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公开(公告)号：US09014905B1
公开(公告)日：2015-04-21
申请号：US14166502
申请日：2014-01-28
Applicant: Google Inc.
Inventor： Henrik Kretzschmar , Jiajun Zhu
IPC: G05D1/02
CPC classification number: G05D1/021 , B60W30/0956 , B60W30/10 , B60W30/143 , B60W40/04 , B60W2420/42 , G06K9/00335 , G06K9/00369 , G06K9/00818 , G06K9/6293
Abstract: Methods and systems for detecting hand signals of a cyclist by an autonomous vehicle are described. An example method may involve a computing device receiving a plurality of data points corresponding to an environment of an autonomous vehicle. The computing device may then determine one or more subsets of data points from the plurality of data points indicative of at least a body region of a cyclist. Further, based on an output of a comparison of the one or more subsets with one or more predetermined sets of cycling signals, the computing device may determine an expected adjustment of one or more of a speed of the cyclist and a direction of movement of the cyclist. Still further, based on the expected adjustment, the computing device may provide instructions to adjust one or more of a speed of the autonomous vehicle and a direction of movement of the autonomous vehicle.
Abstract translation: 描述了通过自主车辆检测自行车者的手信号的方法和系统。 示例性方法可以涉及接收与自主车辆的环境相对应的多个数据点的计算设备。 计算设备然后可以从指示骑自行车者的至少身体区域的多个数据点确定数据点的一个或多个子集。 此外，基于一个或多个子集与一个或多个预定的循环信号集合的比较的输出，计算设备可以确定骑自行车者的速度和运动方向中的一个或多个的预期调整 骑自行车的人 此外，基于预期的调整，计算装置可以提供用于调整自主车辆的速度和自主车辆的移动方向中的一个或多个的指令。
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32.发明申请Methods and Systems for Detecting Weather Conditions Using Vehicle Onboard Sensors 有权使用车载传感器检测天气状况的方法和系统公开(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。
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33.发明授权Estimating multi-vehicle motion characteristics by finding stable reference points 有权通过找到稳定的参考点来估计多车辆运动特性公开(公告)号：US08886387B1
公开(公告)日：2014-11-11
申请号：US14148874
申请日：2014-01-07
Applicant: Google Inc.
Inventor： Pratik Agarwal , Jiajun Zhu
CPC classification number: G05D1/0251 , G05D1/0253 , G05D2201/0213 , G06K9/00791 , G06T7/33 , G06T2207/10004 , G06T2207/10016 , G06T2207/10028 , G06T2207/20068 , G06T2207/20076 , G06T2207/30252 , G06T2207/30256
Abstract: A computing device may identify an object in an environment of a vehicle and receive a first three-dimensional (3D) point cloud depicting a first view of the object. The computing device may determine a reference point on the object in the first 3D point cloud, and receive a second 3D point cloud depicting a second view of the object. The computing device may determine a transformation between the first view and the second view, and estimate a projection of the reference point from the first view relative to the second view based on the transformation so as to trace the reference point from the first view to the second view. The computing device may determine one or more motion characteristics of the object based on the projection of the reference point.
Abstract translation: 计算设备可以识别车辆环境中的对象，并且接收描绘对象的第一视图的第一三维（3D）点云。 计算设备可以确定第一3D点云中的对象上的参考点，并且接收描绘对象的第二视图的第二3D点云。 计算设备可以确定第一视图和第二视图之间的变换，并且基于变换来估计参考点从第一视图相对于第二视图的投影，以便将参考点从第一视图跟踪到第 第二观点。 计算设备可以基于参考点的投影来确定对象的一个或多个运动特征。
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34.发明申请公开(公告)号：US20140236414A1
公开(公告)日：2014-08-21
申请号：US13772615
申请日：2013-02-21
Applicant: Google Inc.
Inventor： Pierre-yves Droz , Jiajun Zhu
IPC: G05D1/00
CPC classification number: G08G1/161 , B60W50/0098 , B60W2050/0075 , B60W2420/42 , B60W2550/308 , G01S17/936 , G06K9/00805 , G08G1/015 , G08G1/166
Abstract: A computing device may be configured to receive sensor information indicative of respective characteristics of vehicles on a road of travel of a first vehicle. The computing device may be configured to identify, based on the respective characteristics, a second vehicle that exhibits an aggressive driving behavior manifested as an unsafe or unlawful driving action. Also, based on the respective characteristics, the computing device may be configured to determine a type of the second vehicle. The computing device may be configured to estimate a distance between the first vehicle and the second vehicle. The computing device may be configured to modify a control strategy of the first vehicle, based on the aggressive driving behavior of the second vehicle, the type of the second vehicle, and the distance between the first vehicle and the second vehicle; and control the first vehicle based on the modified control strategy.
Abstract translation: 计算设备可以被配置为接收指示在第一车辆的行驶道路上的车辆的各自特征的传感器信息。 计算设备可以被配置为基于相应的特征来识别呈现为不安全或非法驾驶动作的侵略性驾驶行为的第二车辆。 此外，基于各自的特性，计算装置可以被配置为确定第二车辆的类型。 计算设备可以被配置为估计第一车辆和第二车辆之间的距离。 计算装置可以被配置为基于第二车辆的积极驾驶行为，第二车辆的类型以及第一车辆和第二车辆之间的距离来修改第一车辆的控制策略; 并根据修改的控制策略控制第一辆车。
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公开(公告)号：US09607226B2
公开(公告)日：2017-03-28
申请号：US14791725
申请日：2015-07-06
Applicant: Google Inc.
Inventor： Jiajun Zhu , Pratik Agarwal
CPC classification number: G06K9/00791 , G05D1/0246 , G06K9/00805 , G06K9/46 , G06K9/52 , G06T7/20 , G06T7/246 , G06T2200/04 , G06T2207/10016 , G06T2207/10028 , G06T2207/30241 , G06T2207/30252
Abstract: Methods and systems for object detection using multiple sensors are described herein. In an example embodiment, a vehicle's computing device may receive sensor data frames indicative of an environment at different rates from multiple sensors. Based on a first frame from a first sensor indicative of the environment at a first time period and a portion of a first frame that corresponds to the first time period from a second sensor, the computing device may estimate parameters of objects in the vehicle's environment. The computing device may modify the parameters in response to receiving subsequent frames or subsequent portions of frame of sensor data from the sensors even if the frames arrive at the computing device out of order. The computing device may provide the parameters of the objects to systems of the vehicle for object detection and obstacle avoidance.
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Patent Agency Ranking
36.发明授权公开(公告)号：US09594379B1
公开(公告)日：2017-03-14
申请号：US15018205
申请日：2016-02-08
Applicant: Google Inc.
Inventor： David I. Ferguson , Jiajun Zhu
CPC classification number: G05D1/024 , B60K31/0008 , B60W10/06 , B60W10/18 , B60W10/20 , B60W30/12 , B60W30/14 , B60W50/0205 , B60W50/029 , B60W2050/0215 , B60W2420/42 , B60W2420/52 , B60W2550/10 , B60W2550/308 , B60W2720/10 , B60W2720/24 , G01C21/28 , G01S7/4004 , G01S7/497 , G01S7/4972 , G01S7/52004 , G01S13/58 , G01S13/931 , G01S17/023 , G01S17/66 , G01S17/87 , G01S2007/4039 , G01S2007/4975 , G05D1/00 , G05D1/0088 , G05D1/0246 , G05D1/0251 , G05D1/0255 , G05D1/0257 , G05D1/0274 , G05D2201/0213
Abstract: Methods and systems are disclosed for determining sensor degradation by actively controlling an autonomous vehicle. Determining sensor degradation may include obtaining sensor readings from a sensor of an autonomous vehicle, and determining baseline state information from the obtained sensor readings. A movement characteristic of the autonomous vehicle, such as speed or position, may then be changed. The sensor may then obtain additional sensor readings, and second state information may be determined from these additional sensor readings. Expected state information may be determined from the baseline state information and the change in the movement characteristic of the autonomous vehicle. A comparison of the expected state information and the second state information may then be performed. Based on this comparison, a determination may be made as to whether the sensor has degraded.
Abstract translation: 公开了通过主动地控制自主车辆来确定传感器劣化的方法和系统。 确定传感器劣化可以包括从自主车辆的传感器获得传感器读数，以及从所获得的传感器读数确定基线状态信息。 然后可以改变自主车辆的运动特性，例如速度或位置。 然后，传感器可以获得附加的传感器读数，并且可以从这些附加传感器读数确定第二状态信息。 可以从基准状态信息和自主车辆的运动特性的变化来确定预期状态信息。 然后可以执行预期状态信息和第二状态信息的比较。 基于该比较，可以确定传感器是否已劣化。
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公开(公告)号：US20170069121A1
公开(公告)日：2017-03-09
申请号：US15290606
申请日：2016-10-11
Applicant: Google Inc.
Inventor： Jiajun Zhu , Daniel Joseph Filip , Luc Vincent
Abstract: The present invention relates to annotating images. In an embodiment, the present invention enables users to create annotations corresponding to three-dimensional objects while viewing two-dimensional images. In one embodiment, this is achieved by projecting a selecting object onto a three-dimensional model created from a plurality of two-dimensional images. The selecting object is input by a user while viewing a first image corresponding to a portion of the three-dimensional model. A location corresponding to the projection on the three-dimensional model is determined, and content entered by the user while viewing the first image is associated with the location. The content is stored together with the location information to form an annotation. The annotation can be retrieved and displayed together with other images corresponding to the location.
Abstract translation: 本发明涉及注释图像。 在一个实施例中，本发明使用户能够在观看二维图像的同时创建与三维对象相对应的注释。 在一个实施例中，这是通过将选择对象投影到由多个二维图像创建的三维模型上来实现的。 选择对象由用户输入，同时观看对应于三维模型的一部分的第一图像。 确定与三维模型上的投影对应的位置，并且在查看第一图像时由用户输入的内容与位置相关联。 内容与位置信息一起存储以形成注释。 注释可以与对应于该位置的其他图像一起检索和显示。
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公开(公告)号：US09495875B2
公开(公告)日：2016-11-15
申请号：US14296670
申请日：2014-06-05
Applicant: Google Inc.
Inventor： Jonathan Baldwin Dowdall , Jiajun Zhu
IPC: B60R21/00 , B60R21/013 , B60W30/095 , B60W30/08 , G08G1/16 , G06K9/00
CPC classification number: G08G1/166 , B60R21/00 , B60R21/013 , B60W30/08 , B60W30/095 , G06K9/00805
Abstract: A vehicle configured to operate in an autonomous mode may engage in an obstacle evaluation technique that includes employing a sensor system to collect data relating to a plurality of obstacles, identifying from the plurality of obstacles an obstacle pair including a first obstacle and a second obstacle, engaging in an evaluation process by comparing the data collected for the first obstacle to the data collected for the second obstacle, and in response to engaging in the evaluation process, making a determination of whether the first obstacle and the second obstacle are two separate obstacles.
Abstract translation: 构造成以自主模式操作的车辆可以参与障碍物评估技术，其包括采用传感器系统来收集与多个障碍物相关的数据，从多个障碍物识别包括第一障碍物和第二障碍物的障碍物， 通过将针对第一障碍物收集的数据与针对第二障碍物收集的数据进行比较，并且响应于参与评估处理，确定第一障碍物和第二障碍物是否是两个单独的障碍物来进行评估过程。
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公开(公告)号：US20160035081A1
公开(公告)日：2016-02-04
申请号：US14749151
申请日：2015-06-24
Applicant: Google Inc.
Inventor： James Stout , Jiajun Zhu
CPC classification number: G06T7/521 , G01S17/89 , G01S17/936 , G06K9/00201 , G06K9/00791 , G06K9/00805 , G06T7/70 , G06T2207/10028 , G06T2207/30261
Abstract: Methods and systems for object detection using laser point clouds are described herein. In an example implementation, a computing device may receive laser data indicative of a vehicle's environment from a sensor and generate a two dimensional (2D) range image that includes pixels indicative of respective positions of objects in the environment based on the laser data. The computing device may modify the 2D range image to provide values to given pixels that map to portions of objects in the environment lacking laser data, which may involve providing values to the given pixels based on the average value of neighboring pixels positioned by the given pixels. Additionally, the computing device may determine normal vectors of sets of pixels that correspond to surfaces of objects in the environment based on the modified 2D range image and may use the normal vectors to provide object recognition information to systems of the vehicle.
Abstract translation: 本文描述了使用激光点云进行物体检测的方法和系统。 在示例实现中，计算设备可以从传感器接收指示车辆环境的激光数据，并且基于激光数据生成包括表示对象在环境中的各个位置的像素的二维（2D）范围图像。 计算设备可以修改2D范围图像以向给定像素提供值，该给定像素映射到缺乏激光数据的环境中的对象的部分，其可以涉及基于由给定像素定位的相邻像素的平均值向给定像素提供值 。 另外，计算设备可以基于修改的2D范围图像来确定对应于环境中的对象的表面的像素组的法向矢量，并且可以使用法向量向车辆的系统提供对象识别信息。
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40.发明授权Estimating multi-vehicle motion characteristics by finding stable reference points 有权通过找到稳定的参考点来估计多车辆运动特性公开(公告)号：US09207680B1
公开(公告)日：2015-12-08
申请号：US14510290
申请日：2014-10-09
Applicant: Google Inc.
Inventor： Pratik Agarwal , Jiajun Zhu
CPC classification number: G05D1/0251 , G05D1/0253 , G05D2201/0213 , G06K9/00791 , G06T7/33 , G06T2207/10004 , G06T2207/10016 , G06T2207/10028 , G06T2207/20068 , G06T2207/20076 , G06T2207/30252 , G06T2207/30256
Abstract: A computing device may identify an object in an environment of a vehicle and receive a first three-dimensional (3D) point cloud depicting a first view of the object. The computing device may determine a reference point on the object in the first 3D point cloud, and receive a second 3D point cloud depicting a second view of the object. The computing device may determine a transformation between the first view and the second view, and estimate a projection of the reference point from the first view relative to the second view based on the transformation so as to trace the reference point from the first view to the second view. The computing device may determine one or more motion characteristics of the object based on the projection of the reference point.
Abstract translation: 计算设备可以识别车辆环境中的对象，并且接收描绘对象的第一视图的第一三维（3D）点云。 计算设备可以确定第一3D点云中的对象上的参考点，并且接收描绘对象的第二视图的第二3D点云。 计算设备可以确定第一视图和第二视图之间的变换，并且基于变换来估计参考点从第一视图相对于第二视图的投影，以便将参考点从第一视图跟踪到第 第二观点。 计算设备可以基于参考点的投影来确定对象的一个或多个运动特征。
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