30/18009 , B60W50/0225 , B60W2550/00 , B60W2550/10 , B60W2710/18 , B60W2710/20 , B62D15/025 , B62D15/0265 , G05D1/0088
Abstract: Methods and systems for determining instructions for pulling over an autonomous vehicle are described. An example method may involve identifying a region of a road ahead of the autonomous vehicle based on lane boundaries of the road, one or more road boundaries indicating an edge of the road, and a size of the autonomous vehicle. The method may also involve determining a braking profile for reducing the speed of the autonomous vehicle based on the region and a speed of the autonomous vehicle. The method may also involve determining, based on the braking profile, a trajectory such that the autonomous vehicle will travel within the region while reducing the speed of the autonomous vehicle. The method may further involve determining instructions for pulling over and stopping the autonomous vehicle in the region in accordance with the determined trajectory and storing the instructions in a memory accessible by a computing device.
Abstract translation: 描述用于确定用于牵引自主车辆的指令的方法和系统。 示例性方法可以包括基于道路的车道边界，指示道路边缘的一个或多个道路边界以及自主车辆的大小来识别自主车辆之前的道路的区域。 该方法还可以包括基于自主车辆的区域和速度来确定用于降低自主车辆的速度的制动轮廓。 该方法还可以包括基于制动轮廓来确定轨道，使得自主车辆将在该区域内行进，同时降低自主车辆的速度。 该方法还可以包括根据所确定的轨迹确定在区域内拉动和停止自主车辆的指令，并将指令存储在可由计算设备访问的存储器中。
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公开(公告)号：US09547989B2
公开(公告)日：2017-01-17
申请号：US14196961
申请日：2014-03-04
Applicant: Google Inc.
Inventor： Nathaniel Fairfield , Joshua Seth Herbach , Andrew Hughes Chatham , Michael Steven Montemerlo
CPC classification number: G08G1/161 , B60W30/00 , B60W2050/008 , G05D1/0088 , G05D1/0287 , G08G1/0112 , G08G1/096725 , G08G1/096741 , G08G1/096775 , G08G1/22
Abstract: Example systems and methods allow for reporting and sharing of information reports relating to driving conditions within a fleet of autonomous vehicles. One example method includes receiving information reports relating to driving conditions from a plurality of autonomous vehicles within a fleet of autonomous vehicles. The method may also include receiving sensor data from a plurality of autonomous vehicles within the fleet of autonomous vehicles. The method may further include validating some of the information reports based at least in part on the sensor data. The method may additionally include combining validated information reports into a driving information map. The method may also include periodically filtering the driving information map to remove outdated information reports. The method may further include providing portions of the driving information map to autonomous vehicles within the fleet of autonomous vehicles.
Abstract translation: 示例系统和方法允许报告和共享与自动车辆的车队内的驾驶状况有关的信息报告。 一个示例性方法包括从自动车辆的车队内的多个自主车辆接收与驾驶条件相关的信息报告。 该方法还可以包括从自主车辆的车队内的多个自主车辆接收传感器数据。 该方法还可以包括至少部分地基于传感器数据验证一些信息报告。 该方法还可以包括将经验证的信息报告合并到驾驶信息图中。 该方法还可以包括周期性地过滤驾驶信息图以消除过时的信息报告。 该方法还可以包括将驾驶信息的一部分映射到自主车辆的车队内的自主车辆。
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公开(公告)号：US09547307B1
公开(公告)日：2017-01-17
申请号：US14549977
申请日：2014-11-21
Applicant: Google Inc.
Inventor： Brian Douglas Cullinane , David Tse-Zhou Lu , Anne Kristiina Aula , Jennifer Arden , Nathaniel Fairfield , Joshua Seth Herbach , Calvin Karl Johnson , Renaud-Roland Hubert
IPC: G08G1/00 , G05D1/00 , G05D1/02 , G01C21/34 , G01C21/26 , G06Q50/30 , G06K9/00 , B62D15/02 , G08G1/14 , B60W30/06
CPC classification number: G05D1/0212 , B60R25/24 , B60W30/06 , B62D15/0285 , E05F15/70 , E05F15/76 , E05Y2800/426 , E05Y2900/531 , G01C21/20 , G01C21/26 , G01C21/3438 , G01C21/3667 , G05D1/0088 , G06K9/00812 , G06Q50/30 , G07C5/008 , G08G1/14
Abstract: Aspects of the present disclosure relate to a vehicle having one or more computing devices that may receive instructions to pick up a passenger at a pickup location and determine when the vehicle is within a first distance of the pickup location. When the vehicle is within the first distance, the computing devices may make a first attempt to find a spot to park the vehicle and wait for the passenger. When the vehicle is unable to find a spot to park the vehicle on the first attempt, the computing devices may maneuvering the vehicle in order to make a second attempt to find a spot to park the vehicle and wait for the passenger. When the vehicle is unable to find a spot to park the vehicle on the second attempt, the computing devices may stop the vehicle in a current lane to wait for the passenger.
Abstract translation: 本公开的方面涉及具有一个或多个计算设备的车辆，其可以接收在拾取位置处拾取乘客的指令，并且确定车辆何时位于拾取位置的第一距离内。 当车辆处于第一距离内时，计算设备可以首先尝试找到停放车辆的位置并等待乘客。 当车辆在第一次尝试时不能找到停放车辆的位置时，计算设备可以操纵车辆，以便第二次尝试找到停放车辆的位置并等待乘客。 当车辆在第二次尝试中不能找到停放车辆的位置时，计算设备可能会停在当前车道上等待乘客。
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4.发明申请公开(公告)号：US20160370801A1
公开(公告)日：2016-12-22
申请号：US15257021
申请日：2016-09-06
Applicant: Google Inc.
Inventor： Nathaniel Fairfield , Joshua Seth Herbach
IPC: G05D1/00
CPC classification number: G05D1/0088 , B60W2050/0215 , G05D1/0027 , G05D1/0038 , G05D1/0044 , G05D2201/0213 , H04L67/12
Abstract: Example systems and methods enable an autonomous vehicle to request assistance from a remote operator when the vehicle's confidence in operation is low. One example method includes operating an autonomous vehicle in a first autonomous mode. The method may also include identifying a situation where a level of confidence of an autonomous operation in the first autonomous mode is below a threshold level. The method may further include sending a request for assistance to a remote assistor, the request including sensor data representative of a portion of an environment of the autonomous vehicle. The method may additionally include receiving a response from the remote assistor, the response indicating a second autonomous mode of operation. The method may also include causing the autonomous vehicle to operate in the second autonomous mode of operation in accordance with the response from the remote assistor.
Abstract translation: 当车辆的操作信心低时，示例系统和方法使得自主车辆能够向遥控操作者请求帮助。 一个示例性方法包括以第一自主模式操作自主车辆。 该方法还可以包括识别在第一自主模式中的自主操作的置信度低于阈值水平的情况。 该方法还可以包括向远程组合器发送对协助的请求，所述请求包括表示自主车辆的环境的一部分的传感器数据。 该方法可以另外包括从远程组件接收响应，该响应指示第二自主操作模式。 该方法还可以包括使自主车辆根据来自遥控器的响应在第二自主操作模式下操作。
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5.发明授权Methods and systems for determining instructions for pulling over an autonomous vehicle 有权用于确定牵引自主车辆的指示的方法和系统公开(公告)号：US09523984B1
公开(公告)日：2016-12-20
申请号：US13940429
申请日：2013-07-12
Applicant: Google Inc.
Inventor： Joshua Seth Herbach , Nathaniel Fairfield
CPC classification number: B60W30/181 , B60W10/18 , B60W10/20 , B60W30/09 , B60W30/18009 , B60W50/0225 , B60W2550/00 , B60W2550/10 , B60W2710/18 , B60W2710/20 , B62D15/025 , B62D15/0265 , G05D1/0088
Abstract: Methods and systems for determining instructions for pulling over an autonomous vehicle are described. An example method may involve identifying a region of a road ahead of the autonomous vehicle based on lane boundaries of the road, one or more road boundaries indicating an edge of the road, and a size of the autonomous vehicle. The method may also involve determining a braking profile for reducing the speed of the autonomous vehicle based on the region and a speed of the autonomous vehicle. The method may also involve determining, based on the braking profile, a trajectory such that the autonomous vehicle will travel within the region while reducing the speed of the autonomous vehicle. The method may further involve determining instructions for pulling over and stopping the autonomous vehicle in the region in accordance with the determined trajectory and storing the instructions in a memory accessible by a computing device.
Abstract translation: 描述用于确定用于牵引自主车辆的指令的方法和系统。 示例性方法可以包括基于道路的车道边界，指示道路边缘的一个或多个道路边界以及自主车辆的大小来识别自主车辆之前的道路的区域。 该方法还可以包括基于自主车辆的区域和速度来确定用于降低自主车辆的速度的制动轮廓。 该方法还可以包括基于制动轮廓来确定轨道，使得自主车辆将在该区域内行进，同时降低自主车辆的速度。 该方法还可以包括根据所确定的轨迹确定在区域内拉动和停止自主车辆的指令，并将指令存储在可由计算设备访问的存储器中。
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Patent Agency Ranking
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.
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公开(公告)号：US09440647B1
公开(公告)日：2016-09-13
申请号：US14492459
申请日：2014-09-22
Applicant: Google Inc.
Inventor： Ioan-Alexandru Sucan , Nathaniel Fairfield
CPC classification number: B60W30/08 , B60W30/18154 , B60W2550/10 , B60W2720/10 , G05D1/021 , G05D2201/0213
Abstract: Aspects of the disclosure relate to safely navigating crosswalks by responding to potentially occluded objects in such crosswalks. For example, a vehicle approaches a crosswalk and the vehicle's one more computing devices may generate a set of samples corresponding to locations in the crosswalk. Sensor data is periodically received by the one or more computing devices. For each given sample of the set of samples a probability value indicative of a probability of sample being occluded is set to an initial value by the one or more computing devices. As the vehicle approaches the crosswalk, probability values for the given sample are periodically adjusted by the one or more computing devices based on the periodically received sensor data. The speed of the vehicle then changed by the one or more computing devices based upon a determination that a sample of the set of samples has met the threshold value.
Abstract translation: 本公开的方面涉及通过响应这种人行横道中潜在的封闭物体来安全地导航人行横道。 例如，车辆接近人行横道，并且车辆的一个计算设备可以生成对应于人行横道中的位置的一组样本。 传感器数据由一个或多个计算设备周期性地接收。 对于样本集合的每个给定样本，通过一个或多个计算设备将指示样本被遮挡的概率的概率值设置为初始值。 当车辆接近人行横道时，基于周期性接收的传感器数据，一个或多个计算设备周期性地调整给定样本的概率值。 然后基于一组样本的样本已经满足阈值的确定，由一个或多个计算设备改变车辆的速度。
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公开(公告)号：US20150254986A1
公开(公告)日：2015-09-10
申请号：US14196961
申请日：2014-03-04
Applicant: Google Inc.
Inventor： Nathaniel Fairfield , Joshua Seth Herbach , Andrew Hughes Chatham , Michael Steven Montemerlo
CPC classification number: G08G1/161 , B60W30/00 , B60W2050/008 , G05D1/0088 , G05D1/0287 , G08G1/0112 , G08G1/096725 , G08G1/096741 , G08G1/096775 , G08G1/22
Abstract: Example systems and methods allow for reporting and sharing of information reports relating to driving conditions within a fleet of autonomous vehicles. One example method includes receiving information reports relating to driving conditions from a plurality of autonomous vehicles within a fleet of autonomous vehicles. The method may also include receiving sensor data from a plurality of autonomous vehicles within the fleet of autonomous vehicles. The method may further include validating some of the information reports based at least in part on the sensor data. The method may additionally include combining validated information reports into a driving information map. The method may also include periodically filtering the driving information map to remove outdated information reports. The method may further include providing portions of the driving information map to autonomous vehicles within the fleet of autonomous vehicles.
Abstract translation: 示例系统和方法允许报告和共享与自动车辆的车队内的驾驶状况有关的信息报告。 一个示例性方法包括从自动车辆的车队内的多个自主车辆接收与驾驶条件相关的信息报告。 该方法还可以包括从自主车辆的车队内的多个自主车辆接收传感器数据。 该方法还可以包括至少部分地基于传感器数据验证一些信息报告。 该方法还可以包括将经验证的信息报告合并到驾驶信息图中。 该方法还可以包括周期性地过滤驾驶信息图以消除过时的信息报告。 该方法还可以包括将驾驶信息的一部分映射到自主车辆的车队内的自主车辆。
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公开(公告)号：US08996224B1
公开(公告)日：2015-03-31
申请号：US13837306
申请日：2013-03-15
Applicant: Google Inc.
Inventor： Joshua Seth Herbach , Nathaniel Fairfield
CPC classification number: G05D1/0011 , B60W30/12 , B60W30/16 , B60W2520/10 , B60W2550/40 , G05D1/0027 , G05D1/0044 , G05D1/02 , G05D2201/0213
Abstract: An autonomous vehicle may determine that a speed of the autonomous vehicle is less than or equal to a threshold speed, and that the autonomous vehicle has not detected a traffic control signal. The autonomous vehicle may identify a cause C for the speed to be less than or equal to the threshold speed. The autonomous vehicle may start a timer T that is based on the cause C. After the timer T expires, the autonomous vehicle may determine whether the cause C remains as a cause for the speed to be less than or equal to the threshold speed. After determining that the cause C remains the cause for the speed to be less than or equal to the threshold speed, the autonomous vehicle may send an assistance signal indicating a stuck condition.
Abstract translation: 自主车辆可以确定自主车辆的速度小于或等于阈值速度，并且自主车辆没有检测到交通控制信号。 自主车辆可以识别速度小于或等于阈值速度的原因C. 自主车辆可以基于原因C启动定时器T.在定时器T到期之后，自主车辆可以确定原因C是否保持为速度小于或等于阈值速度的原因。 在确定原因C仍然是速度小于或等于阈值速度的原因之后，自主车辆可以发送指示卡住状态的辅助信号。
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公开(公告)号：US09551992B1
公开(公告)日：2017-01-24
申请号：US14991150
申请日：2016-01-08
Applicant: Google Inc.
Inventor： Andrew Barton-Sweeney , Daniel Trawick Egnor , Nathaniel Fairfield
CPC classification number: B60W30/00 , G05D1/0282 , G05D2201/0213 , G06Q10/047 , G08G1/202 , G08G1/205
Abstract: Aspects of the disclosure provide systems and methods for providing suggested locations for pick up and destination locations. Pick up locations may include locations where an autonomous vehicle can pick up a passenger, while destination locations may include locations where the vehicle can wait for an additional passenger, stop and wait for a passenger to perform some task and return to the vehicle, or for the vehicle to drop off a passenger. As such, a request for a vehicle may be received from a client computing device. The request may identify a first location. A set of one or more suggested locations may be selected by comparing the predetermined locations to the first location. The set may be provided to the client computing device.
Abstract translation: 本公开的方面提供用于提供拾取和目的地位置的建议位置的系统和方法。 接送位置可以包括自主车辆可以接载乘客的位置，而目的地位置可以包括车辆可以等待附加乘客的位置，停止并等待乘客执行某些任务并返回车辆，或者为 车辆下车。 因此，可以从客户端计算设备接收对车辆的请求。 请求可以标识第一位置。 可以通过将预定位置与第一位置进行比较来选择一组或多个建议位置。 该组可以被提供给客户端计算设备。
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