公开(公告)号：US08935034B1

公开(公告)日：2015-01-13

申请号：US14190621

申请日：2014-02-26

申请人： Google Inc.

发明人： Jiajun Zhu ,  David Ian Franklin Ferguson ,  Dmitri A. Dolgov

IPC分类号： G05D1/02

CPC分类号： B60W30/00 ,  B60W30/12 ,  B60W30/16 ,  B60W2050/0095 ,  B60W2550/30 ,  B60W2550/402 ,  G01C21/34 ,  G05D1/02

摘要： 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.

摘要翻译： 本公开的方面通常涉及通过行驶车辆检测离散动作。 所描述的特征通过对自主车辆附近的移动物体进行行为分析来改善自主驾驶车辆的安全性，驾驶经验和性能。 具体来说，自主车辆能够检测和跟踪附近的车辆，并且能够通过将其跟踪的运动与地图数据进行比较来确定这些附近车辆何时已经执行感兴趣的动作。

公开(公告)号：US20140278043A1

公开(公告)日：2014-09-18

申请号：US13837905

申请日：2013-03-15

申请人： CATERPILLAR INC.

发明人： Brad Kenneth BORLAND ,  Paul Russell FRIEND ,  Mathew CHACKO

IPC分类号： G01C21/00

CPC分类号： G01C21/00 ,  B60W30/08 ,  G05D1/02 ,  G05D1/0289 ,  G05D2201/0202 ,  G08G1/22

摘要： A system and method of analyzing traffic in a vicinity of a first machine is disclosed. The method may include determining, by one or more computer processors, a projected position of the first machine based on a yaw rate and velocity of the first machine. The method may further include determining, by the one or more computer processors, a predicted zone in the vicinity of the first machine based on the projected position of the first machine. The method may further include determining whether a second machine is present in the predicted zone. In response to determining that the second machine is present in the predicted zone, the method may further include determining whether an unsafe condition exists between the first machine and the second machine.

摘要翻译： 公开了分析第一机器附近的交通的系统和方法。 该方法可以包括由一个或多个计算机处理器基于第一机器的偏航率和速度来确定第一机器的投影位置。 该方法还可以包括基于第一机器的投影位置，由一个或多个计算机处理器确定第一机器附近的预测区域。 该方法还可以包括确定第二机器是否存在于预测区域中。 响应于确定第二机器存在于预测区域中，该方法还可以包括确定在第一机器和第二机器之间是否存在不安全状态。

公开(公告)号：US20140156185A1

公开(公告)日：2014-06-05

申请号：US14175202

申请日：2014-02-07

申请人： Bayerische Motoren Werke Aktiengesellschaft

发明人： Tim LANGE ,  Markus GASSNER

IPC分类号： G01C21/34

CPC分类号： G01C21/3469 ,  G01C21/34 ,  G01C21/36 ,  G05D1/02 ,  G06F19/00 ,  G08G1/00 ,  Y02T10/84

摘要： In a navigation method, at least one constant travel characteristic (CONST_KW) is determined that is representative of a vehicle-specific energy requirement with respect to a predetermined trip length at quasi-constant speed and on a quasi-level stretch. At least one dynamic characteristic (DYN_KW) is determined that is representative of a vehicle-specific energy requirement with respect to a predetermined trip length at quasi-dynamic speed and on a quasi-level stretch. The constant travel characteristic (CONST_KW) is respectively adapted on the basis of at least one vehicle-specifically determined energy consumption characteristic (EV_KW) for a traveled route segment that has been recognized as quasi-level and in which a quasi-constant speed was detected. To determine an expected energy requirement for a predetermined driving route (RT) with several route segments (STA), the individual route segments (STA) are each made available either as a constant travel segment (CONST_STA) or as a dynamic travel segment (DYN_STA). For each route segment (STA), the estimated route segment energy requirement characteristic (ST_EB_KW) is determined on the basis of a respective constant travel characteristic (CONST_KW) in the event of a route segment (STA) made available as a constant travel segment (CONST_STA) and on the basis of a respective dynamic characteristic (DYN_KW) in the event of a route segment made available as a dynamic travel segment. An estimated route energy requirement characteristic (RT_EB_KW) for the predetermined driving route (RT) is determined on the basis of the respective route segment energy requirement characteristics (ST_EB_KW).

摘要翻译： 在导航方法中，确定至少一个恒定行驶特性（CONST_KW），其代表相对于准恒定速度和准水平拉伸的预定行程长度的车辆能量需求。 确定至少一个动态特性（DYN_KW），其表示相对于准动态速度和准水平拉伸处的预定跳闸长度的车辆能量需求。 基于已经被识别为准电平的行进路线段的至少一个车辆特定确定的能量消耗特性（EV_KW），并且其中检测到准恒定速度，分别调整恒定行驶特性（CONST_KW） 。 为了确定具有几个路线段（STA）的预定行驶路线（RT）的期望能量需求，各个路线段（STA）可以作为恒定行驶段（CONST_STA）或作为动态行驶段（DYN_STA ）。 对于每个路线段（STA），在路线段（STA）可用作恒定行驶段（STA）的情况下，基于相应的恒定行驶特性（CONST_KW）来确定估计的路线段能量需求特性（ST_EB_KW） CONST_STA），并且在路线段可用作动态行驶段的情况下，基于相应的动态特性（DYN_KW）。 基于相应的路段能量需求特性（ST_EB_KW）来确定用于预定行驶路线（RT）的估计的路线能量需求特性（RT_EB_KW）。

公开(公告)号：US20140063200A1

公开(公告)日：2014-03-06

申请号：US14075677

申请日：2013-11-08

申请人： ADVANCED SCIENTIFIC CONCEPTS, INC.

发明人： Roger STETTNER ,  Howard W. BAILEY

IPC分类号： G06T7/20 ,  H04N13/02

CPC分类号： G01S17/93 ,  G01C21/20 ,  G01S7/4813 ,  G01S7/4814 ,  G01S7/4863 ,  G01S17/66 ,  G01S17/87 ,  G01S17/89 ,  G01S17/936 ,  G05D1/02 ,  G06T7/292 ,  H04N13/254

摘要： The present invention tracks or locates small moving objects, or generates a 3-D frame of data by using 3-D focal plane arrays with low laser energy and few mechanically moving parts. The invention may be used to determine the direction of a laser designating a target, for target tracking, used as a 3-D movie/video camera or used to provide data for autonomous navigation.

摘要翻译： 本发明通过使用具有低激光能量和少量机械移动部件的3-D焦平面阵列来跟踪或定位小的移动物体，或产生3-D数据帧。 本发明可以用于确定用于目标跟踪的目标的激光的方向，用于3D电影/摄像机，或者用于提供用于自主导航的数据。

公开(公告)号：US20120265380A1

公开(公告)日：2012-10-18

申请号：US13446899

申请日：2012-04-13

申请人： Yoshiaki Kuwata ,  Michael T. Wolf ,  Dimitri V. Zarzhitsky ,  Hrand Aghazarian ,  Terrance L. Huntsberger ,  Andrew B. Howard

发明人： Yoshiaki Kuwata ,  Michael T. Wolf ,  Dimitri V. Zarzhitsky ,  Hrand Aghazarian ,  Terrance L. Huntsberger ,  Andrew B. Howard

IPC分类号： G05D1/02

CPC分类号： G05D1/0206 ,  G05D1/00 ,  G05D1/02

摘要： Systems and methods for operating autonomous waterborne vessels in a safe manner. The systems include hardware for identifying the locations and motions of other vessels, as well as the locations of stationary objects that represent navigation hazards. By applying a computational method that uses a maritime navigation algorithm for avoiding hazards and obeying COLREGS using Velocity Obstacles to the data obtained, the autonomous vessel computes a safe and effective path to be followed in order to accomplish a desired navigational end result, while operating in a manner so as to avoid hazards and to maintain compliance with standard navigational procedures defined by international agreement. The systems and methods have been successfully demonstrated on water with radar and stereo cameras as the perception sensors, and integrated with a higher level planner for trailing a maneuvering target.

摘要翻译： 以安全的方式运行自主水上船只的系统和方法。 这些系统包括用于识别其他船只的位置和运动的硬件，以及代表导航危险的固定物体的位置。 通过应用计算方法，使用海事导航算法避免危险，并使用速度障碍物对所获得的数据进行服从，自主船舶计算一个安全有效的路径，以便在完成所需的导航最终结果时运行，同时在 以避免危害，并遵守国际协议规定的标准航行程序。 系统和方法已经在雷达和立体摄像机作为感知传感器的水面上成功演示，并与更高级别的计划员集成以拖尾操纵目标。

公开(公告)号：US08130367B2

公开(公告)日：2012-03-06

申请号：US12096311

申请日：2006-12-08

申请人： Roger Stettner ,  Howard W. Bailey

发明人： Roger Stettner ,  Howard W. Bailey

IPC分类号： G01C3/08

CPC分类号： G01S17/93 ,  G01C21/20 ,  G01S7/4813 ,  G01S7/4814 ,  G01S7/4863 ,  G01S17/66 ,  G01S17/87 ,  G01S17/89 ,  G01S17/936 ,  G05D1/02 ,  G06T7/292 ,  H04N13/254

摘要： By using 3-D focal plane arrays, the present invention tracks or locates small moving objects, or generates a 3-D frame of data with minimum laser energy and a minimum of mechanically moving parts. In another embodiment the invention is used to determine the direction of a laser designating a target with a minimum of moving parts. In another embodiment the invention is used as a 3-D movie/video camera. In yet another embodiment the device is used to provide data for autonomous navigation.

摘要翻译： 通过使用3-D焦平面阵列，本发明跟踪或定位小的移动物体，或者以最小的激光能量和最小的机械运动部分产生3-D数据帧。 在另一个实施例中，本发明用于确定用最小的运动部件指定目标的激光的方向。 在另一个实施例中，本发明用作3-D电影/摄像机。 在另一个实施例中，设备用于提供用于自主导航的数据。

公开(公告)号：US20110231057A1

公开(公告)日：2011-09-22

申请号：US12728046

申请日：2010-03-19

申请人： Javad Ashjaee ,  Alexander V. Pesterev ,  Lev B. Rapoport

发明人： Javad Ashjaee ,  Alexander V. Pesterev ,  Lev B. Rapoport

IPC分类号： G01C21/00 ,  B62D6/00

CPC分类号： B62D1/28 ,  A01B69/008 ,  B62D1/02 ,  G05D1/02

摘要： A computer-implemented method for generating at least one segment of an offset path for a vehicle based on at least one segment of a base path is provided. The at least one segment of the base path is represented by a stored set of data points. The computer-implemented method includes comparing the at least one segment of the base path to a curvature constraint to determine if the at least one segment of the base path violates the curvature constraint. The curvature constraint is based on a characteristic of the vehicle and a desired offset distance from the at least one segment of the base path. The characteristic reflects the vehicle's ability to traverse at least one segment of a path. The method further includes modifying the at least one segment of the base path to satisfy the curvature constraint, if the at least one segment of the base path violates the curvature constraint. At least one segment of an offset path for the vehicle to follow is generated based upon the desired offset distance from the modified at least one segment of the base path.

摘要翻译： 提供了一种用于基于基本路径的至少一个段来生成用于车辆的偏移路径的至少一个段的计算机实现的方法。 基本路径的至少一个段由一组存储的数据点表示。 计算机实现的方法包括将基本路径的至少一个段与曲率约束进行比较，以确定基本路径的至少一个段是否违反曲率约束。 曲率约束基于车辆的特性和距离基本路径的至少一个段的期望的偏移距离。 该特征反映了车辆穿过至少一段路径的能力。 如果基本路径的至少一个段违反曲率约束，该方法还包括修改基本路径的至少一个段以满足曲率约束。 基于与基本路径的修改的至少一个段的期望的偏移距离来生成用于车辆跟随的偏移路径的至少一个段。

公开(公告)号：US20090115994A1

公开(公告)日：2009-05-07

申请号：US12096311

申请日：2006-12-08

申请人： Roger Stettner ,  Howard W. Bailey

发明人： Roger Stettner ,  Howard W. Bailey

IPC分类号： G01C3/08

CPC分类号： G01S17/93 ,  G01C21/20 ,  G01S7/4813 ,  G01S7/4814 ,  G01S7/4863 ,  G01S17/66 ,  G01S17/87 ,  G01S17/89 ,  G01S17/936 ,  G05D1/02 ,  G06T7/292 ,  H04N13/254

摘要： By using 3-D focal plane arrays, the present invention tracks or locates small moving objects, or generates a 3-D frame of data with minimum laser energy and a minimum of mechanically moving parts. In another embodiment the invention is used to determine the direction of a laser designating a target with a minimum of moving parts. In another embodiment the invention is used as a 3-D movie/video camera. In yet another embodiment the device is used to provide data for autonomous navigation.

摘要翻译： 通过使用3-D焦平面阵列，本发明跟踪或定位小的移动物体，或者以最小的激光能量和最小的机械运动部分产生3-D数据帧。 在另一个实施例中，本发明用于确定用最小的运动部件指定目标的激光的方向。 在另一个实施例中，本发明用作3-D电影/摄像机。 在另一个实施例中，设备用于提供用于自主导航的数据。

公开(公告)号：US20080243321A1

公开(公告)日：2008-10-02

申请号：US11903208

申请日：2007-09-19

申请人： Michael W. Walser ,  Kennon H. Guglielmo ,  Kenneth R. Shouse ,  Joseph Grogan

发明人： Michael W. Walser ,  Kennon H. Guglielmo ,  Kenneth R. Shouse ,  Joseph Grogan

IPC分类号： G05D1/00 ,  G01C21/00

CPC分类号： G05D1/0206 ,  B63B49/00 ,  B63J99/00 ,  B63J2099/008 ,  G01C21/00 ,  G01C21/10 ,  G01C21/16 ,  G01C21/165 ,  G01C21/20 ,  G01C21/203 ,  G01C21/26 ,  G01C23/00 ,  G05D1/02 ,  G05D1/027 ,  Y02T70/742 ,  Y02T70/747

摘要： An automatic timing measurement system that provides a measure of time of passage of a watercraft through a prescribed course. Algorithms based on inertial or other estimates augmented by GPS speed/position measurements are used to track position of a watercraft. Said position estimates are used to allow the locations of prescribed courses to be mapped and memorized. Algorithms are then used to allow the apparatus to automatically detect passage of a watercraft through mapped courses for the purpose of measuring and reporting time of passage of said watercraft past key points in said course, and for modifying the behavior of the speed control portion of the apparatus if necessary at certain points in the mapped course. A measure of accuracy of driver steering can be provided along with the ability to automatically steer the watercraft through the course if “steer-by-wire” mechanism is available. GPS speed control is augmented with a secondary velocity measurement device that measures speed over water resulting in an optional user selectable real-time compensation for water current. Furthermore, GPS is used as the key input to produce boat speed-based pull-up profiles.

摘要翻译： 一种自动定时测量系统，提供通过规定路线的船只通过时间的量度。 基于通过GPS速度/位置测量增加的基于惯性或其他估计的算法用于跟踪船只的位置。 所述位置估计用于允许映射和记忆规定课程的位置。 然后使用算法来允许装置自动检测船舶通过映射过程的通过，以便在所述过程中测量和报告所述船只通过关键点的时间以及用于修改所述船舶的速度控制部分的行为 如有必要，在映射过程中的某些点设备。 可以提供驾驶员转向的精度的量度，以及如果可以使用“线控转向”机构，则能够通过该过程自动转向船只。 使用二次速度测量装置增加GPS速度控制，该二次速度测量装置测量水的速度，从而为用户可选择地实时补偿水流。 此外，GPS用作产生基于船速的上拉轮廓的关键输入。

公开(公告)号：US20050104745A1

公开(公告)日：2005-05-19

申请号：US10811075

申请日：2004-03-24

申请人： Aaron Bachelder ,  Conrad Foster

发明人： Aaron Bachelder ,  Conrad Foster

IPC分类号： G08G1/07 ,  G08G1/087 ,  G08G1/095

CPC分类号： G08G1/087 ,  F41G9/00 ,  G05D1/02 ,  G08G1/00 ,  G08G1/01 ,  G08G1/07 ,  G08G1/095

摘要： An emergency vehicle traffic light preemption system for preemption of traffic lights at an intersection to allow safe passage of emergency vehicles. The system includes a real-time status monitor of an intersection which is relayed to a control module for transmission to emergency vehicles as well as to a central dispatch office. The system also provides for audio warnings at an intersection to protect pedestrians who may not be in a position to see visual warnings or for various reasons cannot hear the approach of emergency vehicles. A transponder mounted on an emergency vehicle provides autonomous control so the vehicle operator can attend to getting to an emergency and not be concerned with the operation of the system. Activation of a priority-code (i.e. Code-3) situation provides communications with each intersection being approached by an emergency vehicle and indicates whether the intersection is preempted or if there is any conflict with other approaching emergency vehicles. On-board diagnostics handle various information including heading, speed, and acceleration sent to a control module which is transmitted to an intersection and which also simultaneously receives information regarding the status of an intersection. Real-time communications and operations software allow central and remote monitoring, logging, and command of intersections and vehicles.

摘要翻译： 一个应急车辆交通灯抢占系统，用于抢占十字路口的交通灯，以便安全通行紧急车辆。 该系统包括一个交叉口的实时状态监视器，该监视器被转发到控制模块以传送到紧急车辆以及中央调度局。 该系统还在十字路口提供音频警报，以保护可能无法看到视觉警告的行人，或因各种原因无法听到紧急车辆的进近。 安装在紧急车辆上的应答器提供自主控制，使得车辆操作者可以出席紧急事件并且不关心系统的操作。 激活优先权代码（即Code-3）情况提供与紧急车辆接近的每个交叉路口的通信，并指示交叉路口是抢占还是与其他接近的紧急车辆有任何冲突。 车载诊断程序处理各种信息，包括发送到控制模块的航向，速度和加速度，该控制模块传输到交叉路口，并同时接收有关交叉路口状态的信息。 实时通信和操作软件允许中央和远程监控，记录和指挥交叉路口和车辆。