公开(公告)号：US20140324268A1

公开(公告)日：2014-10-30

申请号：US14324470

申请日：2014-07-07

Applicant: Google Inc.

Inventor： Michael Steven Montemerlo ,  Dmitri A. Dolgov ,  Christopher Paul Urmson

IPC: G05D1/02

CPC classification number: G06K9/00201 ,  B60R1/00 ,  B60R2300/30 ,  B60W30/08 ,  B60W30/186 ,  B60W2050/0292 ,  B60W2530/14 ,  B60W2550/22 ,  B62D6/00 ,  G01C21/3617 ,  G05D1/0055 ,  G05D1/0088 ,  G05D1/021 ,  G05D1/0214 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0257 ,  G05D1/0274 ,  G05D1/0276 ,  G05D1/0278 ,  G05D2201/0213 ,  G06K9/00791 ,  G06K9/00798 ,  G06K9/00805 ,  G06K9/3241 ,  G06T7/0044 ,  G06T7/0057 ,  G06T7/20 ,  G06T7/223 ,  G06T7/231 ,  G06T2207/10004 ,  G06T2207/10028 ,  G06T2207/30236 ,  G06T2207/30252 ,  G06T2207/30261

Abstract: A roadgraph may include a graph network of information such as roads, lanes, intersections, and the connections between these features. The roadgraph may also include one or more zones associated with particular rules. The zones may include locations where driving is typically challenging such as merges, construction zones, or other obstacles. In one example, the rules may require an autonomous vehicle to alert a driver that the vehicle is approaching a zone. The vehicle may thus require a driver to take control of steering, acceleration, deceleration, etc. In another example, the zones may be designated by a driver and may be broadcast to other nearby vehicles, for example using a radio link or other network such that other vehicles may be able to observer the same rule at the same location or at least notify the other vehicle's drivers that another driver felt the location was unsafe for autonomous driving.

Abstract translation: 道路图可以包括信息的图形网络，例如道路，车道，交叉路口以及这些特征之间的连接。 道路图也可以包括与特定规则相关联的一个或多个区域。 这些区域可以包括驾驶通常是具有挑战性的位置，例如合并，建筑区域或其他障碍物。 在一个示例中，规则可能需要自主车辆来警告驾驶员车辆正在接近区域。 因此，车辆可能需要驾驶员来控制转向，加速，减速等。在另一示例中，区域可以由驾驶员指定，并且可以广播到其他附近的车辆，例如使用无线电链路或其他网络 其他车辆可能能够在相同的位置观察相同的规则，或者至少通知另一车辆的司机，另一司机认为该位置对于自主驾驶是不安全的。

公开(公告)号：US08825264B2

公开(公告)日：2014-09-02

申请号：US13932090

申请日：2013-07-01

Applicant: Google Inc.

Inventor： Michael Steven Montemerlo ,  Dmitri A. Dolgov ,  Christopher Paul Urmson

IPC: G05D1/02

CPC classification number: G06K9/00201 ,  B60R1/00 ,  B60R2300/30 ,  B60W30/08 ,  B60W30/186 ,  B60W2050/0292 ,  B60W2530/14 ,  B60W2550/22 ,  B62D6/00 ,  G01C21/3617 ,  G05D1/0055 ,  G05D1/0088 ,  G05D1/021 ,  G05D1/0214 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0257 ,  G05D1/0274 ,  G05D1/0276 ,  G05D1/0278 ,  G05D2201/0213 ,  G06K9/00791 ,  G06K9/00798 ,  G06K9/00805 ,  G06K9/3241 ,  G06T7/0044 ,  G06T7/0057 ,  G06T7/20 ,  G06T7/223 ,  G06T7/231 ,  G06T2207/10004 ,  G06T2207/10028 ,  G06T2207/30236 ,  G06T2207/30252 ,  G06T2207/30261

Abstract: A roadgraph may include a graph network of information such as roads, lanes, intersections, and the connections between these features. The roadgraph may also include one or more zones associated with particular rules. The zones may include locations where driving is typically challenging such as merges, construction zones, or other obstacles. In one example, the rules may require an autonomous vehicle to alert a driver that the vehicle is approaching a zone. The vehicle may thus require a driver to take control of steering, acceleration, deceleration, etc. In another example, the zones may be designated by a driver and may be broadcast to other nearby vehicles, for example using a radio link or other network such that other vehicles may be able to observer the same rule at the same location or at least notify the other vehicle's drivers that another driver felt the location was unsafe for autonomous driving.

Abstract translation: 道路图可以包括信息的图形网络，例如道路，车道，交叉路口以及这些特征之间的连接。 道路图也可以包括与特定规则相关联的一个或多个区域。 这些区域可以包括驾驶通常是具有挑战性的位置，例如合并，建筑区域或其他障碍物。 在一个示例中，规则可能需要自主车辆来警告驾驶员车辆正在接近区域。 因此，车辆可能需要驾驶员来控制转向，加速，减速等。在另一个示例中，区域可以由驾驶员指定，并且可以广播到其他附近的车辆，例如使用无线电链路或其他网络 其他车辆可能能够在相同的位置观察相同的规则，或者至少通知另一车辆的司机，另一司机认为该位置对于自主驾驶是不安全的。

公开(公告)号：US08825261B1

公开(公告)日：2014-09-02

申请号：US14158986

申请日：2014-01-20

Applicant: Google Inc.

Inventor： Andrew Timothy Szybalski ,  Luis Ricardo Prada Gomez ,  Christopher Paul Urmson ,  Sebastian Thrun ,  Philip Nemec

IPC: G05D1/02 ,  G05D1/00

CPC classification number: G05D1/0061 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20 ,  B60W10/30 ,  B60W50/10 ,  B62D1/286 ,  B62D15/025 ,  G01S19/10 ,  G05D2201/0213 ,  G06F3/04842 ,  G06F3/04847

Abstract: A passenger in an automated vehicle may relinquish control of the vehicle to a control computer when the control computer has determined that it may maneuver the vehicle safely to a destination. The passenger may relinquish or regain control of the vehicle by applying different degrees of pressure, for example, on a steering wheel of the vehicle. The control computer may convey status information to a passenger in a variety of ways including by illuminating elements of the vehicle. The color and location of the illumination may indicate the status of the control computer, for example, whether the control computer has been armed, is ready to take control of the vehicle, or is currently controlling the vehicle.

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.

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

IPC: G06K9/00 ,  G01S19/42

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。