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    Determining changes in a driving environment based on vehicle behavior
    21.
    发明授权
    Determining changes in a driving environment based on vehicle behavior 有权

    公开(公告)号：US09633564B2

    公开(公告)日：2017-04-25

    申请号：US13628905

    申请日：2012-09-27

    Applicant: Google Inc.

    Inventor： David I. Ferguson

    IPC: G08G1/00 ,  G08G1/16

    CPC classification number: G08G1/166

    Abstract: A method and apparatus are provided for determining whether a driving environment has changed relative to previously stored information about the driving environment. The apparatus may include an autonomous driving computer system configured to detect one or more vehicles in the driving environment, and determine corresponding trajectories for those detected vehicles. The autonomous driving computer system may then compare the determined trajectories to an expected trajectory of a hypothetical vehicle in the driving environment. Based on the comparison, the autonomous driving computer system may determine whether the driving environment has changed and/or a probability that the driving environment has changed, relative to the previously stored information about the driving environment.

    Using behavior of objects to infer changes in a driving environment
    22.
    发明授权
    Using behavior of objects to infer changes in a driving environment 有权

    公开(公告)号：US09600768B1

    公开(公告)日：2017-03-21

    申请号：US13863613

    申请日：2013-04-16

    Applicant: Google Inc.

    Inventor： David I. Ferguson

    IPC: G06N5/02

    CPC classification number: G06N5/02 ,  G01C21/3602 ,  G06K9/00791

    Abstract: An apparatus and method are disclosed for determining whether a driving environment has changed relative to a detailed map stored by an autonomous vehicle. An autonomous driving computer system of the autonomous vehicle may determine whether the driving environment has probably changed based on the location of one or more objects detected in the driving environment. The autonomous driving computer system may include various object models, each object model being associated with an object type, and where each object model defines one or more probability values that a given object type is expected (or not expected) to be found at a given location. By aggregating the various probability values resulting from the detection of objects in the driving environment, and then comparing the aggregated probability values with one or more probability threshold values, the autonomous driving computer system may predict or determine whether the driving environment has probably changed.

    USE OF ENVIRONMENTAL INFORMATION TO AID IMAGE PROCESSING FOR AUTONOMOUS VEHICLES
    25.
    发明申请
    USE OF ENVIRONMENTAL INFORMATION TO AID IMAGE PROCESSING FOR AUTONOMOUS VEHICLES 有权
    使用环境信息对自动车辆进行图像处理

    公开(公告)号：US20160214605A1

    公开(公告)日：2016-07-28

    申请号：US14829979

    申请日：2015-08-19

    Applicant: Google Inc.

    Inventor： David I. Ferguson ,  Wan-Yen Lo

    IPC: B60W30/09 ,  G05D1/00

    CPC classification number: B60W30/09 ,  B60W30/12 ,  B60W30/16 ,  B60W2420/42 ,  B60W2550/10 ,  G01C21/30 ,  G05D1/0088 ,  G06K9/00798 ,  G06K9/00805 ,  G06K9/3233 ,  G06K9/6289

    Abstract: An autonomous vehicle may be configured to use environmental information for image processing. The vehicle may be configured to operate in an autonomous mode in an environment and may be operating substantially in a lane of travel of the environment. The vehicle may include a sensor configured to receive image data indicative of the environment. The vehicle may also include a computer system configured to compare environmental information indicative of the lane of travel to the image data so as to determine a portion of the image data that corresponds to the lane of travel of the environment. Based on the portion of the image data that corresponds to the lane of travel of the environment and by disregarding a remaining portion of the image data, the vehicle may determine whether an object is present in the lane, and based on the determination, provide instructions to control the vehicle in the autonomous mode in the environment.

    Abstract translation: 自主车辆可以被配置为使用用于图像处理的环境信息。 车辆可以被配置为在环境中以自主模式操作并且可以基本上在环境的行进路线中操作。 车辆可以包括被配置为接收指示环境的图像数据的传感器。 车辆还可以包括被配置为将指示行车道的环境信息与图像数据进行比较的计算机系统，以便确定对应于环境行驶路线的图像数据的一部分。 基于对应于环境行进路线的图像数据的部分，并且通过忽略图像数据的剩余部分，车辆可以确定物体是否存在于车道中，并且基于该确定，提供指令 在环境中以自主模式控制车辆。

    Use of relationship between activities of different traffic signals in a network to improve traffic signal state estimation
    26.
    发明授权
    Use of relationship between activities of different traffic signals in a network to improve traffic signal state estimation 有权
    利用网络中不同交通信号的活动之间的关系来改善交通信号状态估计

    公开(公告)号：US09158980B1

    公开(公告)日：2015-10-13

    申请号：US13622418

    申请日：2012-09-19

    Applicant: Google Inc.

    Inventor： David I. Ferguson ,  Bradley Templeton

    IPC: G06K9/00 ,  G08G1/09 ,  G08G1/0967

    CPC classification number: G06K9/00825 ,  B60W40/00 ,  G08G1/00 ,  G08G1/09623 ,  G08G1/09626 ,  G08G1/096716 ,  G08G1/096725 ,  G08G1/096758 ,  G08G1/096775 ,  G08G1/096791

    Abstract: Methods and devices for using a relationship between activities of different traffic signals in a network to improve traffic signal state estimation are disclosed. An example method includes determining that a vehicle is approaching an upcoming traffic signal. The method may further include determining a state of one or more traffic signals other than the upcoming traffic signal. Additionally, the method may also include determining an estimate of a state of the upcoming traffic signal based on a relationship between the state of the one or more traffic signals other than the upcoming traffic signal and the state of the upcoming traffic signal.

    Abstract translation: 公开了在网络中使用不同业务信号的活动之间的关系以改善业务信号状态估计的方法和装置。 示例性方法包括确定车辆正在接近即将到来的交通信号。 该方法还可以包括确定除即将到来的业务信号之外的一个或多个业务信号的状态。 另外，该方法还可以包括基于即将到来的业务信号之外的一个或多个业务信号的状态与即将到来的业务信号的状态之间的关系来确定即将到来的业务信号的状态的估计。

    Mapping active and inactive construction zones for autonomous driving
    27.
    发明授权
    Mapping active and inactive construction zones for autonomous driving 有权
    绘制自主驾驶的主动和非活动建筑区

    公开(公告)号：US09141107B2

    公开(公告)日：2015-09-22

    申请号：US13859990

    申请日：2013-04-10

    Applicant: Google Inc.

    Inventor： David I. Ferguson ,  Donald Jason Burnette

    IPC: G05D1/00 ,  G01S13/93

    CPC classification number: G05D1/0214 ,  B60W10/04 ,  B60W10/20 ,  B60W30/00 ,  B60W30/143 ,  B60W2710/20 ,  B60W2720/106 ,  G01C21/26 ,  G01C21/32 ,  G01C21/3407 ,  G01S19/42 ,  G01S2013/936 ,  G05D1/00 ,  G05D1/0088 ,  G05D1/0236 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/0257 ,  G05D1/0276 ,  G05D2201/0213 ,  G06K9/00 ,  G06K9/00798 ,  G06K9/00818

    Abstract: Aspects of the present disclosure relate to differentiating between active and inactive construction zones. In one example, this may include identifying a construction object associated with a construction zone. The identified construction object may be used to map the area of the construction zone. Detailed map information may then be used to classify the activity of the construction zone. The area of the construction zone and the classification may be added to the detailed map information. Subsequent to adding the construction zone and the classification to the detailed map information, the construction object (or another construction object) may be identified. The location of the construction object may be used to identify the construction zone and classification from the detailed map information. The classification of the classification may be used to operate a vehicle having an autonomous mode.

    Abstract translation: 本公开的方面涉及区分主动和非活动结构区域。 在一个示例中，这可以包括识别与施工区域相关联的施工对象。 所识别的施工对象可用于映射施工区域的区域。 然后可以使用详细的地图信息来对施工区域的活动进行分类。 施工区的区域和分类可以添加到详细的地图信息中。 在将施工区域和分类添加到详细地图信息之后，可以识别施工对象（或另一施工对象）。 施工对象的位置可以用于从详细的地图信息中识别施工区域和分类。 分类的分类可以用于操作具有自主模式的车辆。

    Detecting lane closures and lane shifts by an autonomous vehicle
    28.
    发明授权
    Detecting lane closures and lane shifts by an autonomous vehicle 有权
    用自主车辆检测车道关闭和车道行驶

    公开(公告)号：US08825259B1

    公开(公告)日：2014-09-02

    申请号：US13923743

    申请日：2013-06-21

    Applicant: Google Inc.

    Inventor： David I. Ferguson

    IPC: G06F19/00 ,  G05D1/02 ,  G01S13/93

    CPC classification number: G05D1/0214 ,  G01S13/86 ,  G01S13/865 ,  G01S13/931 ,  G01S17/023 ,  G01S17/936 ,  G01S2013/936 ,  G05D1/0227 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0278

    Abstract: In an example implementation, an autonomous vehicle is configured to detect closures and lane shifts in a lane of travel. The vehicle is configured to operate in an autonomous mode and determine a presence of an obstacle substantially positioned in a lane of travel of the vehicle using a sensor. The lane of travel has a first side, a second side, and a center, and the obstacle is substantially positioned on the first side. The autonomous vehicle includes a computer system. The computer system determines a lateral distance between the obstacle and the center, compares the lateral distance to a pre-determined threshold, and provides instructions to control the autonomous vehicle based on the comparison.

    Abstract translation: 在示例实现中，自主车辆被配置为检测行驶车道中的关闭和车道偏移。 车辆被配置为以自主模式操作并且使用传感器确定基本上位于车辆行驶通道中的障碍物的存在。 行车道具有第一侧，第二侧和中心，并且障碍物基本上位于第一侧。 自主车辆包括计算机系统。 计算机系统确定障碍物和中心之间的横向距离，将横向距离与预定阈值进行比较，并提供基于比较来控制自主车辆的指令。

    Methods and Systems to Aid Autonomous Vehicles Driving Through a Lane Merge
    29.
    发明申请
    Methods and Systems to Aid Autonomous Vehicles Driving Through a Lane Merge 有权
    通过车道行驶辅助自主车辆的方法和系统合并

    公开(公告)号：US20140129073A1

    公开(公告)日：2014-05-08

    申请号：US13670103

    申请日：2012-11-06

    Applicant: Google Inc.

    Inventor： David I. Ferguson

    IPC: G05D1/00

    CPC classification number: G05D1/00 ,  B60W30/12 ,  B60W30/18163 ,  B60W2550/302 ,  B60W2550/304 ,  B60W2550/306 ,  B60W2550/406 ,  B62D15/025 ,  B62D15/0255

    Abstract: Methods and devices for controlling a vehicle in an autonomous mode are disclosed. In one aspect, an example method is disclosed that includes obtaining, by a computer system, lane information that provides an estimated location of a lane of a road on which a vehicle is travelling, where the computer system is configured to control the vehicle in an autonomous mode. The example method further includes determining, by the computer system, that the lane information has become unavailable or unreliable and, in response to determining that the lane information has become unavailable or unreliable, the computer system analyzing trajectories of other vehicles to locate a potential merge point on the road and creating a new trajectory that follows the lane at the potential merge point.

    Abstract translation: 公开了以自主模式控制车辆的方法和装置。 一方面，公开了一种示例性方法，其包括通过计算机系统获得提供车辆行驶的道路的车道的估计位置的车道信息，其中所述计算机系统被配置为以 自主模式。 该示例方法还包括由计算机系统确定车道信息变得不可用或不可靠，并且响应于确定车道信息变得不可用或不可靠，计算机系统分析其他车辆的轨迹以定位潜在的合并 指向道路，并在潜在的合并点上创建跟随车道的新轨迹。

    DETERMINING CHANGES IN A DRIVING ENVIRONMENT BASED ON VEHICLE BEHAVIOR
    30.
    发明申请
    DETERMINING CHANGES IN A DRIVING ENVIRONMENT BASED ON VEHICLE BEHAVIOR 有权
    基于车辆行为确定驾驶环境的变化

    公开(公告)号：US20140088855A1

    公开(公告)日：2014-03-27

    申请号：US13628905

    申请日：2012-09-27

    Applicant: Google Inc.

    Inventor： David I. Ferguson

    IPC: G08G1/00

    CPC classification number: G08G1/166

    Abstract: A method and apparatus are provided for determining whether a driving environment has changed relative to previously stored information about the driving environment. The apparatus may include an autonomous driving computer system configured to detect one or more vehicles in the driving environment, and determine corresponding trajectories for those detected vehicles. The autonomous driving computer system may then compare the determined trajectories to an expected trajectory of a hypothetical vehicle in the driving environment. Based on the comparison, the autonomous driving computer system may determine whether the driving environment has changed and/or a probability that the driving environment has changed, relative to the previously stored information about the driving environment.

    Abstract translation: 提供了一种用于确定驾驶环境是否相对于先前存储的关于驾驶环境的信息已经改变的方法和装置。 该装置可以包括被配置为检测驾驶环境中的一个或多个车辆并且确定那些检测到的车辆的对应轨迹的自主驾驶计算机系统。 然后，自主驾驶计算机系统可以将所确定的轨迹与驾驶环境中的假想车辆的预期轨迹进行比较。 基于比较，自主驾驶计算机系统可以相对于先前存储的关于驾驶环境的信息来确定驾驶环境是否已经改变和/或驾驶环境已经改变的概率。

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