公开(公告)号：US08725342B2

公开(公告)日：2014-05-13

申请号：US13944877

申请日：2013-07-18

Applicant: Google Inc.

Inventor： David I. Ferguson ,  Dmitri Dolgov

IPC: G01C22/00 ,  G06K9/00 ,  B60Q1/22

CPC classification number: G05D1/0212 ,  B60W30/12 ,  B60W50/029 ,  B60W2550/14 ,  B60W2550/306 ,  B60W2550/308 ,  G05D1/0289 ,  G06K9/00798 ,  G06K9/00805

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 lane information that provides an estimated location of a lane of a road on which a vehicle is traveling. The example method further includes determining that the lane information has become unavailable or unreliable and, in response, using a sensor to monitor a first distance and a second distance between the vehicle and a neighboring vehicle, determining first and second relative positions of the neighboring vehicle based on the first and second distances, respectively, and, based on the first and second relative positions, determining an estimated path of the neighboring vehicle. The example method further includes, based on the estimated path, determining an updated estimated location of the lane, and controlling the vehicle based on the updated estimated location of the lane.

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，其包括获取提供车辆行驶的道路的车道的估计位置的车道信息。 示例性方法还包括确定车道信息变得不可用或不可靠，并且作为响应，使用传感器监测车辆和相邻车辆之间的第一距离和第二距离，确定相邻车辆的第一和第二相对位置 分别基于第一和第二距离，并且基于第一和第二相对位置确定相邻车辆的估计路径。 该示例方法还包括：基于估计的路径，确定车道的更新的估计位置，以及基于车道的更新的估计位置来控制车辆。