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公开(公告)号：US08996224B1
公开(公告)日：2015-03-31
申请号：US13837306
申请日：2013-03-15
Applicant: Google Inc.
Inventor： Joshua Seth Herbach , Nathaniel Fairfield
CPC classification number: G05D1/0011 , B60W30/12 , B60W30/16 , B60W2520/10 , B60W2550/40 , G05D1/0027 , G05D1/0044 , G05D1/02 , G05D2201/0213
Abstract: An autonomous vehicle may determine that a speed of the autonomous vehicle is less than or equal to a threshold speed, and that the autonomous vehicle has not detected a traffic control signal. The autonomous vehicle may identify a cause C for the speed to be less than or equal to the threshold speed. The autonomous vehicle may start a timer T that is based on the cause C. After the timer T expires, the autonomous vehicle may determine whether the cause C remains as a cause for the speed to be less than or equal to the threshold speed. After determining that the cause C remains the cause for the speed to be less than or equal to the threshold speed, the autonomous vehicle may send an assistance signal indicating a stuck condition.
Abstract translation: 自主车辆可以确定自主车辆的速度小于或等于阈值速度，并且自主车辆没有检测到交通控制信号。 自主车辆可以识别速度小于或等于阈值速度的原因C. 自主车辆可以基于原因C启动定时器T.在定时器T到期之后，自主车辆可以确定原因C是否保持为速度小于或等于阈值速度的原因。 在确定原因C仍然是速度小于或等于阈值速度的原因之后，自主车辆可以发送指示卡住状态的辅助信号。
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Patent Agency Ranking
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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公开(公告)号：US20160370194A1
公开(公告)日：2016-12-22
申请号：US14745799
申请日：2015-06-22
Applicant: Google Inc.
Inventor： Peter Colijn , Joshua Seth Herbach , Matthew Paul McNaughton
CPC classification number: G01C21/34 , G01C21/343 , G08G1/202 , G08G1/205 , G08G1/22
Abstract: Aspects of the disclosure provide systems and methods for providing suggested locations for pick up and destination locations. Pick up locations may include locations where an autonomous vehicle can pick up a passenger, while destination locations may include locations where the vehicle can wait for an additional passenger, stop and wait for a passenger to perform some task and return to the vehicle, or for the vehicle to drop off a passenger. As such, a request for a vehicle may be received from a client computing device. The request may identify a first location. A set of one or more suggested locations may be selected by comparing the predetermined locations to the first location. The set may be provided to the client computing device.
Abstract translation: 本公开的方面提供用于提供拾取和目的地位置的建议位置的系统和方法。 接送位置可以包括自主车辆可以接载乘客的位置，而目的地位置可以包括车辆可以等待附加乘客的位置，停止并等待乘客执行某些任务并返回车辆，或者为 车辆下车。 因此，可以从客户端计算设备接收对车辆的请求。 请求可以标识第一位置。 可以通过将预定位置与第一位置进行比较来选择一组或多个建议位置。 该组可以被提供给客户端计算设备。
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14.发明授权公开(公告)号：US09465388B1
公开(公告)日：2016-10-11
申请号：US14195663
申请日：2014-03-03
Applicant: Google Inc.
Inventor： Nathaniel Fairfield , Joshua Seth Herbach
CPC classification number: G05D1/0088 , B60W30/00 , G05D1/0027 , G05D1/0038 , G05D1/0044 , G05D2201/0213 , H04L67/12
Abstract: Example systems and methods enable an autonomous vehicle to request assistance from a remote operator when the vehicle's confidence in operation is low. One example method includes operating an autonomous vehicle in a first autonomous mode. The method may also include identifying a situation where a level of confidence of an autonomous operation in the first autonomous mode is below a threshold level. The method may further include sending a request for assistance to a remote assistor, the request including sensor data representative of a portion of an environment of the autonomous vehicle. The method may additionally include receiving a response from the remote assistor, the response indicating a second autonomous mode of operation. The method may also include causing the autonomous vehicle to operate in the second autonomous mode of operation in accordance with the response from the remote assistor.
Abstract translation: 当车辆的操作信心低时，示例系统和方法使得自主车辆能够向遥控操作者请求帮助。 一个示例性方法包括以第一自主模式操作自主车辆。 该方法还可以包括识别在第一自主模式中的自主操作的置信度低于阈值水平的情况。 该方法还可以包括向远程组合器发送对协助的请求，所述请求包括表示自主车辆的环境的一部分的传感器数据。 该方法可以另外包括从远程组件接收响应，该响应指示第二自主操作模式。 该方法还可以包括使自主车辆根据来自遥控器的响应在第二自主操作模式下操作。
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公开(公告)号：US09368026B1
公开(公告)日：2016-06-14
申请号：US14721604
申请日：2015-05-26
Applicant: Google Inc.
Inventor： Joshua Seth Herbach , Philip Nemec , Nathaniel Fairfield
CPC classification number: G08G1/202 , B60W50/029 , B60W2050/0005 , B60W2050/0006 , B60W2560/02 , G05D1/0088 , G05D1/0297 , G05D2201/0213 , G06F9/46 , G06F9/4881 , G06F9/546 , G08G1/00
Abstract: Aspects of the present disclosure relate to a system having a memory, a plurality of self-driving systems for controlling a vehicle, and one or more processors. The processors are configured to receive at least one fallback task in association with a request for a primary task and at least one trigger of each fallback task. Each trigger is a set of conditions that, when satisfied, indicate when a vehicle requires attention for proper operation. The processors are also configured to send instructions to the self-driving systems to execute the primary task and receive status updates from the self-driving systems. The processors are configured to determine that a set of conditions of a trigger is satisfied based on the status updates and send further instructions based on the associated fallback task to the self-driving systems.
Abstract translation: 本公开的方面涉及具有存储器，用于控制车辆的多个自行车系统和一个或多个处理器的系统。 处理器被配置为接收与主任务的请求和每个后备任务的至少一个触发相关联的至少一个后备任务。 每个触发器是一组条件，当满足时，指示车辆何时需要注意正确的操作。 处理器还被配置为向自动驾驶系统发送指令以执行主要任务并从自驾驾驶系统接收状态更新。 处理器被配置为基于状态更新来确定触发的一组条件，并且基于相关联的回退任务向另一个自行车系统发送进一步的指令。
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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
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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