公开(公告)号：US20140324266A1

公开(公告)日：2014-10-30

申请号：US13873442

申请日：2013-04-30

Applicant: Google Inc.

Inventor： Jiajun Zhu ,  Dmitri Dolgov ,  Dave Ferguson

IPC: G01W1/00 ,  G05D1/00

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。

公开(公告)号：US08818609B1

公开(公告)日：2014-08-26

申请号：US13678240

申请日：2012-11-15

Applicant: Google Inc.

Inventor： Aleksey S. Boyko ,  Jiajun Zhu

IPC: G05D1/00 ,  G01S17/93 ,  G01S17/89

CPC classification number: B60W30/00 ,  G01S7/4802 ,  G01S17/00 ,  G01S17/42 ,  G01S17/89 ,  G01S17/936 ,  G05D1/024 ,  G05D2201/0213

Abstract: Disclosed herein are systems and methods for classifying regions of a scanning zone of a light detection and ranging (LIDAR) scan. One example includes a method for receiving information indicative of a light detection and ranging (LIDAR) scan of a vehicle. The method further involves generating a point map of the scanning zone. The method further involves generating a density profile of the point map that is indicative of density of one or more regions of the scanning zone characterized at one or more distances. The method further involves generating an elevation profile of the point map that is indicative of elevation of one or more reflected features in the scanning zone characterized at one or more distances. The method further involves classifying regions of the scanning zone based on the density profile and the elevation profile.

Abstract translation: 本文公开了用于对光检测和测距（LIDAR）扫描的扫描区域的区域进行分类的系统和方法。 一个示例包括用于接收指示车辆的光检测和测距（LIDAR）扫描的信息的方法。 该方法还涉及生成扫描区域的点图。 该方法还包括产生指示在一个或多个距离处表征的扫描区域的一个或多个区域的密度的点图的密度分布。 该方法还包括产生指示在一个或多个距离上表征的扫描区域中的一个或多个反射特征的高程的点图的仰角分布。 该方法还包括基于密度分布和仰角分布对扫描区域的区域进行分类。

公开(公告)号：US08676427B1

公开(公告)日：2014-03-18

申请号：US13649646

申请日：2012-10-11

Applicant: Google Inc.

Inventor： David I. Ferguson ,  Jiajun Zhu

IPC: G05D1/00

CPC classification number: G05D1/0255 ,  B60W30/00 ,  G05D2201/0213

Abstract: A method includes receiving, at a computing system, audio data from one or more microphones associated with a vehicle. In one example, the audio data originates from a source external to the vehicle and the vehicle is configured to operate in an autonomous mode. The method also includes processing the audio data to generate directional data related to a direction of the source of the audio data relative to the vehicle and processing the audio data to generate identification data related to an identity of the source of the audio data. Further, the method includes controlling the vehicle in the autonomous mode in response to the directional data and the identification data, using the computing system.

Abstract translation: 一种方法包括在计算系统处接收来自与车辆相关联的一个或多个麦克风的音频数据。 在一个示例中，音频数据来自车辆外部的源，并且车辆被配置为以自主模式操作。 该方法还包括处理音频数据以产生与音频数据源相对于车辆的方向相关的方向性数据，并处理音频数据以产生与音频数据的源的身份相关的识别数据。 此外，该方法包括使用计算系统，响应于方向数据和识别数据，以自主模式控制车辆。