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31.发明申请Use of Uncertainty Regarding Observations of Traffic Intersections to Modify Behavior of a Vehicle 有权使用不确定性观察交通交叉口来修改车辆的行为公开(公告)号：US20140277901A1
公开(公告)日：2014-09-18
申请号：US14288111
申请日：2014-05-27
Applicant: Google Inc.
Inventor： David I. Ferguson , Nathaniel Fairfield
IPC: G05D1/00
CPC classification number: G05D1/0088 , B60W30/18154 , B60W2550/22 , G08G1/09623 , G08G1/096725 , G08G1/096758 , G08G1/096783
Abstract: Methods and devices for using uncertainty regarding observations of traffic intersections to modify behavior of a vehicle are disclosed. In one embodiment, an example method includes determining a state of a traffic intersection using information from one or more sensors of a vehicle. The vehicle may be configured to operate in an autonomous mode. The method may also include determining an uncertainty associated with the determined state of the traffic intersection. The method may further include controlling the vehicle in the autonomous mode based on the determined state of the traffic intersection and the determined uncertainty.
Abstract translation: 公开了用于对交通交叉点观测的不确定性以修改车辆行为的方法和装置。 在一个实施例中，示例性方法包括使用来自车辆的一个或多个传感器的信息确定交通路口的状态。 车辆可以被配置为以自主模式操作。 该方法还可以包括确定与确定的交通路口的状态相关联的不确定性。 该方法还可以包括基于确定的交通路口的状态和所确定的不确定性来控制在自主模式中的车辆。
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公开(公告)号：US08818043B2
公开(公告)日：2014-08-26
申请号：US14202124
申请日：2014-03-10
Applicant: Google Inc.
Inventor： Nathaniel Fairfield , Christopher Paul Urmson
IPC: G06K9/00
CPC classification number: G06K9/00825 , G05D1/0212 , G08G1/09623
Abstract: A system and method provides maps identifying the 3D location of traffic lights. The position, location, and orientation of a traffic light may be automatically extrapolated from two or more images. The maps may then be used to assist robotic vehicles or human drivers to identify the location and status of a traffic signal.
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公开(公告)号：US08712104B2
公开(公告)日：2014-04-29
申请号：US14030397
申请日：2013-09-18
Applicant: Google Inc.
Inventor： Nathaniel Fairfield , Christopher Paul Urmson , Sebastian Thrun
CPC classification number: G06K9/00825 , G05D1/0212 , G08G1/09623
Abstract: A system and method provides maps identifying the 3D location of traffic lights. The position, location, and orientation of a traffic light may be automatically extrapolated from two or more images. The maps may then be used to assist robotic vehicles or human drivers to identify the location and status of a traffic signal.
Abstract translation: 系统和方法提供了识别交通灯3D位置的地图。 交通信号灯的位置，位置和方向可以从两个或更多个图像自动地外推。 然后可以使用地图来帮助机器人车辆或人类驾驶员识别交通信号的位置和状态。
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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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35.发明授权公开(公告)号：US09465388B1
公开(公告)日：2016-10-11
申请号：US14195663
申请日：2014-03-03
Applicant: Google Inc.
Inventor： Nathaniel Fairfield , Joshua Seth Herbach
CPC classification number: G05D1/0088 , B60W30/00 , G05D1/0027 , G05D1/0038 , G05D1/0044 , G05D2201/0213 , H04L67/12
Abstract: Example systems and methods enable an autonomous vehicle to request assistance from a remote operator when the vehicle's confidence in operation is low. One example method includes operating an autonomous vehicle in a first autonomous mode. The method may also include identifying a situation where a level of confidence of an autonomous operation in the first autonomous mode is below a threshold level. The method may further include sending a request for assistance to a remote assistor, the request including sensor data representative of a portion of an environment of the autonomous vehicle. The method may additionally include receiving a response from the remote assistor, the response indicating a second autonomous mode of operation. The method may also include causing the autonomous vehicle to operate in the second autonomous mode of operation in accordance with the response from the remote assistor.
Abstract translation: 当车辆的操作信心低时，示例系统和方法使得自主车辆能够向遥控操作者请求帮助。 一个示例性方法包括以第一自主模式操作自主车辆。 该方法还可以包括识别在第一自主模式中的自主操作的置信度低于阈值水平的情况。 该方法还可以包括向远程组合器发送对协助的请求，所述请求包括表示自主车辆的环境的一部分的传感器数据。 该方法可以另外包括从远程组件接收响应，该响应指示第二自主操作模式。 该方法还可以包括使自主车辆根据来自遥控器的响应在第二自主操作模式下操作。
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Patent Agency Ranking
公开(公告)号：US20160292519A1
公开(公告)日：2016-10-06
申请号：US15186808
申请日：2016-06-20
Applicant: Google Inc.
Inventor： Bradley Templeton , Nathaniel Fairfield , Dave Ferguson
CPC classification number: G06K9/00805 , B60W30/14 , G05D1/0246 , G06K9/00825 , G06T7/00 , G06T7/292 , G06T7/73 , G06T7/77 , G06T2207/10016 , G06T2207/30236 , G06T2207/30241 , G06T2207/30244 , G06T2207/30252 , G06T2207/30261 , H04N5/2253 , H04N5/247
Abstract: A vehicle configured to operate in an autonomous mode may engage in a reverse-parallax analysis that includes a vehicle system detecting an object, capturing via a camera located at a first location a first image of the detected object, retrieving location data specifying (i) a location of a target object, (ii) the first location, and (iii) a direction of the camera, and based on the location data and the position of the detected object in the first image, predicting where in a second image captured from a second location the detected object would appear if the detected object is the target object.
Abstract translation: 被配置为以自主模式操作的车辆可以进行反向视差分析，其包括检测对象的车辆系统，经由位于第一位置处的摄像机拍摄检测到的对象的第一图像，检索位置数据，指定（i） 目标对象的位置，（ii）第一位置和（iii）相机的方向，并且基于位置数据和第一图像中检测到的对象的位置，预测从第二图像中捕获的第二图像中的哪个位置 如果检测到的对象是目标对象，则检测到的对象将显示第二个位置。
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公开(公告)号：US09368026B1
公开(公告)日：2016-06-14
申请号：US14721604
申请日：2015-05-26
Applicant: Google Inc.
Inventor： Joshua Seth Herbach , Philip Nemec , Nathaniel Fairfield
CPC classification number: G08G1/202 , B60W50/029 , B60W2050/0005 , B60W2050/0006 , B60W2560/02 , G05D1/0088 , G05D1/0297 , G05D2201/0213 , G06F9/46 , G06F9/4881 , G06F9/546 , G08G1/00
Abstract: Aspects of the present disclosure relate to a system having a memory, a plurality of self-driving systems for controlling a vehicle, and one or more processors. The processors are configured to receive at least one fallback task in association with a request for a primary task and at least one trigger of each fallback task. Each trigger is a set of conditions that, when satisfied, indicate when a vehicle requires attention for proper operation. The processors are also configured to send instructions to the self-driving systems to execute the primary task and receive status updates from the self-driving systems. The processors are configured to determine that a set of conditions of a trigger is satisfied based on the status updates and send further instructions based on the associated fallback task to the self-driving systems.
Abstract translation: 本公开的方面涉及具有存储器，用于控制车辆的多个自行车系统和一个或多个处理器的系统。 处理器被配置为接收与主任务的请求和每个后备任务的至少一个触发相关联的至少一个后备任务。 每个触发器是一组条件，当满足时，指示车辆何时需要注意正确的操作。 处理器还被配置为向自动驾驶系统发送指令以执行主要任务并从自驾驾驶系统接收状态更新。 处理器被配置为基于状态更新来确定触发的一组条件，并且基于相关联的回退任务向另一个自行车系统发送进一步的指令。
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38.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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公开(公告)号：US09201421B1
公开(公告)日：2015-12-01
申请号：US14254810
申请日：2014-04-16
Applicant: Google Inc.
Inventor： Nathaniel Fairfield , Josh Seth Herbach , Vadim Furman
IPC: G05D1/00
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：US09043072B1
公开(公告)日：2015-05-26
申请号：US13856822
申请日：2013-04-04
Applicant: Google Inc.
Inventor： John Tisdale , Russell Smith , Nathaniel Fairfield
CPC classification number: G05D1/021 , G01C21/14 , G01C21/28 , G05D1/027 , G05D1/0274 , G05D2201/0213
Abstract: Methods and systems for correcting an estimated heading using a map are disclosed. Map data indicative of a map of an environment of a vehicle and data indicative of an estimated heading the vehicle is received. A sensor obtains first spatial data indicative of locations of objects in the environment relative to the vehicle at a first time. A first location of the vehicle on the map is determined based on the first spatial data. The sensor obtains second spatial data indicative of locations of objects in the environment relative to the vehicle at a second time. A second location of the vehicle on the map is determined based on the second spatial data. A heading correction of the vehicle is determined based on the estimated heading, the first location, the first time, the second location, and the second time, and a speed of the vehicle.
Abstract translation: 公开了使用地图校正估计航向的方法和系统。 指示车辆的环境的地图的数据的地图数据和指示车辆的估计方向的数据。 传感器首次获得指示环境中的物体相对于车辆的位置的第一空间数据。 基于第一空间数据确定车辆在地图上的第一位置。 该传感器在第二时间获得指示环境中的物体相对于车辆的位置的第二空间数据。 基于第二空间数据确定车辆在地图上的第二位置。 基于估计的航向，第一位置，第一时间，第二位置和第二时间以及车辆的速度来确定车辆的航向校正。
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