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公开(公告)号：US09679206B1
公开(公告)日：2017-06-13
申请号：US15387826
申请日：2016-12-22
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.
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公开(公告)号：US09557737B1
公开(公告)日：2017-01-31
申请号：US14885815
申请日：2015-10-16
Applicant: Google Inc.
Inventor： David Ian Franklin Ferguson , Abhijit Ogale
CPC classification number: G05D1/0088 , B60W30/00 , B60W30/08 , B60W30/09 , B60W30/095 , B60W2550/10 , G05D1/0055
Abstract: The present disclosure is directed to autonomous vehicle having a vehicle control system. The vehicle control system includes a processing system that receives input values that indicate attributes of an object within a threshold distance of the autonomous vehicle and variance values indicating uncertainty associated with the input values. The processing system also provides a plurality of outcomes that are associated with combinations of split decisions. A given split decision indicates whether a particular input value is above or below a threshold value associated with the given split decision. The processing system further determines (i) a probability that the particular input value is above a threshold value and (ii) a probability that the particular input is below the threshold value for a given split decision. Additionally, the processing system determines one or more likelihoods associated with a given outcome. Further, the processing system provides instructions to control the autonomous vehicle.
Abstract translation: 本公开涉及具有车辆控制系统的自主车辆。 车辆控制系统包括处理系统，其接收指示自主车辆的阈值距离内的物体的属性的输入值和表示与输入值相关联的不确定性的方差值。 处理系统还提供与分离决策的组合相关联的多个结果。 给定的分割决定指示特定输入值是否高于或低于与给定分割决策相关联的阈值。 处理系统还确定（i）特定输入值高于阈值的概率，以及（ii）特定输入低于给定分割决策的阈值的概率。 另外，处理系统确定与给定结果相关联的一个或多个可能性。 此外，处理系统提供控制自主车辆的指令。
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33.发明授权公开(公告)号：US09507347B1
公开(公告)日：2016-11-29
申请号：US15056780
申请日：2016-02-29
Applicant: Google Inc.
Inventor： Abhijit Ogale , David Ian Franklin Ferguson
CPC classification number: G06K9/00791 , B60R1/00 , B60R2300/80 , G05D1/0088 , G05D1/0246 , G06K9/00825 , G06K9/4604 , G06K9/4652 , G06K9/4661 , H04N5/2353
Abstract: An autonomous vehicle is configured to detect an active turn signal indicator on another vehicle. An image-capture device of the autonomous vehicle captures an image of a field of view of the autonomous vehicle. The autonomous vehicle captures the image with a short exposure to emphasize objects having brightness above a threshold. Additionally, a bounding area for a second vehicle located within the image is determined. The autonomous vehicle identifies a group of pixels within the bounding area based on a first color of the group of pixels. The autonomous vehicle also calculates an oscillation of an intensity of the group of pixels. Based on the oscillation of the intensity, the autonomous vehicle determines a likelihood that the second vehicle has a first active turn signal. Additionally, the autonomous vehicle is controlled based at least on the likelihood that the second vehicle has a first active turn signal.
Abstract translation: 自主车辆被配置为检测另一车辆上的主动转向信号指示器。 自主车辆的图像捕获装置捕获自主车辆的视野的图像。 自主车辆以短曝光捕获图像，以强调具有高于阈值的亮度的物体。 另外，确定位于图像内的第二车辆的边界区域。 自主车辆基于像素组的第一颜色识别边界区域内的一组像素。 自主车辆还计算该组像素的强度的振荡。 基于强度的振荡，自主车辆确定第二车辆具有第一主动转弯信号的可能性。 另外，至少基于第二车辆具有第一主动转弯信号的可能性来控制自主车辆。
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34.发明授权Approach for estimating the geometry of roads and lanes by using vehicle trajectories 有权通过使用车辆轨迹估算道路和车道几何的方法公开(公告)号：US09460622B1
公开(公告)日：2016-10-04
申请号：US14516044
申请日：2014-10-16
Applicant: Google Inc.
Inventor： David Ian Franklin Ferguson , Dmitri A. Dolgov
IPC: G08G1/0967 , G05D1/02 , G05D1/00 , G01C21/32 , B60W10/18 , B60W10/20 , B60W40/072 , G08G1/00
CPC classification number: G08G1/096725 , B60W10/04 , B60W10/18 , B60W10/184 , B60W10/20 , B60W30/0956 , B60W30/10 , B60W30/16 , B60W30/18163 , B60W40/072 , B60W2050/0077 , B60W2550/143 , B60W2550/306 , B60W2550/308 , B60W2550/402 , B60W2710/18 , B60W2710/20 , G01C21/32 , G05D1/0088 , G05D1/0212 , G05D1/0246 , G05D1/0257 , G05D1/0287 , G08G1/20 , G08G1/22
Abstract: A method and apparatus is provided for controlling the operation of an autonomous vehicle. According to one aspect, the autonomous vehicle may track the trajectories of other vehicles on a road. Based on the other vehicle's trajectories, the autonomous vehicle may generate a representative trajectory. Afterwards, the autonomous vehicle may change at least one of its speed or direction based on the representative trajectory.
Abstract translation: 提供了一种用于控制自主车辆的操作的方法和装置。 根据一个方面，自主车辆可以跟踪道路上的其他车辆的轨迹。 基于其他车辆的轨迹，自主车辆可以产生代表性轨迹。 之后，自主车辆可以基于代表性轨迹改变其速度或方向中的至少一个。
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公开(公告)号：US20160267334A1
公开(公告)日：2016-09-15
申请号：US15158008
申请日：2016-05-18
Applicant: Google Inc.
Inventor： David Ian Franklin Ferguson , Wan-Yen Lo
CPC classification number: G06K9/00825 , G05D1/0088 , G06K9/00791 , G06K9/00805 , G06K9/00818 , G06K9/3241 , G06K9/46 , G06K9/6202 , G06K2209/23 , G06T7/11 , G06T7/62 , G06T7/90 , G06T2207/10024 , G06T2207/20021 , G06T2207/30252 , G06T2207/30261
Abstract: Methods and systems are provided that may allow an autonomous vehicle to discern a school bus from image data. An example method may include receiving image data indicative of a vehicles operating in an environment. The image data may depict sizes of the vehicles. The method may also include, based on relative sizes of the vehicles, determining a vehicle that is larger in size as compared the other vehicles. The method may additionally include comparing a size of the determined vehicle to a size of a school bus and based on the size of vehicle being within a threshold size of the school bus, comparing a color of the vehicle to a color of the school bus. The method may further include based on the vehicle being substantially the same color as the school bus, determining that the vehicle is representative of the school bus.
Abstract translation: 提供了可以允许自主车辆从图像数据辨别校车的方法和系统。 示例性方法可以包括接收指示在环境中操作的车辆的图像数据。 图像数据可以描绘车辆的尺寸。 该方法还可以基于车辆的相对尺寸来确定与其他车辆相比尺寸较大的车辆。 该方法可以另外包括将所确定的车辆的大小与校车的尺寸进行比较，并且基于在校车的阈值尺寸内的车辆的尺寸，将车辆的颜色与校车的颜色进行比较。 该方法还可以包括基于车辆与校车基本相同的颜色，确定车辆是校车的代表。
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Patent Agency Ranking
公开(公告)号：US09381918B1
公开(公告)日：2016-07-05
申请号：US14454241
申请日：2014-08-07
Applicant: Google Inc.
Inventor： David Ian Franklin Ferguson , Dmitri A. Dolgov
IPC: G01C22/00 , G05D1/00 , B60T8/32 , G06F7/00 , G06F17/00 , B60T8/24 , G05D5/00 , B60T7/12 , B60W30/14
CPC classification number: B60W30/143 , B60L2240/00 , B60L2240/10 , B60L2240/12 , B60L2240/14 , B60L2240/16 , B60T7/042 , B60T7/22 , B60W30/14 , B60W30/146 , B60W50/085 , B60W2520/10 , B60W2550/141 , B60W2550/302 , B60W2550/306 , G05D1/0088
Abstract: Aspects of the disclosure relate generally to speed control in an autonomous vehicle. For example, an autonomous vehicle may include a user interface which allows the driver to input speed preferences. These preferences may include the maximum speed above the speed limit the user would like the autonomous vehicle to drive when other vehicles are present and driving above or below certain speeds. The other vehicles may be in adjacent or the same lane the vehicle, and need not be in front of the vehicle.
Abstract translation: 本公开的方面通常涉及自主车辆中的速度控制。 例如，自主车辆可以包括允许驾驶员输入速度偏好的用户界面。 这些偏好可以包括超过用户希望自主车辆在其他车辆存在并且行驶高于或低于特定速度时的驾驶速度的最大速度。 其他车辆可以在车辆的相邻车道或同一车道中，并且不需要在车辆前方。
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公开(公告)号：US09321461B1
公开(公告)日：2016-04-26
申请号：US14472795
申请日：2014-08-29
Applicant: Google Inc.
Inventor： David Harrison Silver , David Ian Franklin Ferguson
CPC classification number: G05D1/0088 , B60W30/0956 , B60W30/10 , B62D6/00 , G01C21/32 , G05D1/0214 , G08G1/16
Abstract: Aspects of the disclosure relate to determining whether a feature of map information. For example, data identifying an object detected in a vehicle's environment and including location coordinates is received. This information is used to identify a corresponding feature from pre-stored map information based on a map location of the corresponding feature. The corresponding feature is defined as a curve and associated with a tag identifying a type of the corresponding object. A tolerance constraint is identified based on the tag. The curve is divided into two or more line segments. Each line segment has a first position. The first position of a line segment is changed in order to determine a second position based on the location coordinates and the tolerance constraint. A value is determined based on a comparison of the first position to the second position. This value indicates a likelihood that the corresponding feature has changed.
Abstract translation: 本公开的方面涉及确定地图信息的特征。 例如，接收识别在车辆环境中检测到的物体并包括位置坐标的数据。 该信息用于基于相应特征的地图位置来从预先存储的地图信息中识别对应的特征。 相应的特征被定义为曲线并且与标识相应对象的类型的标签相关联。 基于标签识别公差约束。 该曲线分为两个或更多个线段。 每个线段具有第一位置。 改变线段的第一位置以便基于位置坐标和公差约束确定第二位置。 基于第一位置与第二位置的比较来确定值。 此值表示相应功能已更改的可能性。
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公开(公告)号：US09280710B1
公开(公告)日：2016-03-08
申请号：US14208385
申请日：2014-03-13
Applicant: Google Inc.
Inventor： David Ian Franklin Ferguson , Wan-Yen Lo
CPC classification number: G06K9/00825 , G05D1/0088 , G06K9/00791 , G06K9/00805 , G06K9/00818 , G06K9/3241 , G06K9/46 , G06K9/6202 , G06K2209/23 , G06T7/11 , G06T7/62 , G06T7/90 , G06T2207/10024 , G06T2207/20021 , G06T2207/30252 , G06T2207/30261
Abstract: Methods and systems are provided that may allow an autonomous vehicle to discern a school bus from image data. An example method may include receiving image data indicative of a vehicles operating in an environment. The image data may depict sizes of the vehicles. The method may also include, based on relative sizes of the vehicles, determining a vehicle that is larger in size as compared the other vehicles. The method may additionally include comparing a size of the determined vehicle to a size of a school bus and based on the size of vehicle being within a threshold size of the school bus, comparing a color of the vehicle to a color of the school bus. The method may further include based on the vehicle being substantially the same color as the school bus, determining that the vehicle is representative of the school bus.
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公开(公告)号：US09216737B1
公开(公告)日：2015-12-22
申请号：US14570321
申请日：2014-12-15
Applicant: Google Inc.
Inventor： Jiajun Zhu , David Ian Franklin Ferguson , Dmitri A. Dolgov
CPC classification number: B60W30/00 , B60W30/12 , B60W30/16 , B60W2050/0095 , B60W2550/30 , B60W2550/402 , G01C21/34 , G05D1/02
Abstract: Aspects of the disclosure relate generally to detecting discrete actions by traveling vehicles. The features described improve the safety, use, driver experience, and performance of autonomously controlled vehicles by performing a behavior analysis on mobile objects in the vicinity of an autonomous vehicle. Specifically, an autonomous vehicle is capable of detecting and tracking nearby vehicles and is able to determine when these nearby vehicles have performed actions of interest by comparing their tracked movements with map data.
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公开(公告)号：US09187088B1
公开(公告)日：2015-11-17
申请号：US14585681
申请日：2014-12-30
Applicant: Google Inc.
Inventor： David Ian Franklin Ferguson , Abhijit Ogale
CPC classification number: G05D1/0088 , B60W30/00 , B60W30/08 , B60W30/09 , B60W30/095 , B60W2550/10 , G05D1/0055
Abstract: The present disclosure is directed to autonomous vehicle having a vehicle control system. The vehicle control system includes a processing system that receives input values that indicate attributes of an object within a threshold distance of the autonomous vehicle and variance values indicating uncertainty associated with the input values. The processing system also provides a plurality of outcomes that are associated with combinations of split decisions. A given split decision indicates whether a particular input value is above or below a threshold value associated with the given split decision. The processing system further determines (i) a probability that the particular input value is above a threshold value and (ii) a probability that the particular input is below the threshold value for a given split decision. Additionally, the processing system determines one or more likelihoods associated with a given outcome. Further, the processing system provides instructions to control the autonomous vehicle.
Abstract translation: 本公开涉及具有车辆控制系统的自主车辆。 车辆控制系统包括处理系统，其接收指示自主车辆的阈值距离内的物体的属性的输入值和表示与输入值相关联的不确定性的方差值。 处理系统还提供与分离决策的组合相关联的多个结果。 给定的分割决定指示特定输入值是否高于或低于与给定分割决策相关联的阈值。 处理系统还确定（i）特定输入值高于阈值的概率，以及（ii）特定输入低于给定分割决策的阈值的概率。 另外，处理系统确定与给定结果相关联的一个或多个可能性。 此外，处理系统提供控制自主车辆的指令。
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