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    Mapping active and inactive construction zones for autonomous driving
    32.
    发明授权
    Mapping active and inactive construction zones for autonomous driving 有权
    绘制自主驾驶的主动和非活动建筑区

    公开(公告)号：US09575490B2

    公开(公告)日：2017-02-21

    申请号：US14828700

    申请日：2015-08-18

    Applicant: Google Inc.

    Inventor： David I. Ferguson ,  Donald Jason Burnette

    IPC: G05D1/00 ,  G01C21/26 ,  B60W30/00 ,  G06K9/00 ,  G01C21/32 ,  G01S13/93

    CPC classification number: G05D1/0214 ,  B60W10/04 ,  B60W10/20 ,  B60W30/00 ,  B60W30/143 ,  B60W2710/20 ,  B60W2720/106 ,  G01C21/26 ,  G01C21/32 ,  G01C21/3407 ,  G01S19/42 ,  G01S2013/936 ,  G05D1/00 ,  G05D1/0088 ,  G05D1/0236 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/0257 ,  G05D1/0276 ,  G05D2201/0213 ,  G06K9/00 ,  G06K9/00798 ,  G06K9/00818

    Abstract: Aspects of the present disclosure relate to differentiating between active and inactive construction zones. In one example, this may include identifying a construction object associated with a construction zone. The identified construction object may be used to map the area of the construction zone. Detailed map information may then be used to classify the activity of the construction zone. The area of the construction zone and the classification may be added to the detailed map information. Subsequent to adding the construction zone and the classification to the detailed map information, the construction object (or another construction object) may be identified. The location of the construction object may be used to identify the construction zone and classification from the detailed map information. The classification of the classification may be used to operate a vehicle having an autonomous mode.

    Abstract translation: 本公开的方面涉及区分主动和非活动结构区域。 在一个示例中，这可以包括识别与施工区域相关联的施工对象。 所识别的施工对象可用于映射施工区域的区域。 然后可以使用详细的地图信息来对施工区域的活动进行分类。 施工区的区域和分类可以添加到详细的地图信息中。 在将施工区域和分类添加到详细地图信息之后，可以识别施工对象（或另一施工对象）。 施工对象的位置可以用于从详细的地图信息中识别施工区域和分类。 分类的分类可以用于操作具有自主模式的车辆。

    Methods and systems for scan matching approaches for vehicle heading estimation
    34.
    发明授权
    Methods and systems for scan matching approaches for vehicle heading estimation 有权
    用于车辆航向估计的扫描匹配方法的方法和系统

    公开(公告)号：US09043069B1

    公开(公告)日：2015-05-26

    申请号：US13670917

    申请日：2012-11-07

    Applicant: Google Inc.

    Inventor： David I. Ferguson ,  Donald Jason Burnette ,  Jiajun Zhu

    IPC: G06T15/20 ,  G05D1/00 ,  G01S17/88

    CPC classification number: G05D1/00 ,  B60W30/00 ,  G01S17/58 ,  G01S17/89 ,  G06T7/215 ,  G06T2207/10028 ,  G06T2207/30261

    Abstract: Methods and devices for estimating a heading of a target vehicle are disclosed. An example method may include determining a first point cloud representative of a location of a target vehicle at a first time period and a second point cloud representative of the location of the target vehicle at a second time period. Using a computing device, an initial comparison between the first point cloud and the second point cloud may be determined based on an estimate of a speed for the target vehicle and a time difference between the first time period and the second time period. Additionally, the initial comparison may be revised based on a minimization of a distance between points of the first point cloud and corresponding points of the second point cloud. An estimate of a heading of the target vehicle may then be determined based on the revised comparison.

    Abstract translation: 公开了用于估计目标车辆的航向的方法和装置。 示例性方法可以包括：在第一时间段确定代表目标车辆的位置的第一点云，以及代表目标车辆在第二时间段的位置的第二点云。 使用计算装置，可以基于目标车辆的速度的估计和第一时间段与第二时间段之间的时间差来确定第一点云和第二点云之间的初始比较。 另外，可以基于第一点云的点与第二点云的对应点之间的距离的最小化来修改初始比较。 然后可以基于修订的比较来确定目标车辆的航向的估计。

    Methods and systems to aid autonomous vehicles driving through a lane merge
    35.
    发明授权
    Methods and systems to aid autonomous vehicles driving through a lane merge 有权
    帮助自主驾驶通过车道合并的方法和系统

    公开(公告)号：US09026300B2

    公开(公告)日：2015-05-05

    申请号：US13670103

    申请日：2012-11-06

    Applicant: Google Inc.

    Inventor： David I. Ferguson

    IPC: G05D1/00

    CPC classification number: G05D1/00 ,  B60W30/12 ,  B60W30/18163 ,  B60W2550/302 ,  B60W2550/304 ,  B60W2550/306 ,  B60W2550/406 ,  B62D15/025 ,  B62D15/0255

    Abstract: Methods and devices for controlling a vehicle in an autonomous mode are disclosed. In one aspect, an example method is disclosed that includes obtaining, by a computer system, lane information that provides an estimated location of a lane of a road on which a vehicle is travelling, where the computer system is configured to control the vehicle in an autonomous mode. The example method further includes determining, by the computer system, that the lane information has become unavailable or unreliable and, in response to determining that the lane information has become unavailable or unreliable, the computer system analyzing trajectories of other vehicles to locate a potential merge point on the road and creating a new trajectory that follows the lane at the potential merge point.

    Abstract translation: 公开了以自主模式控制车辆的方法和装置。 一方面，公开了一种示例性方法，其包括通过计算机系统获得提供车辆行驶的道路的车道的估计位置的车道信息，其中所述计算机系统被配置为以 自主模式。 该示例方法还包括由计算机系统确定车道信息变得不可用或不可靠，并且响应于确定车道信息变得不可用或不可靠，计算机系统分析其他车辆的轨迹以定位潜在的合并 指向道路，并在潜在的合并点上创建跟随车道的新轨迹。

    Use of Environmental Information to aid Image Processing for Autonomous Vehicles
    36.
    发明申请
    Use of Environmental Information to aid Image Processing for Autonomous Vehicles 有权
    使用环境信息来辅助自动车辆的图像处理

    公开(公告)号：US20140379247A1

    公开(公告)日：2014-12-25

    申请号：US13925795

    申请日：2013-06-24

    Applicant: Google Inc.

    Inventor： David I. Ferguson ,  Wan-Yen Lo

    IPC: B60W30/09

    CPC classification number: B60W30/09 ,  B60W30/12 ,  B60W30/16 ,  B60W2420/42 ,  B60W2550/10 ,  G01C21/30 ,  G05D1/0088 ,  G06K9/00798 ,  G06K9/00805 ,  G06K9/3233 ,  G06K9/6289

    Abstract: An autonomous vehicle may be configured to use environmental information for image processing. The vehicle may be configured to operate in an autonomous mode in an environment and may be operating substantially in a lane of travel of the environment. The vehicle may include a sensor configured to receive image data indicative of the environment. The vehicle may also include a computer system configured to compare environmental information indicative of the lane of travel to the image data so as to determine a portion of the image data that corresponds to the lane of travel of the environment. Based on the portion of the image data that corresponds to the lane of travel of the environment and by disregarding a remaining portion of the image data, the vehicle may determine whether an object is present in the lane, and based on the determination, provide instructions to control the vehicle in the autonomous mode in the environment.

    Abstract translation: 自主车辆可以被配置为使用用于图像处理的环境信息。 车辆可以被配置为在环境中以自主模式操作并且可以基本上在环境的行进路线中操作。 车辆可以包括被配置为接收指示环境的图像数据的传感器。 车辆还可以包括被配置为将指示行车道的环境信息与图像数据进行比较的计算机系统，以便确定对应于环境行驶路线的图像数据的一部分。 基于对应于环境的行车道的图像数据的部分，并且通过忽略图像数据的剩余部分，车辆可以确定物体是否存在于车道中，并且基于该确定，提供指令 在环境中以自主模式控制车辆。

    MAPPING ACTIVE AND INACTIVE CONSTRUCTION ZONES FOR AUTONOMOUS DRIVING
    37.
    发明申请
    MAPPING ACTIVE AND INACTIVE CONSTRUCTION ZONES FOR AUTONOMOUS DRIVING 有权
    绘制自动驾驶的主动和不活动建筑区

    公开(公告)号：US20140309833A1

    公开(公告)日：2014-10-16

    申请号：US13859990

    申请日：2013-04-10

    Applicant: Google Inc.

    Inventor： David I. Ferguson ,  Donald Jason Burnette

    IPC: G05D1/00

    CPC classification number: G05D1/0214 ,  B60W10/04 ,  B60W10/20 ,  B60W30/00 ,  B60W30/143 ,  B60W2710/20 ,  B60W2720/106 ,  G01C21/26 ,  G01C21/32 ,  G01C21/3407 ,  G01S19/42 ,  G01S2013/936 ,  G05D1/00 ,  G05D1/0088 ,  G05D1/0236 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/0257 ,  G05D1/0276 ,  G05D2201/0213 ,  G06K9/00 ,  G06K9/00798 ,  G06K9/00818

    Abstract: Aspects of the present disclosure relate to differentiating between active and inactive construction zones. In one example, this may include identifying a construction object associated with a construction zone. The identified construction object may be used to map the area of the construction zone. Detailed map information may then be used to classify the activity of the construction zone. The area of the construction zone and the classification may be added to the detailed map information. Subsequent to adding the construction zone and the classification to the detailed map information, the construction object (or another construction object) may be identified. The location of the construction object may be used to identify the construction zone and classification from the detailed map information. The classification of the classification may be used to operate a vehicle having an autonomous mode.

    Abstract translation: 本公开的方面涉及区分主动和非活动结构区域。 在一个示例中，这可以包括识别与施工区域相关联的施工对象。 所识别的施工对象可用于映射施工区域的区域。 然后可以使用详细的地图信息来对施工区域的活动进行分类。 施工区的区域和分类可以添加到详细的地图信息中。 在将施工区域和分类添加到详细地图信息之后，可以识别施工对象（或另一施工对象）。 施工对象的位置可以用于从详细的地图信息中识别施工区域和分类。 分类的分类可以用于操作具有自主模式的车辆。

    Use of Uncertainty Regarding Observations of Traffic Intersections to Modify Behavior of a Vehicle
    38.
    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。

    Controlling a vehicle having inadequate map data
    40.
    发明授权
    Controlling a vehicle having inadequate map data 有权
    控制地图数据不足的车辆

    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。

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