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    Use of Relationship between Activities of Different Traffic Signals in a Network to Improve Traffic Signal State Estimation
    1.
    发明申请
    Use of Relationship between Activities of Different Traffic Signals in a Network to Improve Traffic Signal State Estimation 有权
    使用网络中不同业务信号的活动之间的关系来改善交通信号状态估计

    公开(公告)号：US20150379869A1

    公开(公告)日：2015-12-31

    申请号：US14843705

    申请日：2015-09-02

    Applicant: Google Inc.

    Inventor： David I. Ferguson ,  Bradley Templeton

    IPC: G08G1/00

    CPC classification number: G06K9/00825 ,  B60W40/00 ,  G08G1/00 ,  G08G1/09623 ,  G08G1/09626 ,  G08G1/096716 ,  G08G1/096725 ,  G08G1/096758 ,  G08G1/096775 ,  G08G1/096791

    Abstract: Methods and devices for using a relationship between activities of different traffic signals in a network to improve traffic signal state estimation are disclosed. An example method includes determining that a vehicle is approaching an upcoming traffic signal. The method may further include determining a state of one or more traffic signals other than the upcoming traffic signal. Additionally, the method may also include determining an estimate of a state of the upcoming traffic signal based on a relationship between the state of the one or more traffic signals other than the upcoming traffic signal and the state of the upcoming traffic signal.

    Abstract translation: 公开了在网络中使用不同业务信号的活动之间的关系以改善业务信号状态估计的方法和装置。 示例性方法包括确定车辆正在接近即将到来的交通信号。 该方法还可以包括确定除即将到来的业务信号之外的一个或多个业务信号的状态。 另外，该方法还可以包括基于即将到来的业务信号之外的一个或多个业务信号的状态与即将到来的业务信号的状态之间的关系来确定即将到来的业务信号的状态的估计。

    Detecting lane closures and lane shifts by an autonomous vehicle
    2.
    发明授权
    Detecting lane closures and lane shifts by an autonomous vehicle 有权
    用自主车辆检测车道关闭和车道行驶

    公开(公告)号：US09213337B1

    公开(公告)日：2015-12-15

    申请号：US14341824

    申请日：2014-07-27

    Applicant: Google Inc.

    Inventor： David I. Ferguson

    IPC: G05D1/00 ,  G05D1/02

    CPC classification number: G05D1/0214 ,  G01S13/86 ,  G01S13/865 ,  G01S13/931 ,  G01S17/023 ,  G01S17/936 ,  G01S2013/936 ,  G05D1/0227 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0278

    Abstract: In an example implementation, an autonomous vehicle is configured to detect closures and lane shifts in a lane of travel. The vehicle is configured to operate in an autonomous mode and determine a presence of an obstacle substantially positioned in a lane of travel of the vehicle using a sensor. The lane of travel has a first side, a second side, and a center, and the obstacle is substantially positioned on the first side. The autonomous vehicle includes a computer system. The computer system determines a lateral distance between the obstacle and the center, compares the lateral distance to a pre-determined threshold, and provides instructions to control the autonomous vehicle based on the comparison.

    Abstract translation: 在示例实现中，自主车辆被配置为检测行驶车道中的关闭和车道偏移。 车辆被配置为以自主模式操作并且使用传感器确定基本上位于车辆行驶通道中的障碍物的存在。 行车道具有第一侧，第二侧和中心，并且障碍物基本上位于第一侧。 自主车辆包括计算机系统。 计算机系统确定障碍物与中心之间的横向距离，将横向距离与预定阈值进行比较，并提供基于比较来控制自主车辆的指令。

    MAPPING ACTIVE AND INACTIVE CONSTRUCTION ZONES FOR AUTONOMOUS DRIVING
    4.
    发明申请
    MAPPING ACTIVE AND INACTIVE CONSTRUCTION ZONES FOR AUTONOMOUS DRIVING 有权
    绘制自动驾驶的主动和不活动建筑区

    公开(公告)号：US20150355640A1

    公开(公告)日：2015-12-10

    申请号：US14828700

    申请日：2015-08-18

    Applicant: Google Inc.

    Inventor： David I. Ferguson ,  Donald Jason Burnette

    IPC: G05D1/00 ,  G01C21/26

    CPC classification number: G05D1/0214 ,  B60W10/04 ,  B60W10/20 ,  B60W30/00 ,  B60W30/143 ,  B60W2710/20 ,  B60W2720/106 ,  G01C21/26 ,  G01C21/32 ,  G01C21/3407 ,  G01S19/42 ,  G01S2013/936 ,  G05D1/00 ,  G05D1/0088 ,  G05D1/0236 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/0257 ,  G05D1/0276 ,  G05D2201/0213 ,  G06K9/00 ,  G06K9/00798 ,  G06K9/00818

    Abstract: Aspects of the present disclosure relate to differentiating between active and inactive construction zones. In one example, this may include identifying a construction object associated with a construction zone. The identified construction object may be used to map the area of the construction zone. Detailed map information may then be used to classify the activity of the construction zone. The area of the construction zone and the classification may be added to the detailed map information. Subsequent to adding the construction zone and the classification to the detailed map information, the construction object (or another construction object) may be identified. The location of the construction object may be used to identify the construction zone and classification from the detailed map information. The classification of the classification may be used to operate a vehicle having an autonomous mode.

    Abstract translation: 本公开的方面涉及区分主动和非活动结构区域。 在一个示例中，这可以包括识别与施工区域相关联的施工对象。 所识别的施工对象可用于映射施工区域的区域。 然后可以使用详细的地图信息来对施工区域的活动进行分类。 施工区的区域和分类可以添加到详细的地图信息中。 在将施工区域和分类添加到详细地图信息之后，可以识别施工对象（或另一施工对象）。 施工对象的位置可以用于从详细的地图信息中识别施工区域和分类。 分类的分类可以用于操作具有自主模式的车辆。

    Object detection based on known structures of an environment of an autonomous vehicle
    5.
    发明授权
    Object detection based on known structures of an environment of an autonomous vehicle 有权
    基于自主车辆的环境的已知结构的对象检测

    公开(公告)号：US09026303B1

    公开(公告)日：2015-05-05

    申请号：US14480377

    申请日：2014-09-08

    Applicant: Google Inc.

    Inventor： David I. Ferguson ,  Abhijit Ogale

    IPC: G05D1/00

    CPC classification number: G05D1/00 ,  G05D1/0214 ,  G05D1/0246 ,  G05D2201/0213 ,  G06K9/00805

    Abstract: An autonomous vehicle may be configured to detect objects based on known structures of an environment. The vehicle may be configured to obtain image data from a sensor and be configured to operate in an autonomous mode. The image data may include data indicative of a known structure in the environment. The vehicle may include a computer system. The computer system may determine, based on a first portion of the image data, information indicative of an appearance of the known structure. The computer system may determine, based on a second portion of the image data, information indicative of an appearance of an unknown object in the environment. The computer system may also compare the information indicative of the appearance of the known structure with the information indicative of the appearance of the unknown object and provide instructions to control the vehicle in the autonomous mode based on the comparison.

    Abstract translation: 自主车辆可以被配置为基于环境的已知结构来检测对象。 车辆可以被配置为从传感器获得图像数据并且被配置为以自主模式操作。 图像数据可以包括指示环境中的已知结构的数据。 车辆可以包括计算机系统。 计算机系统可以基于图像数据的第一部分来确定指示已知结构的外观的信息。 计算机系统可以基于图像数据的第二部分来确定指示环境中的未知对象的外观的信息。 计算机系统还可以将表示已知结构的外观的信息与指示未知对象的外观的信息进行比较，并且基于比较提供以自主模式控制车辆的指令。

    Controlling a vehicle having inadequate map data
    6.
    发明授权
    Controlling a vehicle having inadequate map data 有权

    公开(公告)号：US08903591B1

    公开(公告)日：2014-12-02

    申请号：US14164565

    申请日：2014-01-27

    Applicant: Google Inc.

    Inventor： David I. Ferguson ,  Dmitri Dolgov

    IPC: G01C22/00 ,  G05D1/02

    CPC classification number: G05D1/0212 ,  B62D15/0285 ,  G05D1/0274 ,  G05D2201/0213

    Abstract: A vehicle can be controlled in a first autonomous mode of operation by at least navigating the vehicle based on map data. Sensor data can be obtained using one or more sensors of the vehicle. The sensor data can be indicative of an environment of the vehicle. An inadequacy in the map data can be detected by at least comparing the map data to the sensor data. In response to detecting the inadequacy in the map data, the vehicle can be controlled in a second autonomous mode of operation and a user can be prompted to switch to a manual mode of operation. The vehicle can be controlled in the second autonomous mode of operation by at least obtaining additional sensor data using the one or more sensors of the vehicle and navigating the vehicle based on the additional sensor data.

    Safely navigating on roads through maintaining safe distance from other vehicles
    7.
    发明授权
    Safely navigating on roads through maintaining safe distance from other vehicles 有权
    通过与其他车辆保持安全距离，安全地在道路上行驶

    公开(公告)号：US08725342B2

    公开(公告)日：2014-05-13

    申请号：US13944877

    申请日：2013-07-18

    Applicant: Google Inc.

    Inventor： David I. Ferguson ,  Dmitri Dolgov

    IPC: G01C22/00 ,  G06K9/00 ,  B60Q1/22

    CPC classification number: G05D1/0212 ,  B60W30/12 ,  B60W50/029 ,  B60W2550/14 ,  B60W2550/306 ,  B60W2550/308 ,  G05D1/0289 ,  G06K9/00798 ,  G06K9/00805

    Abstract: Methods and devices for controlling a vehicle in an autonomous mode are disclosed. In one aspect, an example method is disclosed that includes obtaining lane information that provides an estimated location of a lane of a road on which a vehicle is traveling. The example method further includes determining that the lane information has become unavailable or unreliable and, in response, using a sensor to monitor a first distance and a second distance between the vehicle and a neighboring vehicle, determining first and second relative positions of the neighboring vehicle based on the first and second distances, respectively, and, based on the first and second relative positions, determining an estimated path of the neighboring vehicle. The example method further includes, based on the estimated path, determining an updated estimated location of the lane, and controlling the vehicle based on the updated estimated location of the lane.

    Abstract translation: 公开了以自主模式控制车辆的方法和装置。 一方面，公开了一种示例性方法，其包括获取提供车辆行驶的道路的车道的估计位置的车道信息。 示例性方法还包括确定车道信息变得不可用或不可靠，并且作为响应，使用传感器监测车辆和相邻车辆之间的第一距离和第二距离，确定相邻车辆的第一和第二相对位置 分别基于第一和第二距离，并且基于第一和第二相对位置确定相邻车辆的估计路径。 该示例方法还包括：基于估计的路径，确定车道的更新的估计位置，以及基于车道的更新的估计位置来控制车辆。

    Use of environmental information to aid image processing for autonomous vehicles
    9.
    发明授权
    Use of environmental information to aid image processing for autonomous vehicles 有权

    公开(公告)号：US09387854B1

    公开(公告)日：2016-07-12

    申请号：US14829979

    申请日：2015-08-19

    Applicant: Google Inc.

    Inventor： David I. Ferguson ,  Wan-Yen Lo

    IPC: G06F17/10 ,  B60W30/09 ,  G05D1/00

    CPC classification number: B60W30/09 ,  B60W30/12 ,  B60W30/16 ,  B60W2420/42 ,  B60W2550/10 ,  G01C21/30 ,  G05D1/0088 ,  G06K9/00798 ,  G06K9/00805 ,  G06K9/3233 ,  G06K9/6289

    Abstract: An autonomous vehicle may be configured to use environmental information for image processing. The vehicle may be configured to operate in an autonomous mode in an environment and may be operating substantially in a lane of travel of the environment. The vehicle may include a sensor configured to receive image data indicative of the environment. The vehicle may also include a computer system configured to compare environmental information indicative of the lane of travel to the image data so as to determine a portion of the image data that corresponds to the lane of travel of the environment. Based on the portion of the image data that corresponds to the lane of travel of the environment and by disregarding a remaining portion of the image data, the vehicle may determine whether an object is present in the lane, and based on the determination, provide instructions to control the vehicle in the autonomous mode in the environment.

    Use of uncertainty regarding observations of traffic intersections to modify behavior of a vehicle
    10.
    发明授权
    Use of uncertainty regarding observations of traffic intersections to modify behavior of a vehicle 有权
    使用交通十字路口观测的不确定性来修改车辆的行为

    公开(公告)号：US09261879B2

    公开(公告)日：2016-02-16

    申请号：US14288111

    申请日：2014-05-27

    Applicant: Google Inc.

    Inventor： David I. Ferguson ,  Nathaniel Fairfield

    IPC: G01C22/00 ,  G05D1/00 ,  B60W30/18 ,  G08G1/0962 ,  G08G1/0967

    CPC classification number: G05D1/0088 ,  B60W30/18154 ,  B60W2550/22 ,  G08G1/09623 ,  G08G1/096725 ,  G08G1/096758 ,  G08G1/096783

    Abstract: Methods and devices for using uncertainty regarding observations of traffic intersections to modify behavior of a vehicle are disclosed. In one embodiment, an example method includes determining a state of a traffic intersection using information from one or more sensors of a vehicle. The vehicle may be configured to operate in an autonomous mode. The method may also include determining an uncertainty associated with the determined state of the traffic intersection. The method may further include controlling the vehicle in the autonomous mode based on the determined state of the traffic intersection and the determined uncertainty.

    Abstract translation: 公开了用于对交通交叉点观测的不确定性以修改车辆行为的方法和装置。 在一个实施例中，示例性方法包括使用来自车辆的一个或多个传感器的信息确定交通路口的状态。 车辆可以被配置为以自主模式操作。 该方法还可以包括确定与确定的交通路口的状态相关联的不确定性。 该方法还可以包括基于确定的交通路口的状态和所确定的不确定性来控制在自主模式中的车辆。

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