公开(公告)号：US20150168556A1

公开(公告)日：2015-06-18

申请号：US14614853

申请日：2015-02-05

Applicant: Google Inc.

Inventor： Jiajun Zhu ,  Dmitri Dolgov ,  Dave Ferguson

IPC: G01S17/95 ,  G01W1/00 ,  B60W50/14 ,  G01S17/06

CPC classification number: G01S17/95 ,  B60W30/00 ,  B60W50/14 ,  B60W2550/12 ,  G01S17/06 ,  G01W1/00 ,  G01W1/02

Abstract: Methods and systems for detecting weather conditions including fog using vehicle onboard sensors are provided. An example method includes receiving laser data collected from scans of an environment of a vehicle, and associating, by a computing device, laser data points of with one or more objects in the environment. The method also includes comparing laser data points that are unassociated with the one or more objects in the environment with stored laser data points representative of a pattern due to fog, and based on the comparison, identifying by the computing device an indication that a weather condition of the environment of the vehicle includes fog.

Abstract translation: 提供了使用车载传感器来检测包括雾的天气条件的方法和系统。 示例性方法包括接收从车辆的环境的扫描收集的激光数据，并且通过计算设备将激光数据点与环境中的一个或多个对象相关联。 该方法还包括将与环境中的一个或多个物体无关的激光数据点与表示由于雾引起的图案的存储的激光数据点进行比较，并且基于该比较，由计算设备识别天气条件 车辆的环境包括雾。

公开(公告)号：US09025140B2

公开(公告)日：2015-05-05

申请号：US13888883

申请日：2013-05-07

Applicant: Google Inc.

Inventor： Jiajun Zhu ,  Dmitri Dolgov ,  Dave Ferguson

IPC: G01C3/08 ,  G01S17/95 ,  G01S13/86 ,  G01S13/95 ,  G01S17/02 ,  G01S17/42 ,  G01S17/66

CPC classification number: G01S17/95 ,  G01S5/0263 ,  G01S13/862 ,  G01S13/865 ,  G01S13/867 ,  G01S13/931 ,  G01S13/95 ,  G01S15/931 ,  G01S17/023 ,  G01S17/42 ,  G01S17/66 ,  G01S17/936 ,  G01S19/11 ,  G01S19/48 ,  Y02A90/18 ,  Y02A90/19

Abstract: Methods and systems for detecting weather conditions including sunlight using onboard vehicle sensors are described. In one example, a method is provided that includes receiving laser data collected for an environment of a vehicle. The method also includes associating laser data points with one or more objects in the environment, and determining given laser data points that are unassociated with the one or more objects in the environment as being representative of an untracked object at a given position with respect to the vehicle. The method also includes determining that the untracked object remains at a substantially same relative position with respect to the vehicle as the vehicle moves, and identifying by the computing device an indication that a weather condition of the environment of the vehicle is sunny.

Abstract translation: 描述了使用车载传感器检测包括阳光的天气条件的方法和系统。 在一个示例中，提供了一种包括接收为车辆的环境收集的激光数据的方法。 该方法还包括将激光数据点与环境中的一个或多个对象相关联，以及确定与环境中的一个或多个对象不相关的给定激光数据点，以代表相对于所述环境的给定位置处的未跟踪对象 车辆。 该方法还包括确定当车辆移动时未跟踪的物体相对于车辆保持基本相同的相对位置，并且由计算设备识别车辆的环境的天气条件是晴朗的指示。

公开(公告)号：US08983705B2

公开(公告)日：2015-03-17

申请号：US13873442

申请日：2013-04-30

Applicant: Google Inc.

Inventor： Jiajun Zhu ,  Dmitri Dolgov ,  Dave Ferguson

IPC: G01W1/00 ,  G05D1/00

CPC classification number: G01S17/95 ,  B60W30/00 ,  B60W50/14 ,  B60W2550/12 ,  G01S17/06 ,  G01W1/00 ,  G01W1/02

Abstract: Methods and systems for detecting weather conditions including fog using vehicle onboard sensors are provided. An example method includes receiving laser data collected from scans of an environment of a vehicle, and associating, by a computing device, laser data points of with one or more objects in the environment. The method also includes comparing laser data points that are unassociated with the one or more objects in the environment with stored laser data points representative of a pattern due to fog, and based on the comparison, identifying by the computing device an indication that a weather condition of the environment of the vehicle includes fog.

Abstract translation: 提供了使用车载传感器来检测包括雾的天气条件的方法和系统。 示例性方法包括接收从车辆的环境的扫描收集的激光数据，并且通过计算设备将激光数据点与环境中的一个或多个对象相关联。 该方法还包括将与环境中的一个或多个物体无关的激光数据点与表示由于雾引起的图案的存储的激光数据点进行比较，并且基于该比较，由计算设备识别天气条件 车辆的环境包括雾。

公开(公告)号：US20140333468A1

公开(公告)日：2014-11-13

申请号：US13888883

申请日：2013-05-07

Applicant: Google Inc.

Inventor： Jiajun Zhu ,  Dmitri Dolgov ,  Dave Ferguson

IPC: G01S17/95 ,  G01S13/86 ,  G01S13/95

CPC classification number: G01S17/95 ,  G01S5/0263 ,  G01S13/862 ,  G01S13/865 ,  G01S13/867 ,  G01S13/931 ,  G01S13/95 ,  G01S15/931 ,  G01S17/023 ,  G01S17/42 ,  G01S17/66 ,  G01S17/936 ,  G01S19/11 ,  G01S19/48 ,  Y02A90/18 ,  Y02A90/19

Abstract: Methods and systems for detecting weather conditions including sunlight using onboard vehicle sensors are described. In one example, a method is provided that includes receiving laser data collected for an environment of a vehicle. The method also includes associating laser data points with one or more objects in the environment, and determining given laser data points that are unassociated with the one or more objects in the environment as being representative of an untracked object at a given position with respect to the vehicle. The method also includes determining that the untracked object remains at a substantially same relative position with respect to the vehicle as the vehicle moves, and identifying by the computing device an indication that a weather condition of the environment of the vehicle is sunny.

Abstract translation: 描述了使用车载传感器检测包括阳光的天气条件的方法和系统。 在一个示例中，提供了一种包括接收为车辆的环境收集的激光数据的方法。 该方法还包括将激光数据点与环境中的一个或多个对象相关联，以及确定与环境中的一个或多个对象不相关的给定激光数据点，以代表相对于所述环境的给定位置处的未跟踪对象 车辆。 该方法还包括确定当车辆移动时未跟踪的物体相对于车辆保持基本相同的相对位置，并且由计算设备识别车辆的环境的天气条件是晴朗的指示。

公开(公告)号：US20140324266A1

公开(公告)日：2014-10-30

申请号：US13873442

申请日：2013-04-30

Applicant: Google Inc.

Inventor： Jiajun Zhu ,  Dmitri Dolgov ,  Dave Ferguson

IPC: G01W1/00 ,  G05D1/00

CPC classification number: G01S17/95 ,  B60W30/00 ,  B60W50/14 ,  B60W2550/12 ,  G01S17/06 ,  G01W1/00 ,  G01W1/02

Abstract: Methods and systems for detecting weather conditions including fog using vehicle onboard sensors are provided. An example method includes receiving laser data collected from scans of an environment of a vehicle, and associating, by a computing device, laser data points of with one or more objects in the environment. The method also includes comparing laser data points that are unassociated with the one or more objects in the environment with stored laser data points representative of a pattern due to fog, and based on the comparison, identifying by the computing device an indication that a weather condition of the environment of the vehicle includes fog.

Abstract translation: 提供了使用车载传感器来检测包括雾的天气条件的方法和系统。 示例性方法包括接收从车辆的环境的扫描收集的激光数据，并且通过计算设备将激光数据点与环境中的一个或多个对象相关联。 该方法还包括将与环境中的一个或多个物体无关的激光数据点与表示由于雾引起的图案的存储的激光数据点进行比较，并且基于该比较，由计算设备识别天气条件 车辆的环境包括雾。

公开(公告)号：US08676430B1

公开(公告)日：2014-03-18

申请号：US13943867

申请日：2013-07-17

Applicant: Google Inc.

Inventor： David I. Ferguson ,  Dmitri Dolgov

IPC: G01C22/00

CPC classification number: G05D1/0212 ,  B62D15/0285 ,  G05D1/0274 ,  G05D2201/0213

Abstract: A vehicle can be controlled in a first autonomous mode of operation by at least navigating the vehicle based on map data. Sensor data can be obtained using one or more sensors of the vehicle. The sensor data can be indicative of an environment of the vehicle. An inadequacy in the map data can be detected by at least comparing the map data to the sensor data. In response to detecting the inadequacy in the map data, the vehicle can be controlled in a second autonomous mode of operation and a user can be prompted to switch to a manual mode of operation. The vehicle can be controlled in the second autonomous mode of operation by at least obtaining additional sensor data using the one or more sensors of the vehicle and navigating the vehicle based on the additional sensor data.

Abstract translation: 通过至少基于地图数据导航车辆，可以在第一自主操作模式下控制车辆。 可以使用车辆的一个或多个传感器来获得传感器数据。 传感器数据可以指示车辆的环境。 可以通过至少将地图数据与传感器数据进行比较来检测地图数据的不足。 响应于检测到地图数据的不足，可以将车辆控制在第二自主操作模式中，并且可以提示用户切换到手动操作模式。 可以通过至少使用车辆的一个或多个传感器获得额外的传感器数据并基于附加的传感器数据导航车辆来将车辆控制在第二自主操作模式中。

公开(公告)号：US09561797B2

公开(公告)日：2017-02-07

申请号：US15170211

申请日：2016-06-01

Applicant: Google Inc.

Inventor： Dmitri Dolgov ,  Dave Ferguson

IPC: B60W30/16 ,  B60W30/17 ,  G01S13/93 ,  G01S19/40 ,  G08G1/00 ,  G08G1/16 ,  B60W30/14 ,  G01S13/86 ,  G05D1/00

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。

公开(公告)号：US09090259B2

公开(公告)日：2015-07-28

申请号：US14302990

申请日：2014-06-12

Applicant: Google Inc.

Inventor： Dmitri Dolgov ,  Christopher Urmson

IPC: B60W30/00 ,  G05D3/00 ,  B62D6/00 ,  B60W30/12 ,  B62D15/02 ,  B60W30/095 ,  B60W10/20 ,  B60W30/18 ,  G05D1/02

CPC classification number: B60W30/12 ,  B60W10/20 ,  B60W30/095 ,  B60W30/18163 ,  B60W2550/302 ,  B60W2550/306 ,  B60W2750/308 ,  B62D15/026 ,  G01C21/3407 ,  G01C21/3658 ,  G05D1/0212 ,  G08G1/167

Abstract: Methods and systems for controlling vehicle lateral lane positioning are described. A computing device may be configured to identify an object in a vicinity of a vehicle on a road. The computing device may be configured to estimate, based on characteristics of the vehicle and respective characteristics of the object, an interval of time during which the vehicle will be laterally adjacent to the object. Based on the characteristics of the vehicle, the computing device may be configured to estimate longitudinal positions of the vehicle on the road during the interval of time. Based on the respective characteristics of the object, the computing device may be configured to determine a lateral distance for the vehicle to maintain between the vehicle and the object during the interval of time at the longitudinal positions of the vehicle, and provide instructions to control the vehicle based on the lateral distance.

Abstract translation: 描述了用于控制车辆横向车道定位的方法和系统。 计算装置可以被配置为识别道路上的车辆附近的物体。 计算装置可以被配置为基于车辆的特性和对象的各个特征来估计车辆将横向邻近对象的时间间隔。 基于车辆的特征，计算设备可以被配置为在时间间隔期间估计车辆在道路上的纵向位置。 基于对象的相应特征，计算设备可以被配置为在车辆的纵向位置的时间间隔期间确定车辆在车辆与物体之间的横向距离，并提供控制指令 车辆基于横向距离。

公开(公告)号：US08903591B1

公开(公告)日：2014-12-02

申请号：US14164565

申请日：2014-01-27

Applicant: Google Inc.

Inventor： David I. Ferguson ,  Dmitri Dolgov

IPC: G01C22/00 ,  G05D1/02

CPC classification number: G05D1/0212 ,  B62D15/0285 ,  G05D1/0274 ,  G05D2201/0213

Abstract: A vehicle can be controlled in a first autonomous mode of operation by at least navigating the vehicle based on map data. Sensor data can be obtained using one or more sensors of the vehicle. The sensor data can be indicative of an environment of the vehicle. An inadequacy in the map data can be detected by at least comparing the map data to the sensor data. In response to detecting the inadequacy in the map data, the vehicle can be controlled in a second autonomous mode of operation and a user can be prompted to switch to a manual mode of operation. The vehicle can be controlled in the second autonomous mode of operation by at least obtaining additional sensor data using the one or more sensors of the vehicle and navigating the vehicle based on the additional sensor data.

公开(公告)号：US20140307247A1

公开(公告)日：2014-10-16

申请号：US13860664

申请日：2013-04-11

Applicant: Google Inc.

Inventor： Jiajun Zhu ,  Dmitri Dolgov ,  Dave Ferguson

IPC: G01S17/02

CPC classification number: G01S17/023 ,  B60W40/064 ,  G01S13/66 ,  G01S13/865 ,  G01S13/867 ,  G01S13/931 ,  G01S17/66 ,  G01S17/936 ,  G01S17/95 ,  Y02A90/19

Abstract: Example methods and systems for detecting weather conditions including wet surfaces using vehicle onboard sensors are provided. An example method includes receiving laser data collected for an environment of a vehicle. The method also includes determining laser data points that are associated with one or more objects in the environment, and based on laser data points being unassociated with the one or more objects in the environment, identifying an indication that a surface on which the vehicle travels is wet. The method may further include receiving radar data collected for the environment of the vehicle that is indicative of a presence of the one or more objects in the environment of the vehicle, and identifying the indication that the surface on which the vehicle travels is wet further based on laser data points being unassociated with the one or more objects in the environment indicated by the radar data.

Abstract translation: 提供了使用车载传感器来检测包括湿表面在内的天气条件的示例性方法和系统。 示例性方法包括接收针对车辆的环境收集的激光数据。 该方法还包括确定与环境中的一个或多个对象相关联的激光数据点，并且基于与环境中的一个或多个对象不相关的激光数据点，识别车辆行驶的表面是 湿。 该方法还可以包括接收针对车辆的环境而收集的指示车辆环境中的一个或多个物体的存在的雷达数据，并且识别车辆行驶的表面进一步被湿润的指示 激光数据点与雷达数据所指示的环境中的一个或多个物体无关。