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公开(公告)号：US09393961B1
公开(公告)日：2016-07-19
申请号：US13622915
申请日：2012-09-19
Applicant: Google Inc.
Inventor： Bradley Templeton , Nathaniel Fairfield , Dave Ferguson
CPC classification number: G06K9/00805 , B60W30/14 , G05D1/0246 , G06K9/00825 , G06T7/00 , G06T7/292 , G06T7/73 , G06T7/77 , G06T2207/10016 , G06T2207/30236 , G06T2207/30241 , G06T2207/30244 , G06T2207/30252 , G06T2207/30261 , H04N5/2253 , H04N5/247
Abstract: A vehicle configured to operate in an autonomous mode may engage in a reverse-parallax analysis that includes a vehicle system detecting an object, capturing via a camera located at a first location a first image of the detected object, retrieving location data specifying (i) a location of a target object, (ii) the first location, and (iii) a direction of the camera, and based on the location data and the position of the detected object in the first image, predicting where in a second image captured from a second location the detected object would appear if the detected object is the target object.
Abstract translation: 被配置为以自主模式操作的车辆可以进行反向视差分析，其包括检测对象的车辆系统，经由位于第一位置处的摄像机拍摄检测到的对象的第一图像，检索位置数据，指定（i） 目标对象的位置，（ii）第一位置和（iii）相机的方向，并且基于位置数据和第一图像中检测到的对象的位置，预测从第二图像中捕获的第二图像中的哪个位置 如果检测到的对象是目标对象，则检测到的对象将显示第二个位置。
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公开(公告)号：US20160092755A1
公开(公告)日：2016-03-31
申请号：US14883956
申请日：2015-10-15
Applicant: Google Inc.
Inventor： Nathaniel Fairfield , David Ian Ferguson , Abhijit Ogale , Matthew Wang , Yangli Hector Yee
CPC classification number: G06K9/78 , B60T1/10 , B60T7/12 , B60T7/18 , B60T7/22 , B60T2201/08 , B60W30/10 , B60W30/143 , B60W40/06 , B60W2420/42 , B60W2550/14 , B60W2550/22 , B62D6/00 , B62D15/025 , B62D15/0255 , B62D15/0265 , G01S7/4802 , G01S7/4808 , G01S13/865 , G01S13/867 , G01S13/931 , G01S17/89 , G01S17/936 , G01S2013/9353 , G01S2013/936 , G05D1/0088 , G05D1/0214 , G05D1/024 , G05D1/0246 , G05D1/0257 , G05D1/027 , G05D1/0278 , G05D2201/0213 , G06K9/00798 , G06K9/00805 , G06K9/00818 , H04N7/18
Abstract: Methods and systems for detection of a construction zone sign are described. A computing device, configured to control the vehicle, may be configured to receive, from an image-capture device coupled to the computing device, images of a vicinity of the road on which the vehicle is travelling. Also, the computing device may be configured to determine image portions in the images that may depict sides of the road at a predetermined height range. Further, the computing device may be configured to detect a construction zone sign in the image portions, and determine a type of the construction zone sign. Accordingly, the computing device may be configured to modify a control strategy associated with a driving behavior of the vehicle; and control the vehicle based on the modified control strategy.
Abstract translation: 描述了用于检测结构区域符号的方法和系统。 被配置为控制车辆的计算设备可以被配置为从耦合到计算设备的图像捕获设备接收车辆行驶的道路附近的图像。 此外，计算设备可以被配置为确定可以在预定高度范围处描绘道路的侧面的图像中的图像部分。 此外，计算装置可以被配置为检测图像部分中的构造区域标记，并且确定构造区域符号的类型。 因此，计算设备可以被配置为修改与车辆的驾驶行为相关联的控制策略; 并根据修改的控制策略控制车辆。
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公开(公告)号：US09248834B1
公开(公告)日：2016-02-02
申请号：US14505007
申请日：2014-10-02
Applicant: Google Inc.
Inventor： David Ian Franklin Ferguson , David Harrison Silver , Stéphane Ross , Nathaniel Fairfield , Ioan-Alexandru Sucan
CPC classification number: B60W30/09 , B60W30/0953 , B60W30/0956 , B60W30/18154 , B60W2550/10 , B60W2550/30 , B60W2600/00 , B60W2720/24 , G05D1/0088 , G05D1/0214
Abstract: Aspects of the disclosure relate to detecting and responding to objects in a vehicle's environment. For example, an object may be identified in a vehicle's environment, the object having a heading and location. A set of possible actions for the object may be generated using map information describing the vehicle's environment and the heading and location of the object. A set of possible future trajectories of the object may be generated based on the set of possible actions. A likelihood value of each trajectory of the set of possible future trajectories may be determined based on contextual information including a status of the detected object. A final future trajectory is determined based on the determined likelihood value for each trajectory of the set of possible future trajectories. The vehicle is then maneuvered in order to avoid the final future trajectory and the object.
Abstract translation: 本公开的方面涉及检测和响应车辆环境中的物体。 例如，可以在车辆的环境中识别对象，物体具有标题和位置。 可以使用描述车辆环境的地图信息和对象的标题和位置来生成对象的一组可能的动作。 可以基于一组可能的动作来生成对象的一组可能的未来轨迹。 可以基于包括检测到的对象的状态的上下文信息来确定可能的未来轨迹集合中的每个轨迹的似然值。 基于针对可能的未来轨迹集合中的每个轨迹的确定的似然值来确定最终的未来轨迹。 然后车辆被操纵以避免最终的未来轨迹和物体。
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公开(公告)号：US08849494B1
公开(公告)日：2014-09-30
申请号：US13835448
申请日：2013-03-15
Applicant: Google Inc.
Inventor： Joshua Seth Herbach , Nathaniel Fairfield , Peter Colijn
IPC: G05D1/02
CPC classification number: G05D1/0214 , B60W30/00 , G05D1/0297 , G05D2201/0213
Abstract: An autonomous vehicle may determine to seek assistance navigating using a first trajectory. The autonomous vehicle may be configured to receive and store data about a plurality of obstacles. A particular obstacle in the plurality of obstacles may partially or wholly obstruct the first trajectory. The autonomous vehicle may select a portion of the stored data that includes data representing the particular obstacle. The selected portion of the stored data may be provided to an assistance center. A second trajectory may be received from the assistance center, where the second trajectory is not obstructed by the particular obstacle.
Abstract translation: 自主车辆可以确定寻求使用第一轨迹导航的辅助。 自主车辆可以被配置为接收和存储关于多个障碍物的数据。 多个障碍物中的特定障碍物可能部分地或完全地阻碍第一轨迹。 自主车辆可以选择包括表示特定障碍物的数据的存储数据的一部分。 所存储的数据的所选部分可以被提供给辅助中心。 可以从辅助中心接收第二轨迹，其中第二轨迹不被特定障碍物阻挡。
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公开(公告)号：US09679206B1
公开(公告)日：2017-06-13
申请号：US15387826
申请日：2016-12-22
Applicant: Google Inc.
Inventor： David Ian Franklin Ferguson , Wan-Yen Lo , Nathaniel Fairfield
CPC classification number: G05D1/0246 , B60W40/04 , B60W2050/0077 , B60W2050/0215 , G05D1/00 , G05D1/0022 , G05D1/0088 , G06K9/00791 , G06K9/00805 , G07C5/008 , H04L67/125
Abstract: Disclosed herein are systems and methods for providing supplemental identification abilities to an autonomous vehicle system. The sensor unit of the vehicle may be configured to receive data indicating an environment of the vehicle, while the control system may be configured to operate the vehicle. The vehicle may also include a processing unit configured to analyze the data indicating the environment to determine at least one object having a detection confidence below a threshold. Based on the at least one object having a detection confidence below a threshold, the processor may communicate at least a subset of the data indicating the environment for further processing. The vehicle is also configured to receive an indication of an object confirmation of the subset of the data. Based on the object confirmation of the subset of the data, the processor may alter the control of the vehicle by the control system.
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Patent Agency Ranking
公开(公告)号：US20170092131A1
公开(公告)日：2017-03-30
申请号：US15377139
申请日：2016-12-13
Applicant: Google Inc.
Inventor： Nathaniel Fairfield , Joshua Seth Herbach , Andrew Hughes Chatham , Michael Steven Montemerlo
CPC classification number: G08G1/161 , B60W30/00 , B60W2050/008 , G05D1/0088 , G05D1/0287 , G08G1/0112 , G08G1/096725 , G08G1/096741 , G08G1/096775 , G08G1/22
Abstract: Example systems and methods allow for reporting and sharing of information reports relating to driving conditions within a fleet of autonomous vehicles. One example method includes receiving information reports relating to driving conditions from a plurality of autonomous vehicles within a fleet of autonomous vehicles. The method may also include receiving sensor data from a plurality of autonomous vehicles within the fleet of autonomous vehicles. The method may further include validating some of the information reports based at least in part on the sensor data. The method may additionally include combining validated information reports into a driving information map. The method may also include periodically filtering the driving information map to remove outdated information reports. The method may further include providing portions of the driving information map to autonomous vehicles within the fleet of autonomous vehicles.
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公开(公告)号：US20160351056A1
公开(公告)日：2016-12-01
申请号：US15153117
申请日：2016-05-12
Applicant: Google Inc.
Inventor： Joshua Seth Herbach , Philip Nemec , Nathaniel Fairfield
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：US09383749B2
公开(公告)日：2016-07-05
申请号：US14467201
申请日：2014-08-25
Applicant: Google Inc.
Inventor： Luis Ricardo Prada Gomez , Nathaniel Fairfield , Andy Szybalski , Philip Nemec , Christopher Urmson
CPC classification number: G05D1/0022 , B62D15/0285 , G05D1/0061 , G05D2201/02
Abstract: Disclosed are methods and devices for transitioning a mixed-mode autonomous vehicle from a human driven mode to an autonomously driven mode. Transitioning may include stopping a vehicle on a predefined landing strip and detecting a reference indicator. Based on the reference indicator, the vehicle may be able to know its exact position. Additionally, the vehicle may use the reference indictor to obtain an autonomous vehicle instruction via a URL. After the vehicle knows its precise location and has an autonomous vehicle instruction, it can operate in autonomous mode.
Abstract translation: 公开了用于将混合模式自主车辆从人类驾驶模式转换到自主驾驶模式的方法和装置。 过渡可能包括在预定义的着陆带上停止车辆并检测参考指示符。 基于参考指示器，车辆可能能够知道其确切的位置。 此外，车辆可以使用参考指示器通过URL获得自主车辆指令。 在车辆知道其精确位置并具有自主车辆指令之后，它可以在自主模式下操作。
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公开(公告)号：US20150248131A1
公开(公告)日：2015-09-03
申请号：US14195682
申请日：2014-03-03
Applicant: Google Inc.
Inventor： Nathaniel Fairfield , Joshua Seth Herbach , Vadim Furman
IPC: G05D1/00
CPC classification number: G05D1/0044 , B60W30/00 , G05D1/0011 , G05D1/0027 , G05D1/0033 , G05D1/0038 , G05D2201/0213
Abstract: Example systems and methods enable an autonomous vehicle to request assistance from a remote operator in certain predetermined situations. One example method includes determining a representation of an environment of an autonomous vehicle based on sensor data of the environment. Based on the representation, the method may also include identifying a situation from a predetermined set of situations for which the autonomous vehicle will request remote assistance. The method may further include sending a request for assistance to a remote assistor, the request including the representation of the environment and the identified situation. The method may additionally include receiving a response from the remote assistor indicating an autonomous operation. The method may also include causing the autonomous vehicle to perform the autonomous operation.
Abstract translation: 示例系统和方法使得自主车辆能够在某些预定情况下请求来自远程操作员的帮助。 一个示例性方法包括基于环境的传感器数据来确定自主车辆的环境的表示。 基于该表示，该方法还可以包括从自动车辆将要求远程协助的预定情况集合中识别情况。 该方法还可以包括向远程组合器发送帮助请求，该请求包括环境的表示和所识别的情况。 该方法可以另外包括从远程组件接收指示自主操作的响应。 该方法还可以包括使自主车辆执行自主操作。
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公开(公告)号：US08849493B2
公开(公告)日：2014-09-30
申请号：US13660071
申请日：2012-10-25
Applicant: Google Inc.
Inventor： Luis Ricardo Prada Gomez , Nathaniel Fairfield , Andy Szybalski , Philip Nemec , Christopher Urmson
IPC: G01C22/00
CPC classification number: G05D1/0022 , B62D15/0285 , G05D1/0061 , G05D2201/02
Abstract: Disclosed are methods and devices for transitioning a mixed-mode autonomous vehicle from a human driven mode to an autonomously driven mode. Transitioning may include stopping a vehicle on a predefined landing strip and detecting a reference indicator. Based on the reference indicator, the vehicle may be able to know its exact position. Additionally, the vehicle may use the reference indictor to obtain an autonomous vehicle instruction via a URL. After the vehicle knows its precise location and has an autonomous vehicle instruction, it can operate in autonomous mode.
Abstract translation: 公开了用于将混合模式自主车辆从人类驾驶模式转换到自主驾驶模式的方法和装置。 过渡可能包括在预定义的着陆带上停止车辆并检测参考指示符。 基于参考指示器，车辆可能能够知道其确切的位置。 此外，车辆可以使用参考指示器通过URL获得自主车辆指令。 在车辆知道其精确位置并具有自主车辆指令之后，它可以在自主模式下操作。
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