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    Determining when to drive autonomously
    21.
    发明授权
    Determining when to drive autonomously 有权
    确定何时自主驾驶

    公开(公告)号：US08954217B1

    公开(公告)日：2015-02-10

    申请号：US14220653

    申请日：2014-03-20

    Applicant: Google Inc.

    Inventor： Michael Steven Montemerlo ,  Hyman Jack Murveit ,  Christopher Paul Urmson ,  Dmitri A. Dolgov ,  Philip Nemec

    IPC: G05D1/00 ,  B60W30/00

    CPC classification number: G05D1/0061 ,  B60W30/00 ,  G05D2201/0213

    Abstract: Aspects of the disclosure relate generally to determining whether an autonomous vehicle should be driven in an autonomous or semiautonomous mode (where steering, acceleration, and braking are controlled by the vehicle's computer). For example, a computer may maneuver a vehicle in an autonomous or a semiautonomous mode. The computer may continuously receive data from one or more sensors. This data may be processed to identify objects and the characteristics of the objects. The detected objects and their respective characteristics may be compared to a traffic pattern model and detailed map information. If the characteristics of the objects deviate from the traffic pattern model or detailed map information by more than some acceptable deviation threshold value, the computer may generate an alert to inform the driver of the need to take control of the vehicle or the computer may maneuver the vehicle in order to avoid any problems.

    Abstract translation: 本公开的方面通常涉及确定自主车辆是否应以自主或半自主模式（其中转向，加速和制动由车辆的计算机控制）驱动。 例如，计算机可以以自主或半自主的方式操纵车辆。 计算机可以连续地从一个或多个传感器接收数据。 可以处理该数据以识别对象和对象的特征。 可以将检测到的对象及其各自的特征与交通模式模型和详细地图信息进行比较。 如果物体的特征偏离交通模式模型或详细地图信息超过一些可接受的偏差阈值，则计算机可以产生警报以通知驾驶员需要控制车辆，或者计算机可以操纵 车辆为了避免任何问题。

    Avoiding blind spots of other vehicles
    22.
    发明授权
    Avoiding blind spots of other vehicles 有权
    避免其他车辆的盲点

    公开(公告)号：US08874267B1

    公开(公告)日：2014-10-28

    申请号：US14150901

    申请日：2014-01-09

    Applicant: Google Inc.

    Inventor： Dmitri A. Dolgov ,  Christopher Paul Urmson

    IPC: G05D1/00 ,  G06F19/00 ,  G08G3/02 ,  G05B19/04 ,  G05B19/18 ,  G05B15/00

    CPC classification number: G05D1/0214 ,  B60W30/08 ,  B60W30/09 ,  B60W30/095 ,  B60W30/0956 ,  B60W30/12 ,  B60W30/16 ,  B60W50/0097 ,  B60W2550/20 ,  B60W2720/10 ,  G01C21/26 ,  G05D1/0061 ,  G05D1/0088 ,  G08G1/16 ,  G08G1/166 ,  G08G1/167

    Abstract: Aspects of the disclosure relate generally to detecting and avoiding blind spots of other vehicles when maneuvering an autonomous vehicle. Blind spots may include both areas adjacent to another vehicle in which the driver of that vehicle would be unable to identify another object as well as areas that a second driver in a second vehicle may be uncomfortable driving. In one example, a computer of the autonomous vehicle may identify objects that may be relevant for blind spot detecting and may determine the blind spots for these other vehicles. The computer may predict the future locations of the autonomous vehicle and the identified vehicles to determine whether the autonomous vehicle would drive in any of the determined blind spots. If so, the autonomous driving system may adjust its speed to avoid or limit the autonomous vehicle's time in any of the blind spots.

    Abstract translation: 本公开的方面通常涉及在操纵自主车辆时检测和避免其他车辆的盲点。 盲点可以包括与另一车辆相邻的两个区域，其中该车辆的驾驶员将不能识别另一个物体，以及第二车辆中的第二驾驶员可能不舒适驾驶的区域。 在一个示例中，自主车辆的计算机可以识别可能与盲点检测相关的对象，并且可以确定这些其他车辆的盲点。 计算机可以预测自主车辆和所识别的车辆的未来位置，以确定自主车辆是否将在任何确定的盲点中行驶。 如果是这样，自主驾驶系统可以调整其速度以避免或限制自动车辆在任何盲区的时间。

    MODIFYING BEHAVIOR OF AUTONOMOUS VEHICLES BASED ON SENSOR BLIND SPOTS AND LIMITATIONS
    27.
    发明申请
    MODIFYING BEHAVIOR OF AUTONOMOUS VEHICLES BASED ON SENSOR BLIND SPOTS AND LIMITATIONS 有权
    基于传感器盲点和限制的自动车辆修改行为

    公开(公告)号：US20160266581A1

    公开(公告)日：2016-09-15

    申请号：US15137120

    申请日：2016-04-25

    Applicant: Google Inc.

    Inventor： Dmitri A. Dolgov ,  Christopher Paul Urmson

    IPC: G05D1/02

    CPC classification number: G05D1/0274 ,  B60W30/18154 ,  B60W2050/0095 ,  B60W2550/12 ,  G05D1/0248 ,  G05D1/0257 ,  G05D1/0276 ,  G05D2201/0213

    Abstract: Models can be generated of a vehicle's view of its environment and used to maneuver the vehicle. This view need not include what objects or features the vehicle is actually seeing, but rather those areas that the vehicle is able to observe using its sensors if the sensors were completely un-occluded. For example, for each of a plurality of sensors of the object detection component, a computer may generate an individual 3D model of that sensor's field of view. Weather information is received and used to adjust one or more of the models. After this adjusting, the models may be aggregated into a comprehensive 3D model. The comprehensive model may be combined with detailed map information indicating the probability of detecting objects at different locations. The model of the vehicle's environment may be computed based on the combined comprehensive 3D model and detailed map information.

    Abstract translation: 可以产生车辆对其环境的视野的模型，并用于操纵车辆。 该视图不需要包括车辆实际看到的物体或特征，而是车辆能够使用其传感器观察的区域，如果传感器完全不被遮挡。 例如，对于物体检测部件的多个传感器中的每一个，计算机可以生成该传感器的视野的单独的3D模型。 接收天气信息并用于调整一个或多个模型。 经过这种调整，模型可能会聚合成一个全面的3D模型。 综合模型可以与指示在不同位置检测物体的概率的详细地图信息相结合。 车辆环境模型可以基于综合的综合3D模型和详细的地图信息进行计算。

    Modifying behavior of autonomous vehicles based on sensor blind spots and limitations
    28.
    发明授权
    Modifying behavior of autonomous vehicles based on sensor blind spots and limitations 有权
    基于传感器盲点和局限性修改自主车辆的行为

    公开(公告)号：US09367065B2

    公开(公告)日：2016-06-14

    申请号：US13749793

    申请日：2013-01-25

    Applicant: Google Inc.

    Inventor： Dmitri A. Dolgov ,  Christopher Paul Urmson

    IPC: G05D1/02 ,  B60W30/18 ,  B60W50/00

    CPC classification number: G05D1/0274 ,  B60W30/18154 ,  B60W2050/0095 ,  B60W2550/12 ,  G05D1/0248 ,  G05D1/0257 ,  G05D1/0276 ,  G05D2201/0213

    Abstract: Models can be generated of a vehicle's view of its environment and used to maneuver the vehicle. This view need not include what objects or features the vehicle is actually seeing, but rather those areas that the vehicle is able to observe using its sensors if the sensors were completely un-occluded. For example, for each of a plurality of sensors of the object detection component, a computer may generate an individual 3D model of that sensor's field of view. Weather information is received and used to adjust one or more of the models. After this adjusting, the models may be aggregated into a comprehensive 3D model. The comprehensive model may be combined with detailed map information indicating the probability of detecting objects at different locations. The model of the vehicle's environment may be computed based on the combined comprehensive 3D model and detailed map information.

    Abstract translation: 可以产生车辆对其环境的视野的模型，并用于操纵车辆。 该视图不需要包括车辆实际看到的物体或特征，而是车辆能够使用其传感器观察的区域，如果传感器完全不被遮挡。 例如，对于物体检测部件的多个传感器中的每一个，计算机可以生成该传感器的视野的单独的3D模型。 接收天气信息并用于调整一个或多个模型。 经过这种调整，模型可能会聚合成一个全面的3D模型。 综合模型可以与指示在不同位置检测物体的概率的详细地图信息相结合。 车辆环境模型可以基于综合的综合3D模型和详细的地图信息进行计算。

    Detecting road weather conditions
    29.
    发明授权
    Detecting road weather conditions 有权

    公开(公告)号：US08983781B2

    公开(公告)日：2015-03-17

    申请号：US13623397

    申请日：2012-09-20

    Applicant: Google Inc.

    Inventor： Christopher Paul Urmson ,  Michael Steven Montemerlo ,  Jiajun Zhu

    IPC: G01W1/00 ,  G01W1/02 ,  G01W1/10 ,  G01S17/89

    Abstract: Aspects of the disclosure relate generally to detecting road weather conditions. Vehicle sensors including a laser, precipitation sensors, and/or camera may be used to detect information such as the brightness of the road, variations in the brightness of the road, brightness of the world, current precipitation, as well as the detected height of the road. Information received from other sources such as networked based weather information (forecasts, radar, precipitation reports, etc.) may also be considered. The combination of the received and detected information may be used to estimate the probability of precipitation such as water, snow or ice in the roadway. This information may then be used to maneuver an autonomous vehicle (for steering, accelerating, or braking) or identify dangerous situations.

    Pedestrian notifications
    30.
    发明授权
    Pedestrian notifications 有权

    公开(公告)号：US08954252B1

    公开(公告)日：2015-02-10

    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

    CPC classification number: G08G1/167 ,  B60Q1/50 ,  B60Q5/005 ,  B60T8/17558 ,  B60T2201/022 ,  G08G1/165 ,  G08G1/166

    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.

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