公开(公告)号：US09342074B2

公开(公告)日：2016-05-17

申请号：US13857240

申请日：2013-04-05

Applicant: Google Inc.

Inventor： Dmitri Dolgov ,  Andrew Schultz ,  Daniel Trawick Egnor ,  Christopher Urmson

IPC: G01C22/00 ,  G05D1/00 ,  B60W30/00

CPC classification number: G05D1/0061 ,  B60W30/00 ,  B60W50/10 ,  B60W2050/0096 ,  G05D2201/0213

Abstract: Methods and systems for adaptive methods for transitioning control to the driver are described. A computing device controlling a vehicle autonomously may be configured to receive a request for a transition of the vehicle from autonomous mode to manual mode through an indication by the driver. The computing device may determine the state of the vehicle based on parameters related to the autonomous operation of the vehicle. Based on the state of the vehicle and the indication, the computing device may determine instructions corresponding to the transition of control, which may include a strategy for the transition and duration of time corresponding to the transition of control. The computing device may provide the instructions to perform the transition of control of the vehicle from autonomous mode to manual mode.

Abstract translation: 描述了用于将控制转换到驱动器的自适应方法的方法和系统。 可以自动地控制车辆的计算设备可以被配置为通过驾驶员的指示来接收从自主模式转换到手动模式的请求。 计算装置可以基于与车辆的自主操作相关的参数来确定车辆的状态。 基于车辆的状态和指示，计算设备可以确定对应于控制转换的指令，其可以包括用于转换的策略和对应于控制转换的时间持续时间。 计算设备可以提供执行从自主模式到手动模式的车辆控制转换的指令。

公开(公告)号：US09254846B2

公开(公告)日：2016-02-09

申请号：US13886563

申请日：2013-05-03

Applicant: Google Inc.

Inventor： Dmitri Dolgov ,  Dave Ferguson

IPC: B60W30/16 ,  B60W30/17 ,  G01S13/93 ,  G08G1/16 ,  G08G1/00

CPC classification number: B60W30/16 ,  B60W30/143 ,  B60W30/17 ,  B60W2420/42 ,  B60W2550/22 ,  B60W2550/30 ,  B60W2550/302 ,  B60W2550/308 ,  B60W2750/308 ,  G01S13/865 ,  G01S13/867 ,  G01S13/931 ,  G01S17/89 ,  G01S17/936 ,  G01S2013/9325 ,  G05D1/0088 ,  G08G1/167 ,  G08G1/22

Abstract: Methods and systems for predictive reasoning for controlling speed of a vehicle are described. A computing device may be configured to identify a first and second vehicle travelling ahead of an autonomous vehicle and in a same lane as the autonomous vehicle. The computing device may also be configured to determine a first buffer distance behind the first vehicle at which the autonomous vehicle will substantially reach a speed of the first vehicle and a second buffer distance behind the second vehicle at which the first vehicle will substantially reach a speed of the second vehicle. The computing device may further be configured to determine a distance at which to adjust a speed of the autonomous vehicle based on the first and second buffer distances and the speed of the autonomous vehicle, and then provide instructions to adjust the speed of the autonomous vehicle based on the distance.

Abstract translation: 描述用于控制车辆速度的预测推理的方法和系统。 计算设备可以被配置为识别在自主车辆之前行驶的第一和第二车辆，并且与自主车辆在同一车道中。 计算设备还可以被配置为确定第一车辆后面的第一缓冲距离，自动车辆将基本达到第一车辆的速度，第二车辆后面的第二缓冲距离将在第一车辆基本达到速度 的第二辆车。 计算装置还可以被配置为基于第一和第二缓冲器距离和自主车辆的速度来确定用于调整自主车辆的速度的距离，然后提供基于自主车辆的速度来调整自主车辆的速度的指令 在距离。

公开(公告)号：US09008890B1

公开(公告)日：2015-04-14

申请号：US13837573

申请日：2013-03-15

Applicant: Google Inc.

Inventor： Joshua Seth Herbach ,  Nathaniel Fairfield ,  Dmitri Dolgov ,  Peter Colijn ,  Andrew Chatham

IPC: G06F19/00 ,  G05D1/02 ,  G05D1/00

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。

公开(公告)号：US20140336935A1

公开(公告)日：2014-11-13

申请号：US13888634

申请日：2013-05-07

Applicant: Google Inc.

Inventor： Jiajun Zhu ,  Dmitri Dolgov ,  Dave Ferguson

IPC: G01W1/00

CPC classification number: G01W1/00 ,  G01N21/4738 ,  G01S17/023 ,  G01S17/87 ,  G01W1/14 ,  G05D1/0088 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0257 ,  G05D1/0276 ,  H04N7/183

Abstract: Example methods and systems for detecting weather conditions using vehicle onboard sensors are provided. An example method includes receiving laser data collected for an environment of a vehicle, and the laser data includes a plurality of laser data points. The method also includes associating, by a computing device, laser data points of the plurality of laser data points with one or more objects in the environment, and determining given laser data points of the plurality of laser data points that are unassociated with the one or more objects in the environment as being representative of an untracked object. The method also includes based on one or more untracked objects being determined, identifying by the computing device an indication of a weather condition of the environment.

Abstract translation: 提供了使用车载传感器检测天气状况的示例方法和系统。 示例性方法包括接收针对车辆的环境收集的激光数据，并且激光数据包括多个激光数据点。 该方法还包括通过计算设备将多个激光数据点中的激光数据点与环境中的一个或多个对象相关联，并且确定与该一个或多个激光数据点不相关的多个激光数据点的给定激光数据点， 更多的对象在环境中代表未被追踪的对象。 该方法还包括基于确定的一个或多个未跟踪对象，由计算设备识别环境的天气状况的指示。

公开(公告)号：US20140330479A1

公开(公告)日：2014-11-06

申请号：US13886563

申请日：2013-05-03

Applicant: Google Inc.

Inventor： Dmitri Dolgov ,  Dave Ferguson

IPC: B60W30/16

CPC classification number: B60W30/16 ,  B60W30/143 ,  B60W30/17 ,  B60W2420/42 ,  B60W2550/22 ,  B60W2550/30 ,  B60W2550/302 ,  B60W2550/308 ,  B60W2750/308 ,  G01S13/865 ,  G01S13/867 ,  G01S13/931 ,  G01S17/89 ,  G01S17/936 ,  G01S2013/9325 ,  G05D1/0088 ,  G08G1/167 ,  G08G1/22

Abstract: Methods and systems for predictive reasoning for controlling speed of a vehicle are described. A computing device may be configured to identify a first and second vehicle travelling ahead of an autonomous vehicle and in a same lane as the autonomous vehicle. The computing device may also be configured to determine a first buffer distance behind the first vehicle at which the autonomous vehicle will substantially reach a speed of the first vehicle and a second buffer distance behind the second vehicle at which the first vehicle will substantially reach a speed of the second vehicle. The computing device may further be configured to determine a distance at which to adjust a speed of the autonomous vehicle based on the first and second buffer distances and the speed of the autonomous vehicle, and then provide instructions to adjust the speed of the autonomous vehicle based on the distance.

Abstract translation: 描述用于控制车辆速度的预测推理的方法和系统。 计算设备可以被配置为识别在自主车辆之前行驶的第一和第二车辆，并且与自主车辆在同一车道中。 计算设备还可以被配置为确定第一车辆后面的第一缓冲距离，自动车辆将基本达到第一车辆的速度，第二车辆后面的第二缓冲距离将在第一车辆基本达到速度 的第二辆车。 计算装置还可以被配置为基于第一和第二缓冲器距离和自主车辆的速度来确定用于调整自主车辆的速度的距离，然后提供基于自主车辆的速度来调整自主车辆的速度的指令 在距离。

公开(公告)号：US20140303827A1

公开(公告)日：2014-10-09

申请号：US13857240

申请日：2013-04-05

Applicant: Google Inc.

Inventor： Dmitri Dolgov ,  Andrew Schultz ,  Daniel Trawick Egnor ,  Christopher Urmson

IPC: G05D1/00

CPC classification number: G05D1/0061 ,  B60W30/00 ,  B60W50/10 ,  B60W2050/0096 ,  G05D2201/0213

Abstract: Methods and systems for adaptive methods for transitioning control to the driver are described. A computing device controlling a vehicle autonomously may be configured to receive a request for a transition of the vehicle from autonomous mode to manual mode through an indication by the driver. The computing device may determine the state of the vehicle based on parameters related to the autonomous operation of the vehicle. Based on the state of the vehicle and the indication, the computing device may determine instructions corresponding to the transition of control, which may include a strategy for the transition and duration of time corresponding to the transition of control. The computing device may provide the instructions to perform the transition of control of the vehicle from autonomous mode to manual mode.

Abstract translation: 描述了用于将控制转换到驱动器的自适应方法的方法和系统。 可以自动地控制车辆的计算设备可以被配置为通过驾驶员的指示来接收从自主模式转换到手动模式的请求。 计算装置可以基于与车辆的自主操作相关的参数来确定车辆的状态。 基于车辆的状态和指示，计算设备可以确定对应于控制转换的指令，其可以包括用于转换的策略和对应于控制转换的时间持续时间。 计算设备可以提供执行从自主模式到手动模式的车辆控制转换的指令。

公开(公告)号：US08781670B2

公开(公告)日：2014-07-15

申请号：US13903693

申请日：2013-05-28

Applicant: Google Inc.

Inventor： Dmitri Dolgov ,  Christopher Urmson

IPC: B60W30/00 ,  B62D6/00 ,  G05D3/00

CPC classification number: B60W30/12 ,  B60W10/20 ,  B60W30/095 ,  B60W30/18163 ,  B60W2550/302 ,  B60W2550/306 ,  B60W2750/308 ,  B62D15/026 ,  G01C21/3407 ,  G01C21/3658 ,  G05D1/0212 ,  G08G1/167

Abstract: Methods and systems for controlling vehicle lateral lane positioning are described. A computing device may be configured to identify an object in a vicinity of a vehicle on a road. The computing device may be configured to estimate, based on characteristics of the vehicle and respective characteristics of the object, an interval of time during which the vehicle will be laterally adjacent to the object. Based on the characteristics of the vehicle, the computing device may be configured to estimate longitudinal positions of the vehicle on the road during the interval of time. Based on the respective characteristics of the object, the computing device may be configured to determine a lateral distance for the vehicle to maintain between the vehicle and the object during the interval of time at the longitudinal positions of the vehicle, and provide instructions to control the vehicle based on the lateral distance.

Abstract translation: 描述了用于控制车辆横向车道定位的方法和系统。 计算装置可以被配置为识别道路上的车辆附近的物体。 计算装置可以被配置为基于车辆的特性和对象的各个特征来估计车辆将横向邻近对象的时间间隔。 基于车辆的特征，计算设备可以被配置为在时间间隔期间估计车辆在道路上的纵向位置。 基于对象的相应特征，计算设备可以被配置为在车辆的纵向位置的时间间隔期间确定车辆在车辆与物体之间的横向距离，并提供控制指令 车辆基于横向距离。

公开(公告)号：US20160272207A1

公开(公告)日：2016-09-22

申请号：US15170211

申请日：2016-06-01

Applicant: Google Inc.

Inventor： Dmitri Dolgov ,  Dave Ferguson

IPC: B60W30/16 ,  G05D1/00

CPC classification number: B60W30/16 ,  B60W30/143 ,  B60W30/17 ,  B60W2420/42 ,  B60W2550/22 ,  B60W2550/30 ,  B60W2550/302 ,  B60W2550/308 ,  B60W2750/308 ,  G01S13/865 ,  G01S13/867 ,  G01S13/931 ,  G01S17/89 ,  G01S17/936 ,  G01S2013/9325 ,  G05D1/0088 ,  G08G1/167 ,  G08G1/22

Abstract: Methods and systems for predictive reasoning for controlling speed of a vehicle are described. A computing device may be configured to identify a first and second vehicle travelling ahead of an autonomous vehicle and in a same lane as the autonomous vehicle. The computing device may also be configured to determine a first buffer distance behind the first vehicle at which the autonomous vehicle will substantially reach a speed of the first vehicle and a second buffer distance behind the second vehicle at which the first vehicle will substantially reach a speed of the second vehicle. The computing device may further be configured to determine a distance at which to adjust a speed of the autonomous vehicle based on the first and second buffer distances and the speed of the autonomous vehicle, and then provide instructions to adjust the speed of the autonomous vehicle based on the distance.

Abstract translation: 描述用于控制车辆速度的预测推理的方法和系统。 计算设备可以被配置为识别在自主车辆之前行驶的第一和第二车辆，并且与自主车辆在同一车道中。 计算设备还可以被配置为确定第一车辆后面的第一缓冲距离，自动车辆将基本达到第一车辆的速度，第二车辆后面的第二缓冲距离将在第一车辆基本达到速度 的第二辆车。 计算装置还可以被配置为基于第一和第二缓冲器距离和自主车辆的速度来确定用于调整自主车辆的速度的距离，然后提供基于自主车辆的速度来调整自主车辆的速度的指令 在距离。

公开(公告)号：US20160214607A1

公开(公告)日：2016-07-28

申请号：US14827578

申请日：2015-08-17

Applicant: Google Inc.

Inventor： Dmitri Dolgov ,  Dave Ferguson

IPC: B60W30/14 ,  G01S13/86 ,  G05D1/00

CPC classification number: B60W30/16 ,  B60W30/143 ,  B60W30/17 ,  B60W2420/42 ,  B60W2550/22 ,  B60W2550/30 ,  B60W2550/302 ,  B60W2550/308 ,  B60W2750/308 ,  G01S13/865 ,  G01S13/867 ,  G01S13/931 ,  G01S17/89 ,  G01S17/936 ,  G01S2013/9325 ,  G05D1/0088 ,  G08G1/167 ,  G08G1/22

Abstract: Methods and systems for predictive reasoning for controlling speed of a vehicle are described. A computing device may be configured to identify a first and second vehicle travelling ahead of an autonomous vehicle and in a same lane as the autonomous vehicle. The computing device may also be configured to determine a first buffer distance behind the first vehicle at which the autonomous vehicle will substantially reach a speed of the first vehicle and a second buffer distance behind the second vehicle at which the first vehicle will substantially reach a speed of the second vehicle. The computing device may further be configured to determine a distance at which to adjust a speed of the autonomous vehicle based on the first and second buffer distances and the speed of the autonomous vehicle, and then provide instructions to adjust the speed of the autonomous vehicle based on the distance.

Abstract translation: 描述用于控制车辆速度的预测推理的方法和系统。 计算设备可以被配置为识别在自主车辆之前行驶的第一和第二车辆，并且与自主车辆在同一车道中。 计算设备还可以被配置为确定第一车辆后面的第一缓冲距离，自动车辆将基本达到第一车辆的速度，第二车辆后面的第二缓冲距离将在第一车辆基本达到速度 的第二辆车。 计算装置还可以被配置为基于第一和第二缓冲器距离和自主车辆的速度来确定用于调整自主车辆的速度的距离，然后提供基于自主车辆的速度来调整自主车辆的速度的指令 在距离。

公开(公告)号：US09207323B2

公开(公告)日：2015-12-08

申请号：US13860664

申请日：2013-04-11

Applicant: Google Inc.

Inventor： Jiajun Zhu ,  Dmitri Dolgov ,  Dave Ferguson

IPC: G01C3/08 ,  G01S17/02 ,  G01S17/66 ,  G01S17/93 ,  G01S17/95 ,  G01S13/86 ,  G01S13/93 ,  B60W40/064 ,  G01S13/66

CPC classification number: G01S17/023 ,  B60W40/064 ,  G01S13/66 ,  G01S13/865 ,  G01S13/867 ,  G01S13/931 ,  G01S17/66 ,  G01S17/936 ,  G01S17/95 ,  Y02A90/19

Abstract: Example methods and systems for detecting weather conditions including wet surfaces using vehicle onboard sensors are provided. An example method includes receiving laser data collected for an environment of a vehicle. The method also includes determining laser data points that are associated with one or more objects in the environment, and based on laser data points being unassociated with the one or more objects in the environment, identifying an indication that a surface on which the vehicle travels is wet. The method may further include receiving radar data collected for the environment of the vehicle that is indicative of a presence of the one or more objects in the environment of the vehicle, and identifying the indication that the surface on which the vehicle travels is wet further based on laser data points being unassociated with the one or more objects in the environment indicated by the radar data.

Abstract translation: 提供了使用车载传感器来检测包括湿表面在内的天气条件的示例性方法和系统。 示例性方法包括接收针对车辆的环境收集的激光数据。 该方法还包括确定与环境中的一个或多个物体相关联的激光数据点，并且基于与环境中的一个或多个物体不相关的激光数据点，识别车辆行驶的表面是 湿。 该方法还可以包括接收针对车辆的环境而收集的指示车辆环境中的一个或多个物体的存在的雷达数据，并且识别车辆行驶的表面进一步被湿润的指示 激光数据点与雷达数据所指示的环境中的一个或多个物体无关。