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    Building elevation maps from laser data
    8.
    发明授权
    Building elevation maps from laser data 有权
    从激光数据建立高程图

    公开(公告)号：US08825391B1

    公开(公告)日：2014-09-02

    申请号：US13198199

    申请日：2011-08-04

    申请人： Christopher Paul Urmson ,  Andrew Chatham ,  Hendrik Dahlkamp ,  Michael Steven Montemerlo ,  Jiajun Zhu

    发明人： Christopher Paul Urmson ,  Andrew Chatham ,  Hendrik Dahlkamp ,  Michael Steven Montemerlo ,  Jiajun Zhu

    IPC分类号： G01C21/00

    CPC分类号： G01S17/89 ,  G01C21/32 ,  G05D1/024 ,  G05D1/0274 ,  G05D2201/0213 ,  G09B29/12

    摘要： Aspects of the present disclosure relate generally to generating elevation maps. More specifically, data points may be collected by a laser moving along a roadway and used to generate an elevation map of the roadway. The collected data points may be projected onto a two dimensional or “2D” grid. The grid may include a plurality of cells, each cell of the grid representing a geolocated second of the roadway. The data points of each cell may be evaluated to identify an elevation for the particular cell. For example, the data points in a particular cell may be filtered in various ways including occlusion, interpolation from neighboring cells, etc. The minimum value of the remaining data points within each cell may then be used as the elevation for the particular cell, and the elevation of a plurality of cells may be used to generate an elevation map of the roadway.

    摘要翻译： 本公开的方面通常涉及产生高程图。 更具体地，可以通过沿着道路移动的激光来收集数据点，并且用于产生道路的高程图。 所收集的数据点可以投影到二维或“2D”网格上。 网格可以包括多个单元，网格的每个单元表示道路的地理位置的第二。 可以评估每个单元的数据点以识别特定单元的高程。 例如，特定小区中的数据点可以以各种方式被过滤，包括闭塞，来自相邻小区的内插等。然后可以将每个小区内剩余数据点的最小值用作特定小区的高程，以及 可以使用多个单元的高程来产生道路的高程图。

    Determining when to drive autonomously
    9.
    发明授权
    Determining when to drive autonomously 有权
    确定何时自主驾驶

    公开(公告)号：US08718861B1

    公开(公告)日：2014-05-06

    申请号：US13444215

    申请日：2012-04-11

    申请人： Michael Steven Montemerlo ,  Hyman Jack Murveit ,  Christopher Paul Urmson ,  Dmitri A. Dolgov ,  Philip Nemec

    发明人： Michael Steven Montemerlo ,  Hyman Jack Murveit ,  Christopher Paul Urmson ,  Dmitri A. Dolgov ,  Philip Nemec

    IPC分类号： G05D1/00

    CPC分类号： G05D1/0061 ,  B60W30/00 ,  G05D2201/0213

    摘要： Aspects of the disclosure relate generally to determining whether an autonomous vehicle should be driven in an autonomous or semiautonomous mode (where steering, acceleration, and braking are controlled by the vehicle's computer). For example, a computer may maneuver a vehicle in an autonomous or a semiautonomous mode. The computer may continuously receive data from one or more sensors. This data may be processed to identify objects and the characteristics of the objects. The detected objects and their respective characteristics may be compared to a traffic pattern model and detailed map information. If the characteristics of the objects deviate from the traffic pattern model or detailed map information by more than some acceptable deviation threshold value, the computer may generate an alert to inform the driver of the need to take control of the vehicle or the computer may maneuver the vehicle in order to avoid any problems.

    摘要翻译： 本公开的方面通常涉及确定自主车辆是否应以自主或半自主模式（其中转向，加速和制动由车辆的计算机控制）驱动。 例如，计算机可以以自主或半自主的方式操纵车辆。 计算机可以连续地从一个或多个传感器接收数据。 可以处理该数据以识别对象和对象的特征。 可以将检测到的对象及其各自的特征与交通模式模型和详细地图信息进行比较。 如果物体的特征偏离交通模式模型或详细地图信息超过一些可接受的偏差阈值，则计算机可以产生警报以通知驾驶员需要控制车辆，或者计算机可以操纵 车辆为了避免任何问题。

    Road-lane marker detection using light-based sensing technology
    10.
    发明授权
    Road-lane marker detection using light-based sensing technology 失效
    使用基于光的感测技术的道路标记检测

    公开(公告)号：US08194927B2

    公开(公告)日：2012-06-05

    申请号：US12175622

    申请日：2008-07-18

    申请人： Wende Zhang ,  Varsha Sadekar ,  Christopher Paul Urmson

    发明人： Wende Zhang ,  Varsha Sadekar ,  Christopher Paul Urmson

    IPC分类号： G06K9/00

    CPC分类号： G06K9/00798

    摘要： A method is provided for detecting road lane markers using a light-based sensing device. Reflectivity data is captured using the light-based sensing device. A light intensity signal is generated based on the captured reflectivity data. The light intensity signal is convolved with a differential filter for generating a filter response that identifies a candidate lane marker region and ground segment regions juxtaposed on each side of the candidate lane marker region. A weighted standard deviation of the data points within the identified candidate lane marker region and weighted standard deviation of the data points within the ground segment regions are calculated. An objective value is determined as a function of the respective weighted standard deviations. The objective value is compared to a respective threshold for determining whether the identified candidate lane marker region is a lane marker.

    摘要翻译： 提供了一种使用基于光的感测装置来检测道路标记的方法。 使用基于光的感测装置捕获反射率数据。 基于捕获的反射率数据生成光强度信号。 光强度信号与差分滤波器卷积，用于产生识别在候选车道标记区域的每一侧上并列的候选车道标记区域和地面段区域的过滤器响应。 计算所识别的候选车道标记区域内的数据点的加权标准偏差和地面段区域内的数据点的加权标准偏差。 作为各加权标准偏差的函数确定客观值。 将目标值与用于确定所识别的候选车道标记区域是否是车道标记的相应阈值进行比较。