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21.发明授权Modifying behavior of autonomous vehicle based on predicted behavior of other vehicles 有权基于其他车辆的预测行为改变自主车辆的行为公开(公告)号：US08655537B2
公开(公告)日：2014-02-18
申请号：US13900784
申请日：2013-05-23
Applicant: Google Inc.
Inventor： David Ian Franklin Ferguson , Dmitri A. Dolgov
CPC classification number: G08G1/166 , B60W30/095 , B60W30/12 , B60W30/16 , B60W30/18163 , B60W50/0097 , B60W2050/143 , B60W2520/10 , B60W2550/402 , B60W2750/40 , G05D1/00 , G05D1/0088 , G05D2201/0213 , Y02T10/84
Abstract: A vehicle configured to operate in an autonomous mode could determine a current state of the vehicle and the current state of the environment of the vehicle. The environment of the vehicle includes at least one other vehicle. A predicted behavior of the at least one other vehicle could be determined based on the current state of the vehicle and the current state of the environment of the vehicle. A confidence level could also be determined based on the predicted behavior, the current state of the vehicle, and the current state of the environment of the vehicle. In some embodiments, the confidence level may be related to the likelihood of the at least one other vehicle to perform the predicted behavior. The vehicle in the autonomous mode could be controlled based on the predicted behavior, the confidence level, and the current state of the vehicle and its environment.
Abstract translation: 配置为以自主模式操作的车辆可以确定车辆的当前状态和车辆的当前状态。 车辆的环境包括至少一个其他车辆。 可以基于车辆的当前状态和车辆的环境的当前状态来确定至少一个其他车辆的预测行为。 还可以基于预测的行为，车辆的当前状态和车辆的当前状态来确定置信水平。 在一些实施例中，置信水平可以与至少一个其他车辆执行预测行为的可能性有关。 可以根据车辆的预测行为，置信水平和当前状态及其环境来控制自主模式下的车辆。
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公开(公告)号：US09563199B1
公开(公告)日：2017-02-07
申请号：US14254830
申请日：2014-04-16
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.
Abstract translation: 本文公开了用于向自主车辆系统提供补充识别能力的系统和方法。 车辆的传感器单元可以被配置为接收指示车辆的环境的数据，而控制系统可被配置为操作车辆。 车辆还可以包括处理单元，其被配置为分析指示环境的数据，以确定具有低于阈值的检测置信度的至少一个对象。 基于具有低于阈值的检测置信度的至少一个对象，处理器可以传达指示环境的数据的至少一个子集用于进一步处理。 车辆还被配置为接收数据子集的对象确认的指示。 基于数据子集的对象确认，处理器可以改变控制系统对车辆的控制。
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公开(公告)号：US09558411B1
公开(公告)日：2017-01-31
申请号：US14503626
申请日：2014-10-01
Applicant: Google Inc.
CPC classification number: G06K9/00818 , G05D1/0246 , G06K9/00536
Abstract: Aspects of the disclosure relate to classifying the status of objects. For examples, one or more computing devices detect an object from an image of a vehicle's environment. The object is associated with a location. The one or more computing devices receive data corresponding to the surfaces of objects in the vehicle's environment and identifying data within a region around the location of the object. The one or more computing devices also determine whether the data within the region corresponds to a planar surface extending away from an edge of the object. Based on this determination, the one or more computing devices classify the status of the object.
Abstract translation: 本公开的方面涉及对物体的状态进行分类。 例如，一个或多个计算设备从车辆的环境的图像中检测物体。 该对象与一个位置相关联。 一个或多个计算设备接收对应于车辆环境中的物体的表面的数据，并且在物体的位置周围的区域内识别数据。 一个或多个计算设备还确定该区域内的数据是否对应于远离物体的边缘延伸的平面。 基于该确定，一个或多个计算设备对对象的状态进行分类。
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公开(公告)号：US09463794B1
公开(公告)日：2016-10-11
申请号：US14845616
申请日：2015-09-04
Applicant: Google Inc.
Inventor： David Harrison Silver , David Ian Franklin Ferguson , Abhijit S. Ogale , Wan-Yen Lo
CPC classification number: G05D1/0088 , B60W30/00 , B60W2550/22 , G01C21/26 , G01C21/3602 , G05D1/0231
Abstract: Aspects of the disclosure relate to detecting and responding to stop signs. An object detected in a vehicle's environment having location coordinates may be identified as a stop sign and, it may be determined whether the location coordinates of the identified stop sign correspond to a location of a stop sign in detailed map information. Then, whether the identified stop sign applies to the vehicle may be determined based on the detailed map information or on a number of factors. Then, if the identified stop sign is determined to apply to the vehicle, responses of the vehicle to the stop sign may be determined, and, the vehicle may be controlled based on the determined responses.
Abstract translation: 本公开的方面涉及检测和响应停止标志。 在具有位置坐标的车辆环境中检测到的物体可以被识别为停止符号，并且可以确定所识别的停止符号的位置坐标是否对应于详细地图信息中的停止标志的位置。 然后，可以基于详细的地图信息或多个因素来确定所识别的停车标志是否适用于车辆。 然后，如果所确定的停止标志被确定为适用于车辆，则可以确定车辆对停车标志的响应，并且可以基于所确定的响应来控制车辆。
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25.发明授权公开(公告)号：US09442487B1
公开(公告)日：2016-09-13
申请号：US14461031
申请日：2014-08-15
Applicant: Google Inc.
Inventor： David Ian Franklin Ferguson , Andreas Wendel
CPC classification number: G05D1/0246 , G01J3/0289 , G01J3/46 , G01J3/505 , G05D1/0088 , G05D1/0231 , G05D2201/0212 , G06K9/00798 , G06K9/00825 , G06K9/4652 , G06K9/4661 , G06K9/6277 , G08G1/0104 , G08G1/09623 , G08G1/09675 , Y10S901/01
Abstract: The present disclosure is directed to an autonomous vehicle having a vehicle control system. The vehicle control system includes an image processing system. The image processing system receives an image that includes a light indicator. The light indicator includes an illuminated component. The image processing system determines a color of the illuminated component of the light indicator and an associated confidence level of the determination of the color of the illuminated component. The image processing system also determines a shape of the illuminated component of the light indicator and an associated confidence level of the determination of the shape of the illuminated component. The determined confidence levels represent an estimated accuracy of the determinations of the shape and color. Additionally, the image processing system provides instructions executable by a computing device to control the autonomous vehicle based on at least one of the determined confidence levels exceeding a threshold value.
Abstract translation: 本公开涉及具有车辆控制系统的自主车辆。 车辆控制系统包括图像处理系统。 图像处理系统接收包括光指示器的图像。 光指示器包括照明部件。 图像处理系统确定光指示器的照明分量的颜色以及确定被照亮部件的颜色的相关可信度。 图像处理系统还确定光指示器的照明分量的形状以及确定被照亮部件的形状的相关可信度。 确定的置信水平代表了形状和颜色测定的估计精度。 另外，图像处理系统提供可由计算设备执行的指令，以基于所确定的置信水平中的至少一个超过阈值来控制自主车辆。
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Patent Agency Ranking
公开(公告)号：US09335766B1
公开(公告)日：2016-05-10
申请号：US14099004
申请日：2013-12-06
Applicant: Google Inc.
CPC classification number: G06K9/00805 , G01S13/04 , G01S13/931 , G01S17/026 , G01S17/936 , G01S19/13 , G01V11/00 , G05D1/0088 , G05D1/021 , G05D1/0238 , G05D2201/0213 , G06K9/6215 , G06K9/6277 , G06K9/628
Abstract: A vehicle is provided that may distinguish between dynamic obstacles and static obstacles. Given a detector for a class of static obstacles or objects, the vehicle may receive sensor data indicative of an environment of the vehicle. When a possible object is detected in a single frame, a location of the object and a time of observation of the object may be compared to previous observations. Based on the object being observed a threshold number of times, in substantially the same location, and within some window of time, the vehicle may accurately detect the presence of the object and reduce any false detections.
Abstract translation: 提供可以区分动态障碍物和静态障碍物的车辆。 给定一类静态障碍物或物体的检测器，车辆可以接收指示车辆环境的传感器数据。 当在单个帧中检测到可能的对象时，可以将对象的位置和对象的观察时间与先前的观察进行比较。 基于所观察到的物体在基本上相同的位置，并且在一些时间窗口内的阈值次数，车辆可以准确地检测物体的存在并减少任何错误检测。
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公开(公告)号：US09305223B1
公开(公告)日：2016-04-05
申请号：US13927248
申请日：2013-06-26
Applicant: Google Inc.
Inventor： Abhijit Ogale , David Ian Franklin Ferguson
IPC: G06K9/00
CPC classification number: G06K9/00791 , B60R1/00 , B60R2300/80 , G05D1/0088 , G05D1/0246 , G06K9/00825 , G06K9/4604 , G06K9/4652 , G06K9/4661 , H04N5/2353
Abstract: An autonomous vehicle is configured to detect an active turn signal indicator on another vehicle. An image-capture device of the autonomous vehicle captures an image of a field of view of the autonomous vehicle. The autonomous vehicle captures the image with a short exposure to emphasize objects having brightness above a threshold. Additionally, a bounding area for a second vehicle located within the image is determined. The autonomous vehicle identifies a group of pixels within the bounding area based on a first color of the group of pixels. The autonomous vehicle also calculates an oscillation of an intensity of the group of pixels. Based on the oscillation of the intensity, the autonomous vehicle determines a likelihood that the second vehicle has a first active turn signal. Additionally, the autonomous vehicle is controlled based at least on the likelihood that the second vehicle has a first active turn signal.
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28.发明授权公开(公告)号：US09280156B1
公开(公告)日：2016-03-08
申请号：US14193674
申请日：2014-02-28
Applicant: Google Inc.
Inventor： David Ian Franklin Ferguson , Nathaniel Fairfield , Bradley Templeton
CPC classification number: G05D1/0212 , B60W30/18154 , B60W2550/141 , B60W2550/22 , B60W2550/402 , G05D1/0088
Abstract: Disclosed herein are methods and apparatus for controlling autonomous vehicles utilizing maps that include visibility information. A map is stored at a computing device associated with a vehicle. The vehicle is configured to operate in an autonomous mode that supports a plurality of driving behaviors. The map includes information about a plurality of roads, a plurality of features, and visibility information for at least a first feature in the plurality of features. The computing device queries the map for visibility information for the first feature at a first position. The computing device, in response to querying the map, receives the visibility information for the first feature at the first position. The computing device selects a driving behavior for the vehicle based on the visibility information. The computing device controls the vehicle in accordance with the selected driving behavior.
Abstract translation: 这里公开了使用包括可见度信息的地图来控制自主车辆的方法和装置。 地图存储在与车辆相关联的计算设备处。 车辆被配置为以支持多个驾驶行为的自主模式操作。 该地图包括关于多个道路的信息，多个特征以及用于多个特征中的至少第一特征的可见度信息。 计算设备在第一位置查询地图上的第一特征的可见度信息。 计算设备响应于查询地图，在第一位置接收第一特征的可见性信息。 计算装置基于可见性信息来选择车辆的驾驶行为。 计算装置根据选择的驾驶行为来控制车辆。
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29.发明授权公开(公告)号：US09224053B1
公开(公告)日：2015-12-29
申请号：US13955970
申请日：2013-07-31
Applicant: Google Inc.
Inventor： David Ian Franklin Ferguson , David Harrison Silver
IPC: G06K9/00
CPC classification number: G06K9/00798 , B60W30/12 , G05D1/0088 , G05D1/0246 , G06K9/209 , G06K9/6202 , G06K9/6288 , G06T7/74 , G06T2207/30256
Abstract: A vehicle is provided that may combine multiple estimates of an environment into a consolidated estimate. The vehicle may receive first data indicative of the region of interest in an environment from a sensor of the vehicle. The first data may include a first accuracy value and a first estimate of the region of interest. The vehicle may also receive second data indicative of the region of interest in the environment, and the second data may include a second accuracy value and a second estimate of the region of interest. Based on the first data and the second data, the vehicle may combine the first estimate of the region of interest and the second estimate of the region of interest.
Abstract translation: 提供了可将多个环境估计结合到综合估计中的车辆。 车辆可以在车辆的传感器的环境中接收指示感兴趣区域的第一数据。 第一数据可以包括第一精度值和感兴趣区域的第一估计。 车辆还可以接收指示环境中的感兴趣区域的第二数据，并且第二数据可以包括第二精度值和感兴趣区域的第二估计。 基于第一数据和第二数据，车辆可以组合感兴趣区域的第一估计和感兴趣区域的第二估计。
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公开(公告)号：US09682707B1
公开(公告)日：2017-06-20
申请号：US14837548
申请日：2015-08-27
Applicant: Google Inc.
Inventor： David Harrison Silver , David Ian Franklin Ferguson
CPC classification number: B60W30/16 , B60W2550/308 , G05D1/0088 , G06K9/00805
Abstract: Aspects of the disclosure relate controlling autonomous vehicles or vehicles having an autonomous driving mode. More particularly, these vehicles may identify and respond to other vehicles engaged in a parallel parking maneuver by receiving sensor data corresponding to objects in an autonomous vehicle's environment and including location information for the objects over time. An object corresponding to another vehicle in a lane in front of the first vehicle may be identified from the sensor data. A pattern of actions of the other vehicle identified form the sensor data is used to determine that the second vehicle is engaged in a parallel parking maneuver based on a pattern of actions exhibited by the other vehicle identified from the sensor data. The determination is then used to control the autonomous vehicle.
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