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    Cross-validating sensors of an autonomous vehicle
    12.
    发明授权
    Cross-validating sensors of an autonomous vehicle 有权
    自动车辆的交叉验证传感器

    公开(公告)号：US09221396B1

    公开(公告)日：2015-12-29

    申请号：US13628986

    申请日：2012-09-27

    Applicant: Google Inc.

    Inventor： Jiajun Zhu ,  Dmitri A. Dolgov ,  Christopher Paul Urmson

    IPC: H04N7/18 ,  B60R1/00

    CPC classification number: B60W50/0205 ,  B60Q9/008 ,  B60R1/00 ,  B60R2300/8093 ,  B60W50/14 ,  B60W2050/0043 ,  B60W2050/0215 ,  B60W2050/146 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2420/62 ,  G01D18/00 ,  G01S7/40 ,  G01S7/497 ,  G01S13/723 ,  G01S13/862 ,  G01S13/865 ,  G01S13/867 ,  G01S13/931 ,  G01S17/023 ,  G01S17/936 ,  G06K9/00791 ,  G06K9/03 ,  G08G1/163 ,  G08G1/166 ,  H04N7/181

    Abstract: Methods and systems are disclosed for cross-validating a second sensor with a first sensor. Cross-validating the second sensor may include obtaining sensor readings from the first sensor and comparing the sensor readings from the first sensor with sensor readings obtained from the second sensor. In particular, the comparison of the sensor readings may include comparing state information about a vehicle detected by the first sensor and the second sensor. In addition, comparing the sensor readings may include obtaining a first image from the first sensor, obtaining a second image from the second sensor, and then comparing various characteristics of the images. One characteristic that may be compared are object labels applied to the vehicle detected by the first and second sensor. The first and second sensors may be different types of sensors.

    Abstract translation: 公开了用于与第一传感器交叉验证第二传感器的方法和系统。 交叉验证第二传感器可以包括从第一传感器获得传感器读数并将来自第一传感器的传感器读数与从第二传感器获得的传感器读数进行比较。 特别地，传感器读数的比较可以包括比较由第一传感器和第二传感器检测到的关于车辆的状态信息。 此外，比较传感器读数可以包括从第一传感器获得第一图像，从第二传感器获得第二图像，然后比较图像的各种特性。 可以比较的一个特征是应用于由第一和第二传感器检测到的车辆的对象标签。 第一和第二传感器可以是不同类型的传感器。

    Pedestrian notifications
    14.
    发明授权
    Pedestrian notifications 有权

    公开(公告)号：US08914212B1

    公开(公告)日：2014-12-16

    申请号：US14095107

    申请日：2013-12-03

    Applicant: Google Inc.

    Inventor： Christopher Paul Urmson ,  Ian James Mahon ,  Dmitri A. Dolgov ,  Jiajun Zhu

    IPC: G08G1/16

    Abstract: Aspects of the disclosure relate generally to notifying a pedestrian of the intent of a self-driving vehicle. For example, the vehicle may include sensors which detect an object such as a pedestrian attempting or about to cross the roadway in front of the vehicle. The vehicle's computer may then determine the correct way to respond to the pedestrian. For example, the computer may determine that the vehicle should stop or slow down, yield, or stop if it is safe to do so. The vehicle may then provide a notification to the pedestrian of what the vehicle is going to or is currently doing. For example, the vehicle may include a physical signaling device, an electronic sign or lights, a speaker for providing audible notifications, etc.

    Intersection completer
    18.
    发明授权
    Intersection completer 有权

    公开(公告)号：US09261379B1

    公开(公告)日：2016-02-16

    申请号：US14640734

    申请日：2015-03-06

    Applicant: Google Inc.

    Inventor： Andrew Hughes Chatham ,  Christopher Paul Urmson

    IPC: G08G1/0962 ,  G01C21/36

    CPC classification number: G01C21/3658 ,  G01C21/32 ,  G01C21/3602 ,  G08G1/09626 ,  G09B29/007

    Abstract: Aspects of the disclosure relate generally to generating roadgraphs for use by autonomous vehicles. A computer may receive input defining aspects of a roadway including an intersection with another roadway, one or more traffic control features, and one or more locations at which a vehicle is required to observe at least one traffic signal before entering the intersection. A user may identify the intersection, for example, by tracing a perimeter around the intersection. In response, for each particular location of the one or more locations, the computer may identifying a route through the intersection from the particular location and determine, based on the boundary of the intersection and the particular location, a set of the one or more traffic control features must be observed by the vehicle before entering the intersection. This information may then be used to generate a roadgraph.

    User interface for displaying internal state of autonomous driving system
    19.
    发明授权
    User interface for displaying internal state of autonomous driving system 有权
    用于显示自主驾驶系统内部状态的用户界面

    公开(公告)号：US09134729B1

    公开(公告)日：2015-09-15

    申请号：US14445493

    申请日：2014-07-29

    Applicant: Google Inc.

    Inventor： Andrew Timothy Szybalski ,  Luis Ricardo Prada Gomez ,  Christopher Paul Urmson ,  Sebastian Thrun ,  Philip Nemec

    IPC: G05D1/00

    CPC classification number: G05D1/0061 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20 ,  B60W10/30 ,  B60W50/10 ,  B62D1/286 ,  B62D15/025 ,  G01S19/10 ,  G05D2201/0213 ,  G06F3/04842 ,  G06F3/04847

    Abstract: A passenger in an automated vehicle may relinquish control of the vehicle to a control computer when the control computer has determined that it may maneuver the vehicle safely to a destination. The passenger may relinquish or regain control of the vehicle by applying different degrees of pressure, for example, on a steering wheel of the vehicle. The control computer may convey status information to a passenger in a variety of ways including by illuminating elements of the vehicle. The color and location of the illumination may indicate the status of the control computer, for example, whether the control computer has been armed, is ready to take control of the vehicle, or is currently controlling the vehicle.

    Abstract translation: 当控制计算机已经确定可以将车辆安全地操纵到目的地时，自动车辆中的乘客可放弃对控制计算机的控制。 乘客可以通过施加不同程度的压力来放弃或重新获得对车辆的控制，例如在车辆的方向盘上。 控制计算机可以以包括车辆的照明元件在内的各种方式将状态信息传送给乘客。 照明的颜色和位置可以指示控制计算机的状态，例如，控制计算机是否已布防，准备好控制车辆，或正在控制车辆。

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