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公开(公告)号：US20170092131A1
公开(公告)日：2017-03-30
申请号：US15377139
申请日：2016-12-13
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 The method may also include periodically filtering the driving information map to remove outdated information reports.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.
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公开(公告)号：US20160351056A1
公开(公告)日：2016-12-01
申请号：US15153117
申请日：2016-05-12
Applicant: Google Inc.
Inventor： Joshua Seth Herbach , Philip Nemec , Nathaniel Fairfield
Abstract: Aspects of the present disclosure relate to a system having a memory, a plurality of self-driving systems for controlling a vehicle, and one or more processors. The processors are configured to receive at least one fallback task in association with a request for a primary task and at least one trigger of each fallback task. Each trigger is a set of conditions that, when satisfied, indicate when a vehicle requires attention for proper operation. The processors are also configured to send instructions to the self-driving systems to execute the primary task and receive status updates from the self-driving systems. The processors are configured to determine that a set of conditions of a trigger is satisfied based on the status updates and send further instructions based on the associated fallback task to the self-driving systems.
Abstract translation: 本公开的方面涉及具有存储器，用于控制车辆的多个自行车系统和一个或多个处理器的系统。 处理器被配置为接收与主任务的请求和每个后备任务的至少一个触发相关联的至少一个后备任务。 每个触发器是一组条件，当满足时，指示车辆何时需要注意正确的操作。 处理器还被配置为向自动驾驶系统发送指令以执行主要任务并从自驾驾驶系统接收状态更新。 处理器被配置为基于状态更新来确定触发的一组条件，并且基于相关联的回退任务向另一个自行车系统发送进一步的指令。
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公开(公告)号：US20150248131A1
公开(公告)日：2015-09-03
申请号：US14195682
申请日：2014-03-03
Applicant: Google Inc.
Inventor： Nathaniel Fairfield , Joshua Seth Herbach , Vadim Furman
IPC: G05D1/00
CPC classification number: G05D1/0044 , B60W30/00 , G05D1/0011 , G05D1/0027 , G05D1/0033 , G05D1/0038 , G05D2201/0213
Abstract: Example systems and methods enable an autonomous vehicle to request assistance from a remote operator in certain predetermined situations. One example method includes determining a representation of an environment of an autonomous vehicle based on sensor data of the environment. Based on the representation, the method may also include identifying a situation from a predetermined set of situations for which the autonomous vehicle will request remote assistance. The method may further include sending a request for assistance to a remote assistor, the request including the representation of the environment and the identified situation. The method may additionally include receiving a response from the remote assistor indicating an autonomous operation. The method may also include causing the autonomous vehicle to perform the autonomous operation.
Abstract translation: 示例系统和方法使得自主车辆能够在某些预定情况下请求来自远程操作员的帮助。 一个示例性方法包括基于环境的传感器数据来确定自主车辆的环境的表示。 基于该表示，该方法还可以包括从自动车辆将要求远程协助的预定情况集合中识别情况。 该方法还可以包括向远程组合器发送帮助请求，该请求包括环境的表示和所识别的情况。 该方法可以另外包括从远程组件接收指示自主操作的响应。 该方法还可以包括使自主车辆执行自主操作。
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公开(公告)号：US08849494B1
公开(公告)日：2014-09-30
申请号：US13835448
申请日：2013-03-15
Applicant: Google Inc.
Inventor： Joshua Seth Herbach , Nathaniel Fairfield , Peter Colijn
IPC: G05D1/02
CPC classification number: G05D1/0214 , B60W30/00 , G05D1/0297 , G05D2201/0213
Abstract: An autonomous vehicle may determine to seek assistance navigating using a first trajectory. The autonomous vehicle may be configured to receive and store data about a plurality of obstacles. A particular obstacle in the plurality of obstacles may partially or wholly obstruct the first trajectory. The autonomous vehicle may select a portion of the stored data that includes data representing the particular obstacle. The selected portion of the stored data may be provided to an assistance center. A second trajectory may be received from the assistance center, where the second trajectory is not obstructed by the particular obstacle.
Abstract translation: 自主车辆可以确定寻求使用第一轨迹导航的辅助。 自主车辆可以被配置为接收和存储关于多个障碍物的数据。 多个障碍物中的特定障碍物可能部分地或完全地阻碍第一轨迹。 自主车辆可以选择包括表示特定障碍物的数据的存储数据的一部分。 所存储的数据的所选部分可以被提供给辅助中心。 可以从辅助中心接收第二轨迹，其中第二轨迹不被特定障碍物阻挡。
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5.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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Patent Agency Ranking
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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8.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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9.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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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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