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公开(公告)号：US09499172B2
公开(公告)日：2016-11-22
申请号：US13623422
申请日：2012-09-20
Applicant: Google Inc.
Inventor： Christopher Paul Urmson , Michael Steven Montemerlo , Jiajun Zhu
CPC classification number: B60W40/06 , B60W2420/62
Abstract: Aspects of the disclosure relate generally to detecting road weather conditions. Vehicle sensors including a laser, precipitation sensors, and/or camera 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 (for steering, accelerating, or braking) or identify dangerous situations.
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公开(公告)号：US09110196B2
公开(公告)日：2015-08-18
申请号：US13623397
申请日：2012-09-20
Applicant: Google Inc.
Inventor： Christopher Paul Urmson , Michael Steven Montemerlo , Jiajun Zhu
CPC classification number: G01W1/02 , G01S7/4802 , G01S17/42 , G01S17/89 , G01S17/95 , G01W1/10 , Y02A90/19
Abstract: Aspects of the disclosure relate generally to detecting road weather conditions. Vehicle sensors including a laser, precipitation sensors, and/or camera 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 (for steering, accelerating, or braking) or identify dangerous situations.
Abstract translation: 本公开的方面通常涉及检测道路天气状况。 可以使用包括激光，降水传感器和/或照相机的车辆传感器来检测诸如道路的亮度，道路亮度的变化，世界的亮度，当前的降水以及检测到的高度 马路。 也可以考虑从其他来源获得的信息，例如网络天气信息（预测，雷达，降水报告等）。 接收和检测信息的组合可用于估计巷道中的降水概率，例如水，雪或冰。 然后可以使用该信息来操纵自主车辆（用于转向，加速或制动）或识别危险情况。
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公开(公告)号：US20140081573A1
公开(公告)日：2014-03-20
申请号：US13623397
申请日：2012-09-20
Applicant: Google Inc.
Inventor： Christopher Paul Urmson , Michael Steven Montemerlo , Jiajun Zhu
CPC classification number: G01W1/02 , G01S7/4802 , G01S17/42 , G01S17/89 , G01S17/95 , G01W1/10 , Y02A90/19
Abstract: Aspects of the disclosure relate generally to detecting road weather conditions. Vehicle sensors including a laser, precipitation sensors, and/or camera 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 (for steering, accelerating, or braking) or identify dangerous situations.
Abstract translation: 本公开的方面通常涉及检测道路天气状况。 可以使用包括激光，降水传感器和/或照相机的车辆传感器来检测诸如道路的亮度，道路亮度的变化，世界的亮度，当前的降水以及检测到的高度 马路。 也可以考虑从其他来源获得的信息，例如网络天气信息（预测，雷达，降水报告等）。 接收和检测信息的组合可用于估计巷道中的降水概率，例如水，雪或冰。 然后可以使用该信息来操纵自主车辆（用于转向，加速或制动）或识别危险情况。
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公开(公告)号：US20140081507A1
公开(公告)日：2014-03-20
申请号：US13623422
申请日：2012-09-20
Applicant: Google Inc.
Inventor： Christopher Paul Urmson , Michael Steven Montemerlo , Jiajun Zhu
IPC: G05D1/00
CPC classification number: B60W40/06 , B60W2420/62
Abstract: Aspects of the disclosure relate generally to detecting road weather conditions. Vehicle sensors including a laser, precipitation sensors, and/or camera 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 (for steering, accelerating, or braking) or identify dangerous situations.
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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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Patent Agency Ranking
公开(公告)号：US09268332B2
公开(公告)日：2016-02-23
申请号：US14324470
申请日：2014-07-07
Applicant: Google Inc.
Inventor： Michael Steven Montemerlo , Dmitri A. Dolgov , Christopher Paul Urmson
IPC: G05D1/02 , G05D1/00 , B60W30/08 , B60W30/186 , B60W50/029 , G06K9/00 , G06K9/32
CPC classification number: G06K9/00201 , B60R1/00 , B60R2300/30 , B60W30/08 , B60W30/186 , B60W2050/0292 , B60W2530/14 , B60W2550/22 , B62D6/00 , G01C21/3617 , G05D1/0055 , G05D1/0088 , G05D1/021 , G05D1/0214 , G05D1/024 , G05D1/0246 , G05D1/0257 , G05D1/0274 , G05D1/0276 , G05D1/0278 , G05D2201/0213 , G06K9/00791 , G06K9/00798 , G06K9/00805 , G06K9/3241 , G06T7/0044 , G06T7/0057 , G06T7/20 , G06T7/223 , G06T7/231 , G06T2207/10004 , G06T2207/10028 , G06T2207/30236 , G06T2207/30252 , G06T2207/30261
Abstract: A roadgraph may include a graph network of information such as roads, lanes, intersections, and the connections between these features. The roadgraph may also include one or more zones associated with particular rules. The zones may include locations where driving is typically challenging such as merges, construction zones, or other obstacles. In one example, the rules may require an autonomous vehicle to alert a driver that the vehicle is approaching a zone. The vehicle may thus require a driver to take control of steering, acceleration, deceleration, etc. In another example, the zones may be designated by a driver and may be broadcast to other nearby vehicles, for example using a radio link or other network such that other vehicles may be able to observer the same rule at the same location or at least notify the other vehicle's drivers that another driver felt the location was unsafe for autonomous driving.
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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：US20130297140A1
公开(公告)日：2013-11-07
申请号：US13932090
申请日：2013-07-01
Applicant: Google Inc.
Inventor： Michael Steven Montemerlo , Dmitri A. Dolgov , Christopher Paul Urmson
IPC: G05D1/02
CPC classification number: G06K9/00201 , B60R1/00 , B60R2300/30 , B60W30/08 , B60W30/186 , B60W2050/0292 , B60W2530/14 , B60W2550/22 , B62D6/00 , G01C21/3617 , G05D1/0055 , G05D1/0088 , G05D1/021 , G05D1/0214 , G05D1/024 , G05D1/0246 , G05D1/0257 , G05D1/0274 , G05D1/0276 , G05D1/0278 , G05D2201/0213 , G06K9/00791 , G06K9/00798 , G06K9/00805 , G06K9/3241 , G06T7/0044 , G06T7/0057 , G06T7/20 , G06T7/223 , G06T7/231 , G06T2207/10004 , G06T2207/10028 , G06T2207/30236 , G06T2207/30252 , G06T2207/30261
Abstract: A roadgraph may include a graph network of information such as roads, lanes, intersections, and the connections between these features. The roadgraph may also include one or more zones associated with particular rules. The zones may include locations where driving is typically challenging such as merges, construction zones, or other obstacles. In one example, the rules may require an autonomous vehicle to alert a driver that the vehicle is approaching a zone. The vehicle may thus require a driver to take control of steering, acceleration, deceleration, etc. In another example, the zones may be designated by a driver and may be broadcast to other nearby vehicles, for example using a radio link or other network such that other vehicles may be able to observer the same rule at the same location or at least notify the other vehicle's drivers that another driver felt the location was unsafe for autonomous driving.
Abstract translation: 道路图可以包括信息的图形网络，例如道路，车道，交叉路口以及这些特征之间的连接。 道路图也可以包括与特定规则相关联的一个或多个区域。 这些区域可以包括驾驶通常是具有挑战性的位置，例如合并，建筑区域或其他障碍物。 在一个示例中，规则可能需要自主车辆来警告驾驶员车辆正在接近区域。 因此，车辆可能需要驾驶员来控制转向，加速，减速等。在另一个示例中，区域可以由驾驶员指定，并且可以广播到其他附近的车辆，例如使用无线电链路或其他网络 其他车辆可能能够在相同的位置观察相同的规则，或者至少通知另一车辆的司机，另一司机认为该位置对于自主驾驶是不安全的。
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公开(公告)号：US09494942B1
公开(公告)日：2016-11-15
申请号：US14724243
申请日：2015-05-28
Applicant: Google Inc.
Inventor： Michael Steven Montemerlo , John Tisdale , Vadim Furman
IPC: G05D1/02
CPC classification number: G05D1/0274 , B60W30/00 , G01C21/005 , G01C21/3602 , G05D1/0212 , G05D1/0246 , G05D1/0248 , G06K9/00798 , G08G1/00 , G08G1/164
Abstract: Systems and methods are provided that may optimize basic models of an intersection in a roadway with high intensity image data of the intersection of the roadway. More specifically, parameters that define the basic model of the intersection in the roadway may be adjusted to more accurately define the intersection. For example, by comparing a shape of the intersection predicted by the basic model with extracted curbs and lane boundaries from elevation and intensity maps, the intersection parameters can be optimized to match real intersection-features in the environment. Once the optimal intersection parameters have been found, roadgraph features describing the intersection may be extracted.
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公开(公告)号：US09400183B1
公开(公告)日：2016-07-26
申请号：US14590278
申请日：2015-01-06
Applicant: Google Inc.
Inventor： Christopher Paul Urmson , Michael Steven Montemerlo , Andrew Hughes Chatham , Daniel Trawick Egnor
CPC classification number: G01C21/3407 , B60W30/12 , B60W30/18154 , B60W2550/141 , B60W2550/402 , G01C21/28 , G01C21/34 , G05D1/0088 , G05D1/0246 , G05D1/0255 , G05D1/0257 , G05D1/0274 , G05D1/0278
Abstract: An autonomous vehicle may access portions of a map to maneuver a roadway. The map may be split into one or more levels that represent different regions in space. For example, an overpass may be represented by one level while the road below the overpass may be on a separate level. A vehicle traveling on a particular level may use map data that is associated with that level. Furthermore, if the vehicle travels through a warp zone, it may transition from the current level to a destination level and thus begin to use map data associated with the destination level.
Abstract translation: 自主车辆可以访问地图的部分以操纵道路。 地图可以被分割成代表空间中不同区域的一个或多个级别。 例如，立交桥可以由一级表示，而立交桥下方的道路可以在一个单独的水平上。 在特定级别上行驶的车辆可以使用与该级别相关联的地图数据。 此外，如果车辆经过弯曲区域，则其可以从当前水平转换到目的地水平，并且因此开始使用与目的地水平相关联的地图数据。
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