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公开(公告)号：US09541410B1
公开(公告)日：2017-01-10
申请号：US14679471
申请日：2015-04-06
Applicant: Google Inc.
Inventor： Joshua Seth Herbach , Nathaniel Fairfield
CPC classification number: G05D1/0212 , B60W30/00 , G01C21/34 , G05D1/0214 , G05D1/0231 , G05D1/0297 , G05D2201/0213 , G07C5/008
Abstract: An autonomous vehicle may include a stuck condition detection component and a communications component. The stuck-detection component may be configured to detect a condition in which the autonomous vehicle is impeded from navigating according to a first trajectory. The communications component may send an assistance signal to an assistance center and receive a response to the assistance signal. The assistance signal may include sensor information from the autonomous vehicle. The assistance center may include a communications component and a trajectory specification component. The communications component may receive the assistance signal and send a corresponding response. The trajectory specification component may specify a second trajectory for the autonomous vehicle and generate the corresponding response that includes a representation of the second trajectory. The second trajectory may be based on the first trajectory and may ignore an object that obstructs the first trajectory.
Abstract translation: 自主车辆可以包括卡住状态检测部件和通信部件。 卡住检测部件可以被配置为根据第一轨迹来检测自主车辆被阻止导航的状态。 通信部件可以向辅助中心发送辅助信号并且接收对辅助信号的响应。 辅助信号可以包括来自自主车辆的传感器信息。 辅助中心可以包括通信组件和轨迹规范组件。 通信部件可以接收辅助信号并发送相应的响应。 轨迹规范组件可以为自主车辆指定第二轨迹，并产生包括第二轨迹表示的对应响应。 第二轨迹可以基于第一轨迹，并且可以忽略妨碍第一轨迹的物体。
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12.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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公开(公告)号：US20160035223A1
公开(公告)日：2016-02-04
申请号：US14448299
申请日：2014-07-31
Applicant: Google Inc.
Inventor： Jens-Steffen Ralf Gutmann , Andreas Wendel , Nathaniel Fairfield , Dmitri A. Dolgov , Donald Jason Burnette
IPC: G08G1/07
CPC classification number: B60W30/09 , G08G1/09623 , G08G1/09626 , G08G1/096725 , G08G1/096783 , G08G1/096791
Abstract: Aspects of the disclosure relate to determining whether a vehicle should continue through an intersection. For example, the one or more of the vehicle's computers may identify a time when the traffic signal light will turn from yellow to red. The one or more computers may also estimate a location of a vehicle at the time when the traffic signal light will turn from yellow to red. A starting point of the intersection may be identified. Based on whether the estimated location of the vehicle is at least a threshold distance past the starting point at the time when the traffic signal light will turn from yellow to red, the computers can determine whether the vehicle should continue through the intersection.
Abstract translation: 本公开的方面涉及确定车辆是否应当经过十字路口。 例如，一个或多个车辆的计算机可以识别交通信号灯将从黄色变为红色的时间。 一个或多个计算机还可以在交通信号灯从黄色变为红色时估计车辆的位置。 可以确定交点的起点。 基于交通信号灯是否从黄色变为红色，车辆的估计位置是否至少超过起点的阈值距离，计算机可以确定车辆是否应该继续穿过交叉路口。
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14.发明申请公开(公告)号：US20150360692A1
公开(公告)日：2015-12-17
申请号：US14831777
申请日：2015-08-20
Applicant: Google Inc.
Inventor： David I. Ferguson , Nathaniel Fairfield , Anthony Levandowski
CPC classification number: B60W30/18154 , B60W2550/22 , B60W2550/402 , G05D1/0088 , G05D1/0231 , G06K9/00791 , G06K9/00818 , G06K9/00825
Abstract: Methods and devices for detecting traffic signals and their associated states are disclosed. In one embodiment, an example method includes a scanning a target area using one or more sensors of a vehicle to obtain target area information. The vehicle may be configured to operate in an autonomous mode, and the target area may be a type of area where traffic signals are typically located. The method may also include detecting a traffic signal in the target area information, determining a location of the traffic signal, and determining a state of the traffic signal. Also, a confidence in the traffic signal may be determined. For example, the location of the traffic signal may be compared to known locations of traffic signals. Based on the state of the traffic signal and the confidence in the traffic signal, the vehicle may be controlled in the autonomous mode.
Abstract translation: 公开了用于检测交通信号及其相关状态的方法和设备。 在一个实施例中，示例性方法包括使用车辆的一个或多个传感器来扫描目标区域以获得目标区域信息。 车辆可以被配置为以自主模式操作，并且目标区域可以是交通信号通常位于的区域的类型。 该方法还可以包括检测目标区域信息中的业务信号，确定业务信号的位置，以及确定业务信号的状态。 此外，可以确定交通信号的置信度。 例如，可以将交通信号的位置与交通信号的已知位置进行比较。 基于交通信号灯的状态和交通信号的置信度，车辆可以被控制在自主模式中。
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公开(公告)号：US20140185880A1
公开(公告)日：2014-07-03
申请号：US14202124
申请日：2014-03-10
Applicant: Google Inc.
Inventor： Nathaniel Fairfield , Christopher Paul Urmson , Sebastian Thrun
IPC: G05D1/02
CPC classification number: G06K9/00825 , G05D1/0212 , G08G1/09623
Abstract: A system and method provides maps identifying the 3D location of traffic lights. The position, location, and orientation of a traffic light may be automatically extrapolated from two or more images. The maps may then be used to assist robotic vehicles or human drivers to identify the location and status of a traffic signal.
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Patent Agency Ranking
公开(公告)号：US20140016826A1
公开(公告)日：2014-01-16
申请号：US14030397
申请日：2013-09-18
Applicant: GOOGLE INC.
Inventor： Nathaniel Fairfield , Christopher Paul Urmson , Sebastian Thrun
IPC: G06K9/00
CPC classification number: G06K9/00825 , G05D1/0212 , G08G1/09623
Abstract: A system and method provides maps identifying the 3D location of traffic lights. The position, location, and orientation of a traffic light may be automatically extrapolated from two or more images. The maps may then be used to assist robotic vehicles or human drivers to identify the location and status of a traffic signal.
Abstract translation: 系统和方法提供了识别交通灯3D位置的地图。 交通信号灯的位置，位置和方向可以从两个或更多个图像自动地外推。 然后可以使用地图来帮助机器人车辆或人类驾驶员识别交通信号的位置和状态。
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公开(公告)号：US09767366B1
公开(公告)日：2017-09-19
申请号：US14452860
申请日：2014-08-06
Applicant: Google Inc.
Inventor： Nathaniel Fairfield , Ian James Mahon
CPC classification number: G05D1/0253 , G05D1/021 , G05D1/0212 , G05D1/0238 , G05D2201/0212 , G06K9/00791 , G06K9/00805 , G06K9/6204 , G08G1/165
Abstract: A system and method is provided for identifying an object along a road, where the object may be represented by a bounding box, and projecting a set of obstacle points within the bounding box corresponding to the identified object. In one aspect, a two-dimensional plane oriented perpendicular to a direction of the movement of the vehicle may be identified. In another aspect, the areas of the plane that may be occupied based on the set of obstacle points may be determined to generate a contour of the identified object. Thereafter, the height profiles of the identified object and the vehicle may be determined and identified, respectively. Based on the height profiles, a minimum clearance may be determined.
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公开(公告)号：US20170193627A1
公开(公告)日：2017-07-06
申请号：US15358729
申请日：2016-11-22
Applicant: Google Inc.
Inventor： Christopher Paul Urmson , Peter Colijn , Dmitri A. Dolgov , Nathaniel Fairfield , Salil Pandit , Nirmal Patel , Ryan Powell , Min Li Chan
CPC classification number: G06Q50/30 , G01C21/3617 , G06Q10/06315 , G08G1/005 , G08G1/202
Abstract: 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.
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公开(公告)号：US20170115387A1
公开(公告)日：2017-04-27
申请号：US14919667
申请日：2015-10-21
Applicant: Google Inc.
Inventor： Brandon Douglas Luders , Tim Campbell , Nathaniel Fairfield
CPC classification number: G01S13/865 , G01S7/4026 , G01S7/4972 , G01S13/04 , G01S13/87 , G01S13/931 , G01S17/023 , G01S17/026 , G01S17/10 , G01S17/42 , G01S17/87 , G01S17/936 , G01S2007/4039 , G01S2013/9375 , G01S2013/9378 , G01S2013/9382 , G01S2013/9385
Abstract: A method is provided that involves identifying a target region of an environment of an autonomous vehicle to be monitored for presence of moving objects. The method also involves operating a first sensor to obtain a scan of a portion of the environment that includes at least a portion of the target region and an intermediate region between the autonomous vehicle and the target region. The method also involves determining whether a second sensor has a sufficiently clear view of the target region based on at least the scan obtained by the first sensor. The method also involves operating the second sensor to monitor the target region for presence of moving objects based on at least a determination that the second sensor has a sufficiently clear view of the target region. Also provided is an autonomous vehicle configured to perform the method.
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公开(公告)号：US09557736B1
公开(公告)日：2017-01-31
申请号：US14681424
申请日：2015-04-08
Applicant: Google Inc.
Inventor： David Harrison Silver , Jur Pieter Van Den Berg , Nathaniel Fairfield
CPC classification number: G05D1/0231 , G05D1/0088 , G05D1/0234 , G06K9/00812 , G08G1/015 , G08G1/052 , G08G1/09626 , G08G1/096725 , G08G1/096758 , G08G1/096783 , G08G1/165
Abstract: Aspects of the disclosure relate to an autonomous vehicle that may detected other nearby vehicles and identify them as parked or unparked. This identification may be based on visual indicia displayed by the detected vehicles as well as traffic control factors relating to the detected vehicles. Detected vehicles that are in a known parking spot may automatically be identified as parked. In addition, detected vehicles that satisfy conditions that are indications of being parked may also be identified as parked. The autonomous vehicle may then base its control strategy on whether or not a vehicle has been identified as parked or not.
Abstract translation: 本公开的方面涉及可以检测其他附近车辆并将其识别为停放或未起飞的自主车辆。 该识别可以基于由检测到的车辆显示的视觉标记以及与检测到的车辆相关的交通控制因素。 已知停车位的检测车辆可能会自动被识别为停放。 此外，满足待停车指示的条件的检测车辆也可以被识别为停放。 然后，自主车辆可以基于其车辆是否已经被识别为停放的控制策略。
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