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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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52.发明授权Methods and systems for detecting weather conditions including wet surfaces using vehicle onboard sensors 有权使用车载传感器检测天气条件（包括湿表面）的方法和系统公开(公告)号：US09207323B2
公开(公告)日：2015-12-08
申请号：US13860664
申请日：2013-04-11
Applicant: Google Inc.
Inventor： Jiajun Zhu , Dmitri Dolgov , Dave Ferguson
IPC: G01C3/08 , G01S17/02 , G01S17/66 , G01S17/93 , G01S17/95 , G01S13/86 , G01S13/93 , B60W40/064 , G01S13/66
CPC classification number: G01S17/023 , B60W40/064 , G01S13/66 , G01S13/865 , G01S13/867 , G01S13/931 , G01S17/66 , G01S17/936 , G01S17/95 , Y02A90/19
Abstract: Example methods and systems for detecting weather conditions including wet surfaces using vehicle onboard sensors are provided. An example method includes receiving laser data collected for an environment of a vehicle. The method also includes determining laser data points that are associated with one or more objects in the environment, and based on laser data points being unassociated with the one or more objects in the environment, identifying an indication that a surface on which the vehicle travels is wet. The method may further include receiving radar data collected for the environment of the vehicle that is indicative of a presence of the one or more objects in the environment of the vehicle, and identifying the indication that the surface on which the vehicle travels is wet further based on laser data points being unassociated with the one or more objects in the environment indicated by the radar data.
Abstract translation: 提供了使用车载传感器来检测包括湿表面在内的天气条件的示例性方法和系统。 示例性方法包括接收针对车辆的环境收集的激光数据。 该方法还包括确定与环境中的一个或多个物体相关联的激光数据点，并且基于与环境中的一个或多个物体不相关的激光数据点，识别车辆行驶的表面是 湿。 该方法还可以包括接收针对车辆的环境而收集的指示车辆环境中的一个或多个物体的存在的雷达数据，并且识别车辆行驶的表面进一步被湿润的指示 激光数据点与雷达数据所指示的环境中的一个或多个物体无关。
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公开(公告)号：US09097800B1
公开(公告)日：2015-08-04
申请号：US13649384
申请日：2012-10-11
Applicant: Google Inc.
Inventor： Jiajun Zhu
CPC classification number: G01S13/865 , G01S7/411 , G01S7/4802 , G01S13/426 , G01S13/867 , G01S13/931 , G01S17/42 , G01S17/89 , G01S17/936 , G01S2013/9342 , G01S2013/9346 , G01S2013/935
Abstract: A light detection and ranging device associated with an autonomous vehicle scans through a scanning zone while emitting light pulses and receives reflected signals corresponding to the light pulses. The reflected signals indicate a three-dimensional point map of the distribution of reflective points in the scanning zone. A radio detection and ranging device scans a region of the scanning zone corresponding to a reflective feature indicated by the three-dimensional point map. Solid objects are distinguished from non-solid reflective features on the basis of a reflected radio signal that corresponds to the reflective feature. Positions of features indicated by the reflected radio signals are projected to estimated positions during the scan with the light detection and ranging device according to relative motion of the radio-reflective features indicated by a frequency shift in the reflected radio signals.
Abstract translation: 与自主车辆相关联的光检测和测距装置在发射光脉冲的同时扫描扫描区域并接收对应于光脉冲的反射信号。 反射信号表示扫描区域中反射点分布的三维点图。 无线电检测和测距设备扫描与由三维点图所示的反射特征相对应的扫描区域的区域。 基于对应于反射特征的反射无线电信号，固体物体与非固体反射特征区分开。 根据反射无线电信号中的频移指示的放射反射特征的相对运动，利用光检测和测距装置将由反射无线电信号指示的特征的位置投影到扫描期间的估计位置。
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54.发明申请Methods and Systems for Detecting Weather Conditions Including Fog Using Vehicle Onboard Sensors 有权使用车载传感器检测包括雾的天气条件的方法和系统公开(公告)号：US20150168556A1
公开(公告)日：2015-06-18
申请号：US14614853
申请日：2015-02-05
Applicant: Google Inc.
Inventor： Jiajun Zhu , Dmitri Dolgov , Dave Ferguson
CPC classification number: G01S17/95 , B60W30/00 , B60W50/14 , B60W2550/12 , G01S17/06 , G01W1/00 , G01W1/02
Abstract: Methods and systems for detecting weather conditions including fog using vehicle onboard sensors are provided. An example method includes receiving laser data collected from scans of an environment of a vehicle, and associating, by a computing device, laser data points of with one or more objects in the environment. The method also includes comparing laser data points that are unassociated with the one or more objects in the environment with stored laser data points representative of a pattern due to fog, and based on the comparison, identifying by the computing device an indication that a weather condition of the environment of the vehicle includes fog.
Abstract translation: 提供了使用车载传感器来检测包括雾的天气条件的方法和系统。 示例性方法包括接收从车辆的环境的扫描收集的激光数据，并且通过计算设备将激光数据点与环境中的一个或多个对象相关联。 该方法还包括将与环境中的一个或多个物体无关的激光数据点与表示由于雾引起的图案的存储的激光数据点进行比较，并且基于该比较，由计算设备识别天气条件 车辆的环境包括雾。
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55.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
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。
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Patent Agency Ranking
56.发明授权Methods and systems for detecting weather conditions including sunlight using vehicle onboard sensors 有权使用车载传感器检测包括阳光在内的天气条件的方法和系统公开(公告)号：US09025140B2
公开(公告)日：2015-05-05
申请号：US13888883
申请日：2013-05-07
Applicant: Google Inc.
Inventor： Jiajun Zhu , Dmitri Dolgov , Dave Ferguson
CPC classification number: G01S17/95 , G01S5/0263 , G01S13/862 , G01S13/865 , G01S13/867 , G01S13/931 , G01S13/95 , G01S15/931 , G01S17/023 , G01S17/42 , G01S17/66 , G01S17/936 , G01S19/11 , G01S19/48 , Y02A90/18 , Y02A90/19
Abstract: Methods and systems for detecting weather conditions including sunlight using onboard vehicle sensors are described. In one example, a method is provided that includes receiving laser data collected for an environment of a vehicle. The method also includes associating laser data points with one or more objects in the environment, and determining given laser data points that are unassociated with the one or more objects in the environment as being representative of an untracked object at a given position with respect to the vehicle. The method also includes determining that the untracked object remains at a substantially same relative position with respect to the vehicle as the vehicle moves, and identifying by the computing device an indication that a weather condition of the environment of the vehicle is sunny.
Abstract translation: 描述了使用车载传感器检测包括阳光的天气条件的方法和系统。 在一个示例中，提供了一种包括接收为车辆的环境收集的激光数据的方法。 该方法还包括将激光数据点与环境中的一个或多个对象相关联，以及确定与环境中的一个或多个对象不相关的给定激光数据点，以代表相对于所述环境的给定位置处的未跟踪对象 车辆。 该方法还包括确定当车辆移动时未跟踪的物体相对于车辆保持基本相同的相对位置，并且由计算设备识别车辆的环境的天气条件是晴朗的指示。
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公开(公告)号：US08983781B2
公开(公告)日：2015-03-17
申请号：US13623397
申请日：2012-09-20
Applicant: Google Inc.
Inventor： Christopher Paul Urmson , Michael Steven Montemerlo , Jiajun Zhu
Abstract: Aspects of the disclosure relate generally to detecting road weather conditions. Vehicle sensors including a laser, precipitation sensors, and/or camera may be used to detect information such as the brightness of the road, variations in the brightness of the road, brightness of the world, current precipitation, as well as the detected height of the road. Information received from other sources such as networked based weather information (forecasts, radar, precipitation reports, etc.) may also be considered. The combination of the received and detected information may be used to estimate the probability of precipitation such as water, snow or ice in the roadway. This information may then be used to maneuver an autonomous vehicle (for steering, accelerating, or braking) or identify dangerous situations.
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58.发明授权Methods and systems for detecting weather conditions including fog using vehicle onboard sensors 有权使用车载传感器检测天气状况（包括雾）的方法和系统公开(公告)号：US08983705B2
公开(公告)日：2015-03-17
申请号：US13873442
申请日：2013-04-30
Applicant: Google Inc.
Inventor： Jiajun Zhu , Dmitri Dolgov , Dave Ferguson
CPC classification number: G01S17/95 , B60W30/00 , B60W50/14 , B60W2550/12 , G01S17/06 , G01W1/00 , G01W1/02
Abstract: Methods and systems for detecting weather conditions including fog using vehicle onboard sensors are provided. An example method includes receiving laser data collected from scans of an environment of a vehicle, and associating, by a computing device, laser data points of with one or more objects in the environment. The method also includes comparing laser data points that are unassociated with the one or more objects in the environment with stored laser data points representative of a pattern due to fog, and based on the comparison, identifying by the computing device an indication that a weather condition of the environment of the vehicle includes fog.
Abstract translation: 提供了使用车载传感器来检测包括雾的天气条件的方法和系统。 示例性方法包括接收从车辆的环境的扫描收集的激光数据，并且通过计算设备将激光数据点与环境中的一个或多个对象相关联。 该方法还包括将与环境中的一个或多个物体无关的激光数据点与表示由于雾引起的图案的存储的激光数据点进行比较，并且基于该比较，由计算设备识别天气条件 车辆的环境包括雾。
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公开(公告)号：US08954252B1
公开(公告)日：2015-02-10
申请号：US14095107
申请日：2013-12-03
Applicant: Google Inc.
Inventor： Christopher Paul Urmson , Ian James Mahon , Dmitri A. Dolgov , Jiajun Zhu
IPC: G08G1/16
CPC classification number: G08G1/167 , B60Q1/50 , B60Q5/005 , B60T8/17558 , B60T2201/022 , G08G1/165 , G08G1/166
Abstract: Aspects of the disclosure relate generally to notifying a pedestrian of the intent of a self-driving vehicle. For example, the vehicle may include sensors which detect an object such as a pedestrian attempting or about to cross the roadway in front of the vehicle. The vehicle's computer may then determine the correct way to respond to the pedestrian. For example, the computer may determine that the vehicle should stop or slow down, yield, or stop if it is safe to do so. The vehicle may then provide a notification to the pedestrian of what the vehicle is going to or is currently doing. For example, the vehicle may include a physical signaling device, an electronic sign or lights, a speaker for providing audible notifications, etc.
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60.发明申请Methods and Systems for Detecting Weather Conditions Including Sunlight Using Vehicle Onboard Sensors 有权使用车载传感器检测包括阳光的天气条件的方法和系统公开(公告)号：US20140333468A1
公开(公告)日：2014-11-13
申请号：US13888883
申请日：2013-05-07
Applicant: Google Inc.
Inventor： Jiajun Zhu , Dmitri Dolgov , Dave Ferguson
CPC classification number: G01S17/95 , G01S5/0263 , G01S13/862 , G01S13/865 , G01S13/867 , G01S13/931 , G01S13/95 , G01S15/931 , G01S17/023 , G01S17/42 , G01S17/66 , G01S17/936 , G01S19/11 , G01S19/48 , Y02A90/18 , Y02A90/19
Abstract: Methods and systems for detecting weather conditions including sunlight using onboard vehicle sensors are described. In one example, a method is provided that includes receiving laser data collected for an environment of a vehicle. The method also includes associating laser data points with one or more objects in the environment, and determining given laser data points that are unassociated with the one or more objects in the environment as being representative of an untracked object at a given position with respect to the vehicle. The method also includes determining that the untracked object remains at a substantially same relative position with respect to the vehicle as the vehicle moves, and identifying by the computing device an indication that a weather condition of the environment of the vehicle is sunny.
Abstract translation: 描述了使用车载传感器检测包括阳光的天气条件的方法和系统。 在一个示例中，提供了一种包括接收为车辆的环境收集的激光数据的方法。 该方法还包括将激光数据点与环境中的一个或多个对象相关联，以及确定与环境中的一个或多个对象不相关的给定激光数据点，以代表相对于所述环境的给定位置处的未跟踪对象 车辆。 该方法还包括确定当车辆移动时未跟踪的物体相对于车辆保持基本相同的相对位置，并且由计算设备识别车辆的环境的天气条件是晴朗的指示。
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