公开(公告)号：US08995721B1

公开(公告)日：2015-03-31

申请号：US13759033

申请日：2013-02-04

Applicant: Google Inc.

Inventor： Nathaniel Fairfield ,  Dave Ferguson

IPC: G06K9/00 ,  G08G1/123

CPC classification number: G06K9/00825

Abstract: Methods and apparatus are disclosed related to classifying illuminated objects. A computing device can receive a sequence of images including first and second images. The first image can be of an environment of a vehicle taken at a first time. The second image can be of the environment of the vehicle taken at a second time. The vehicle can include a light source that illuminates a portion of the environment. The first and second times can differ. The computing device can detect an object having a first size and a first brightness in the first image. The computing device can detect the object having a second size and a second brightness in the second image. The computing device can classify the object based on a brightness difference between the first brightness and second brightness and a size difference between the first size and second size.

Abstract translation: 公开了与分类照明物体相关的方法和装置。 计算设备可以接收包括第一和第二图像的图像序列。 第一个图像可以是第一次拍摄的车辆的环境。 第二个图像可以是第二次拍摄的车辆的环境。 车辆可以包括照亮环境的一部分的光源。 第一次和第二次可以不同。 计算设备可以检测第一图像中具有第一大小和第一亮度的对象。 计算设备可以在第二图像中检测具有第二大小和第二亮度的对象。 计算装置可以基于第一亮度和第二亮度之间的亮度差以及第一尺寸和第二尺寸之间的尺寸差来对对象进行分类。

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。