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

IPC: G06F19/00 ,  G01C21/28 ,  G01S13/88 ,  G01C21/30

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.

公开(公告)号：US09234618B1

公开(公告)日：2016-01-12

申请号：US13629378

申请日：2012-09-27

Applicant: Google Inc.

Inventor： Jiajun Zhu ,  David I. Ferguson ,  Dmitri A. Dolgov ,  Jonathan Baldwin Dowdall

IPC: G01C3/08 ,  F16L55/00 ,  G01S17/10 ,  G01S7/497

CPC classification number: G01N21/27 ,  F16L55/00 ,  G01C3/08 ,  G01S7/4808 ,  G01S7/497 ,  G01S17/023 ,  G01S17/08 ,  G01S17/10 ,  G01S17/42 ,  G01S17/89 ,  G01S17/936 ,  G05D1/0088

Abstract: A light detection and ranging device associated with an autonomous vehicle scans through a scanning zone while emitting light pulses and receives reflected signals corresponding to the light pulses. The reflected signals indicate a three-dimensional point map of the distribution of reflective points in the scanning zone. A hyperspectral sensor images a region of the scanning zone corresponding to a reflective feature indicated by the three-dimensional point map. The output from the hyperspectral sensor includes spectral information characterizing a spectral distribution of radiation received from the reflective feature. The spectral characteristics of the reflective feature allow for distinguishing solid objects from non-solid reflective features, and a map of solid objects is provided to inform real time navigation decisions.

Abstract translation: 与自主车辆相关联的光检测和测距装置在发射光脉冲的同时扫描扫描区域并接收对应于光脉冲的反射信号。 反射信号表示扫描区域中反射点分布的三维点图。 高光谱传感器对与三维点图所示的反射特征对应的扫描区域进行成像。 来自高光谱传感器的输出包括表征从反射特征接收的辐射的光谱分布的光谱信息。 反射特征的光谱特征允许区分固体物体与非固体反射特征，并且提供固体物体的映射以通知实时导航决定。

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

IPC: B60W30/18 ,  G05D1/00

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。

公开(公告)号：US09145139B2

公开(公告)日：2015-09-29

申请号：US13925795

申请日：2013-06-24

Applicant: Google Inc.

Inventor： David I. Ferguson ,  Wan-Yen Lo

IPC: G05D1/00 ,  B60W30/09

CPC classification number: B60W30/09 ,  B60W30/12 ,  B60W30/16 ,  B60W2420/42 ,  B60W2550/10 ,  G01C21/30 ,  G05D1/0088 ,  G06K9/00798 ,  G06K9/00805 ,  G06K9/3233 ,  G06K9/6289

Abstract: An autonomous vehicle may be configured to use environmental information for image processing. The vehicle may be configured to operate in an autonomous mode in an environment and may be operating substantially in a lane of travel of the environment. The vehicle may include a sensor configured to receive image data indicative of the environment. The vehicle may also include a computer system configured to compare environmental information indicative of the lane of travel to the image data so as to determine a portion of the image data that corresponds to the lane of travel of the environment. Based on the portion of the image data that corresponds to the lane of travel of the environment and by disregarding a remaining portion of the image data, the vehicle may determine whether an object is present in the lane, and based on the determination, provide instructions to control the vehicle in the autonomous mode in the environment.

Abstract translation: 自主车辆可以被配置为使用用于图像处理的环境信息。 车辆可以被配置为在环境中以自主模式操作并且可以基本上在环境的行进路线中操作。 车辆可以包括被配置为接收指示环境的图像数据的传感器。 车辆还可以包括被配置为将指示行车道的环境信息与图像数据进行比较的计算机系统，以便确定对应于环境行驶路线的图像数据的一部分。 基于对应于环境行进路线的图像数据的部分，并且通过忽略图像数据的剩余部分，车辆可以确定物体是否存在于车道中，并且基于该确定，提供指令 在环境中以自主模式控制车辆。

公开(公告)号：US09062979B1

公开(公告)日：2015-06-23

申请号：US13936522

申请日：2013-07-08

Applicant: Google Inc.

Inventor： David I. Ferguson ,  David Silver

IPC: G06F19/00 ,  G01C21/28 ,  G01S13/88 ,  G01C21/26

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.

Abstract translation: 本公开的方面涉及使用在远距离检测的对象来增加基于近距离信息的位置和航向估计的准确性。 例如，自主车辆可以使用从诸如激光器的传感器收集的数据点来生成环境特征的环境图。 然后将环境地图与预先存储的地图数据进行比较，以确定车辆的地理位置和航向。 具有比第一传感器更长的距离的第二传感器，例如激光器或照相机，可以检测第一传感器的范围和视场之外的物体。 例如，对象可以具有使其在照相机图像中或从激光数据点可识别的逆反射性质。 然后将对象的位置与预先存储的地图数据进行比较，并用于细化车辆的估计位置和航向。

公开(公告)号：US08949016B1

公开(公告)日：2015-02-03

申请号：US13630039

申请日：2012-09-28

Applicant: Google Inc.

Inventor： David I. Ferguson ,  Dmitri A. Dolgov

IPC: G06F17/10 ,  B60Q1/00 ,  G01C22/00

CPC classification number: G05D1/0274 ,  B60W30/00 ,  G01S17/89 ,  G05D1/024 ,  G05D2201/0213

Abstract: A autonomous driving computer system determines whether a driving environment has changed. One or more objects and/or object types in the driving environment may be identified as primary objects. The autonomous driving computer system may be configured to detect the primary objects and/or object types, and compare the detected objects and/or object types with the previous known location of the detected object and/or object types. The autonomous driving computer system may obtain several different metrics to facilitate the comparison. A confidence probability obtained from the comparison may indicate the degree of confidence that the autonomous driving computer system has in determining that the driving environment has actually changed.

Abstract translation: 自主驾驶计算机系统确定驾驶环境是否已经改变。 驾驶环境中的一个或多个对象和/或对象类型可以被识别为主要对象。 自主驾驶计算机系统可以被配置为检测主要对象和/或对象类型，并且将检测到的对象和/或对象类型与检测到的对象和/或对象类型的先前已知位置进行比较。 自主驾驶计算机系统可以获得几个不同的度量以便于比较。 从比较获得的置信度概率可以指示自主驾驶计算机系统在确定驾驶环境实际上改变时的置信度。

公开(公告)号：US08838321B1

公开(公告)日：2014-09-16

申请号：US13678027

申请日：2012-11-15

Applicant: Google Inc.

Inventor： David I. Ferguson

IPC: G06F17/00 ,  G01C21/36 ,  G05D1/02 ,  G01C21/34

CPC classification number: B60W30/18009 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20 ,  B60W30/18163 ,  B60W2550/20 ,  B60W2710/18 ,  B60W2710/20 ,  B60W2720/10 ,  G01C21/3415 ,  G05D1/0088 ,  G05D1/0214 ,  G05D1/0289 ,  G06F17/00

Abstract: A method is provided that includes receiving user input identifying a travel destination for a first vehicle, determining, by a processor, a first route for the first vehicle to follow, and configuring the first vehicle to follow the first route. The method further includes obtaining a model for a second vehicle that shares a road with the first vehicle and comparing model to a pre-determined template for a vehicle that is known to be a special purpose vehicle in order to determine whether the first template and the second template match. The method further includes determining, by the processor, a second route that leads to the travel destination, when a match is found to exist, and switching the first vehicle from following the first route to following the second route.

Abstract translation: 提供了一种方法，包括接收识别第一车辆的旅行目的地的用户输入，由处理器确定第一车辆跟随的第一路线，以及配置第一车辆跟随第一路线。 该方法还包括获得与第一车辆共享道路的第二车辆的模型，并且将已知为专用车辆的车辆的模型与预定模板进行比较，以确定第一模板和 第二个模板匹配。 所述方法还包括：当发现匹配存在时，由所述处理器确定通向所述旅行目的地的第二路线，以及将所述第一车辆从所述第一路线追随到所述第二路线之后。

公开(公告)号：US20140018995A1

公开(公告)日：2014-01-16

申请号：US13944877

申请日：2013-07-18

Applicant: Google Inc.

Inventor： David I. Ferguson ,  Dmitri Dolgov

IPC: G05D1/02

CPC classification number: G05D1/0212 ,  B60W30/12 ,  B60W50/029 ,  B60W2550/14 ,  B60W2550/306 ,  B60W2550/308 ,  G05D1/0289 ,  G06K9/00798 ,  G06K9/00805

Abstract: Methods and devices for controlling a vehicle in an autonomous mode are disclosed. In one aspect, an example method is disclosed that includes obtaining lane information that provides an estimated location of a lane of a road on which a vehicle is traveling. The example method further includes determining that the lane information has become unavailable or unreliable and, in response, using a sensor to monitor a first distance and a second distance between the vehicle and a neighboring vehicle, determining first and second relative positions of the neighboring vehicle based on the first and second distances, respectively, and, based on the first and second relative positions, determining an estimated path of the neighboring vehicle. The example method further includes, based on the estimated path, determining an updated estimated location of the lane, and controlling the vehicle based on the updated estimated location of the lane.

Abstract translation: 公开了以自主模式控制车辆的方法和装置。 一方面，公开了一种示例性方法，其包括获取提供车辆行驶的道路的车道的估计位置的车道信息。 示例性方法还包括确定车道信息变得不可用或不可靠，并且作为响应，使用传感器监测车辆和相邻车辆之间的第一距离和第二距离，确定相邻车辆的第一和第二相对位置 分别基于第一和第二距离，并且基于第一和第二相对位置确定相邻车辆的估计路径。 该示例方法还包括：基于估计的路径，确定车道的更新的估计位置，以及基于车道的更新的估计位置来控制车辆。

公开(公告)号：US20170278400A1

公开(公告)日：2017-09-28

申请号：US15468574

申请日：2017-03-24

Applicant: Google Inc.

Inventor： David I. Ferguson

IPC: G08G1/16

CPC classification number: G08G1/166

Abstract: A method and apparatus are provided for determining whether a driving environment has changed relative to previously stored information about the driving environment. The apparatus may include an autonomous driving computer system configured to detect one or more vehicles in the driving environment, and determine corresponding trajectories for those detected vehicles. The autonomous driving computer system may then compare the determined trajectories to an expected trajectory of a hypothetical vehicle in the driving environment. Based on the comparison, the autonomous driving computer system may determine whether the driving environment has changed and/or a probability that the driving environment has changed, relative to the previously stored information about the driving environment.

公开(公告)号：US09654738B1

公开(公告)日：2017-05-16

申请号：US13960969

申请日：2013-08-07

Applicant: Google Inc.

Inventor： David I. Ferguson ,  Abhijit S. Ogale

IPC: H04N7/18 ,  B60R1/00 ,  G06K9/00

CPC classification number: H04N7/18 ,  G06K9/00805 ,  G06K9/00825

Abstract: The invention relates to collecting different images using different camera parameters. As an example, a single camera may capture two different types of images: a dark exposure for light emitting objects and a normal exposure for passive objects. The camera may first capture an image. This first image may be processed to determine the ideal camera settings for capturing the average intensity of the environment. Fixed offset values may be added to these ideal camera settings and the dark exposure may be captured. The ideal camera settings are then used to capture a normal exposure, which in turn may be processed to determine new ideal camera settings. Again, the fixed offset values may be added to the new ideal camera settings and a dark exposure is captured. This process may repeat continuously and periodically, and the resulting images may be processed to identify emissive and passive objects.