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公开(公告)号：US20160224850A1
公开(公告)日：2016-08-04
申请号：US15094776
申请日：2016-04-08
Applicant: Google Inc.
Inventor： David Harrison Silver , Jonathan Baldwin Dowdall , David Ian Ferguson
CPC classification number: G06K9/00805 , G01S13/04 , G01S13/931 , G01S17/026 , G01S17/936 , G01S19/13 , G01V11/00 , G05D1/0088 , G05D1/021 , G05D1/0246 , G05D2201/0213 , G06K9/6215 , G06K9/6277 , G06K9/628
Abstract: A vehicle is provided that may distinguish between dynamic obstacles and static obstacles. Given a detector for a class of static obstacles or objects, the vehicle may receive sensor data indicative of an environment of the vehicle. When a possible object is detected in a single frame, a location of the object and a time of observation of the object may be compared to previous observations. Based on the object being observed a threshold number of times, in substantially the same location, and within some window of time, the vehicle may accurately detect the presence of the object and reduce any false detections.
Abstract translation: 提供可以区分动态障碍物和静态障碍物的车辆。 给定一类静态障碍物或物体的检测器，车辆可以接收指示车辆环境的传感器数据。 当在单个帧中检测到可能的对象时，可以将对象的位置和对象的观察时间与先前的观察进行比较。 基于所观察到的物体在基本上相同的位置，并且在一些时间窗口内的阈值次数，车辆可以准确地检测物体的存在并减少任何错误检测。
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公开(公告)号：US09395192B1
公开(公告)日：2016-07-19
申请号：US14135935
申请日：2013-12-20
Applicant: Google Inc.
Inventor： David Harrison Silver , David Ian Ferguson
IPC: G01C21/26
CPC classification number: G01C21/26 , G06K9/00798
Abstract: Methods and systems for road boundary and lane tracing are described herein. In an example implementation, a computing system of a vehicle may receive boundary data associated with a road and may determine edge data representative of edges of the boundaries. A given edge may indicate a discontinuity between a boundary and a characteristic of the road. The computing system may modify the edge data based on a position and orientation of respective edges to combine edges positioned substantially in parallel and within a threshold distance to each other. The computing system may adjust boundary data based on the modified edge data so as to extend a given boundary that includes a combined edge and may determine whether extended boundary data substantially matches road data indicated by a map. In addition, the computing system may provide an estimation of projections of boundaries ahead of the vehicle on the road.
Abstract translation: 本文描述了道路边界和车道追踪的方法和系统。 在示例实现中，车辆的计算系统可以接收与道路相关联的边界数据，并且可以确定表示边界边缘的边缘数据。 给定的边缘可以指示边界和道路特征之间的不连续性。 计算系统可以基于相应边缘的位置和取向来修改边缘数据，以组合基本上并行定位并且彼此之间的阈值距离内的边缘。 计算系统可以基于修改的边缘数据来调整边界数据，以便延伸包括组合边缘的给定边界，并且可以确定扩展边界数据是否基本上匹配由地图指示的道路数据。 此外，计算系统可以提供在道路上的车辆前方的边界的预测的估计。
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公开(公告)号：US09255805B1
公开(公告)日：2016-02-09
申请号：US14716097
申请日：2015-05-19
Applicant: Google Inc.
Inventor： David I. Ferguson , David Harrison Silver
CPC classification number: G01C21/30 , G01C21/20 , G01C21/26 , G01S17/875 , G01S17/89
Abstract: Aspects of the present disclosure relate to using an object detected at long range to increase the accuracy of a location and heading estimate based on near range information. For example, an autonomous vehicle may use data points collected from a sensor such as a laser to generate an environmental map of environmental features. The environmental map is then compared to pre-stored map data to determine the vehicle's geographic location and heading. A second sensor, such as a laser or camera, having a longer range than the first sensor may detect an object outside of the range and field of view of the first sensor. For example, the object may have retroreflective properties which make it identifiable in a camera image or from laser data points. The location of the object is then compared to the pre-stored map data and used to refine the vehicle's estimated location and heading.
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14.发明授权公开(公告)号：US09097804B1
公开(公告)日：2015-08-04
申请号：US14332498
申请日：2014-07-16
Applicant: Google Inc.
Inventor： David Harrison Silver , David Ian Franklin Ferguson
IPC: G01S17/93
CPC classification number: G01S17/936 , B60W30/00 , G01S13/86 , G01S13/865 , G01S13/931 , G01S17/023 , G01S2013/936
Abstract: Methods and systems for object and ground segmentation from a sparse one-dimensional range data are described. A computing device may be configured to receive scan data representing points in an environment of a vehicle. The computing device may be configured to determine if a test point in the scan data is likely to be an obstacle or ground by comparing the point to other points in the scan data to determine if specific constraints are violated. Points that do not pass these tests are likely to be above the ground, and therefore likely belong to obstacles.
Abstract translation: 描述了从稀疏一维范围数据对象和地面分割的方法和系统。 计算设备可以被配置为接收表示车辆环境中的点的扫描数据。 计算设备可以被配置为通过将点与扫描数据中的其他点进行比较来确定扫描数据中的测试点是否可能是障碍物或地面，以确定是否违反特定的约束。 不通过这些测试的点可能在地面以上，因此可能属于障碍物。
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公开(公告)号：US09558411B1
公开(公告)日：2017-01-31
申请号：US14503626
申请日：2014-10-01
Applicant: Google Inc.
CPC classification number: G06K9/00818 , G05D1/0246 , G06K9/00536
Abstract: Aspects of the disclosure relate to classifying the status of objects. For examples, one or more computing devices detect an object from an image of a vehicle's environment. The object is associated with a location. The one or more computing devices receive data corresponding to the surfaces of objects in the vehicle's environment and identifying data within a region around the location of the object. The one or more computing devices also determine whether the data within the region corresponds to a planar surface extending away from an edge of the object. Based on this determination, the one or more computing devices classify the status of the object.
Abstract translation: 本公开的方面涉及对物体的状态进行分类。 例如，一个或多个计算设备从车辆的环境的图像中检测物体。 该对象与一个位置相关联。 一个或多个计算设备接收对应于车辆环境中的物体的表面的数据，并且在物体的位置周围的区域内识别数据。 一个或多个计算设备还确定该区域内的数据是否对应于远离物体的边缘延伸的平面。 基于该确定，一个或多个计算设备对对象的状态进行分类。
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Patent Agency Ranking
公开(公告)号：US09463794B1
公开(公告)日：2016-10-11
申请号：US14845616
申请日：2015-09-04
Applicant: Google Inc.
Inventor： David Harrison Silver , David Ian Franklin Ferguson , Abhijit S. Ogale , Wan-Yen Lo
CPC classification number: G05D1/0088 , B60W30/00 , B60W2550/22 , G01C21/26 , G01C21/3602 , G05D1/0231
Abstract: Aspects of the disclosure relate to detecting and responding to stop signs. An object detected in a vehicle's environment having location coordinates may be identified as a stop sign and, it may be determined whether the location coordinates of the identified stop sign correspond to a location of a stop sign in detailed map information. Then, whether the identified stop sign applies to the vehicle may be determined based on the detailed map information or on a number of factors. Then, if the identified stop sign is determined to apply to the vehicle, responses of the vehicle to the stop sign may be determined, and, the vehicle may be controlled based on the determined responses.
Abstract translation: 本公开的方面涉及检测和响应停止标志。 在具有位置坐标的车辆环境中检测到的物体可以被识别为停止符号，并且可以确定所识别的停止符号的位置坐标是否对应于详细地图信息中的停止标志的位置。 然后，可以基于详细的地图信息或多个因素来确定所识别的停车标志是否适用于车辆。 然后，如果所确定的停止标志被确定为适用于车辆，则可以确定车辆对停车标志的响应，并且可以基于所确定的响应来控制车辆。
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公开(公告)号：US09417631B2
公开(公告)日：2016-08-16
申请号：US15062853
申请日：2016-03-07
Applicant: Google Inc.
Inventor： David Ian Ferguson , David Harrison Silver
CPC classification number: G05D1/0212 , B60W30/12 , B60W40/00 , G01S19/48 , G05D1/00 , G05D1/021 , G05D1/0231 , G05D1/0246 , G05D1/0274 , G06K9/00798
Abstract: Disclosed herein are methods and systems for using prior maps for estimation of lane boundaries or other features within an environment. An example method may include receiving a location of a plurality of detected points on a roadway in an environment of an autonomous vehicle, determining, from a prior map of the roadway, a location of a plurality of reference points from a boundary marker on the roadway that correspond to the detected points on the roadway, determining distances between the detected points and the corresponding reference points based on the location of the detected points in the environment and the location of the reference points from the prior map of the roadway, determining a confidence buffer representing a threshold amount of variation associated with the prior map based at least in part on the distances between the detected points and the corresponding reference points, selecting one or more of the detected points such that the distance between a selected detected point and a corresponding reference point is less than the confidence buffer, and using the selected points to direct the autonomous vehicle along the roadway.
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公开(公告)号：US09335766B1
公开(公告)日：2016-05-10
申请号：US14099004
申请日：2013-12-06
Applicant: Google Inc.
CPC classification number: G06K9/00805 , G01S13/04 , G01S13/931 , G01S17/026 , G01S17/936 , G01S19/13 , G01V11/00 , G05D1/0088 , G05D1/021 , G05D1/0238 , G05D2201/0213 , G06K9/6215 , G06K9/6277 , G06K9/628
Abstract: A vehicle is provided that may distinguish between dynamic obstacles and static obstacles. Given a detector for a class of static obstacles or objects, the vehicle may receive sensor data indicative of an environment of the vehicle. When a possible object is detected in a single frame, a location of the object and a time of observation of the object may be compared to previous observations. Based on the object being observed a threshold number of times, in substantially the same location, and within some window of time, the vehicle may accurately detect the presence of the object and reduce any false detections.
Abstract translation: 提供可以区分动态障碍物和静态障碍物的车辆。 给定一类静态障碍物或物体的检测器，车辆可以接收指示车辆环境的传感器数据。 当在单个帧中检测到可能的对象时，可以将对象的位置和对象的观察时间与先前的观察进行比较。 基于所观察到的物体在基本上相同的位置，并且在一些时间窗口内的阈值次数，车辆可以准确地检测物体的存在并减少任何错误检测。
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公开(公告)号：US09310804B1
公开(公告)日：2016-04-12
申请号：US14086366
申请日：2013-11-21
Applicant: Google Inc.
Inventor： David Ian Ferguson , David Harrison Silver
CPC classification number: G05D1/0212 , B60W30/12 , B60W40/00 , G01S19/48 , G05D1/00 , G05D1/021 , G05D1/0231 , G05D1/0246 , G05D1/0274 , G06K9/00798
Abstract: Disclosed herein are methods and systems for using prior maps for estimation of lane boundaries or other features within an environment. An example method may include receiving a location of a plurality of detected points on a roadway in an environment of an autonomous vehicle, determining, from a prior map of the roadway, a location of a plurality of reference points from a boundary marker on the roadway that correspond to the detected points on the roadway, determining distances between the detected points and the corresponding reference points based on the location of the detected points in the environment and the location of the reference points from the prior map of the roadway, determining a confidence buffer representing a threshold amount of variation associated with the prior map based at least in part on the distances between the detected points and the corresponding reference points, selecting one or more of the detected points such that the distance between a selected detected point and a corresponding reference point is less than the confidence buffer, and using the selected points to direct the autonomous vehicle along the roadway.
Abstract translation: 这里公开了用于使用先前的地图估计车道边界或环境内的其他特征的方法和系统。 示例性方法可以包括在自主车辆的环境中的道路上接收多个检测点的位置，从道路的先前地图确定多个参考点从道路上的边界标记的位置 对应于道路上的检测点，基于环境中检测到的点的位置和来自先前的道路图的参考点的位置来确定检测点与相应参考点之间的距离，确定置信度 缓冲器至少部分地基于所检测的点与相应的参考点之间的距离表示与先前映射相关联的变化阈值量，选择一个或多个检测点，使得所选择的检测点与对应的点之间的距离 参考点小于置信缓冲区，并使用选定的点来指导自治 车辆沿道路。
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20.发明授权公开(公告)号：US09224053B1
公开(公告)日：2015-12-29
申请号：US13955970
申请日：2013-07-31
Applicant: Google Inc.
Inventor： David Ian Franklin Ferguson , David Harrison Silver
IPC: G06K9/00
CPC classification number: G06K9/00798 , B60W30/12 , G05D1/0088 , G05D1/0246 , G06K9/209 , G06K9/6202 , G06K9/6288 , G06T7/74 , G06T2207/30256
Abstract: A vehicle is provided that may combine multiple estimates of an environment into a consolidated estimate. The vehicle may receive first data indicative of the region of interest in an environment from a sensor of the vehicle. The first data may include a first accuracy value and a first estimate of the region of interest. The vehicle may also receive second data indicative of the region of interest in the environment, and the second data may include a second accuracy value and a second estimate of the region of interest. Based on the first data and the second data, the vehicle may combine the first estimate of the region of interest and the second estimate of the region of interest.
Abstract translation: 提供了可将多个环境估计结合到综合估计中的车辆。 车辆可以在车辆的传感器的环境中接收指示感兴趣区域的第一数据。 第一数据可以包括第一精度值和感兴趣区域的第一估计。 车辆还可以接收指示环境中的感兴趣区域的第二数据，并且第二数据可以包括第二精度值和感兴趣区域的第二估计。 基于第一数据和第二数据，车辆可以组合感兴趣区域的第一估计和感兴趣区域的第二估计。
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