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公开(公告)号：US08473144B1
公开(公告)日：2013-06-25
申请号：US13664325
申请日：2012-10-30
申请人： Dmitri Dolgov , Christopher Urmson
发明人： Dmitri Dolgov , Christopher Urmson
CPC分类号： B60W30/12 , B60W10/20 , B60W30/095 , B60W30/18163 , B60W2550/302 , B60W2550/306 , B60W2750/308 , B62D15/026 , G01C21/3407 , G01C21/3658 , G05D1/0212 , G08G1/167
摘要： Methods and systems for controlling vehicle lateral lane positioning are described. A computing device may be configured to identify an object in a vicinity of a vehicle on a road. The computing device may be configured to estimate, based on characteristics of the vehicle and respective characteristics of the object, an interval of time during which the vehicle will be laterally adjacent to the object. Based on the characteristics of the vehicle, the computing device may be configured to estimate longitudinal positions of the vehicle on the road during the interval of time. Based on the respective characteristics of the object, the computing device may be configured to determine a lateral distance for the vehicle to maintain between the vehicle and the object during the interval of time at the longitudinal positions of the vehicle, and provide instructions to control the vehicle based on the lateral distance.
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公开(公告)号：US20140018992A1
公开(公告)日：2014-01-16
申请号：US13660071
申请日：2012-10-25
申请人： Luis Ricardo Prada Gomez , Nathaniel Fairfield , Andy Szybalski , Philip Nemec , Christopher Urmson
发明人： Luis Ricardo Prada Gomez , Nathaniel Fairfield , Andy Szybalski , Philip Nemec , Christopher Urmson
IPC分类号： G05D1/00
CPC分类号： G05D1/0022 , B62D15/0285 , G05D1/0061 , G05D2201/02
摘要： Disclosed are methods and devices for transitioning a mixed-mode autonomous vehicle from a human driven mode to an autonomously driven mode. Transitioning may include stopping a vehicle on a predefined landing strip and detecting a reference indicator. Based on the reference indicator, the vehicle may be able to know its exact position. Additionally, the vehicle may use the reference indictor to obtain an autonomous vehicle instruction via a URL. After the vehicle knows its precise location and has an autonomous vehicle instruction, it can operate in autonomous mode.
摘要翻译： 公开了用于将混合模式自主车辆从人类驾驶模式转换到自主驾驶模式的方法和装置。 过渡可能包括在预定义的着陆带上停止车辆并检测参考指示符。 基于参考指示器，车辆可能能够知道其确切的位置。 此外，车辆可以使用参考指示器通过URL获得自主车辆指令。 在车辆知道其精确位置并具有自主车辆指令之后，它可以在自主模式下操作。
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公开(公告)号：US09315178B1
公开(公告)日：2016-04-19
申请号：US13446025
申请日：2012-04-13
CPC分类号： B60T8/172 , B60T8/171 , B60T8/885 , B60T17/22 , B60T17/221 , B60T2270/40 , B60T2270/406 , B60W30/12 , B60W30/16 , B60W50/0097 , B60W50/0205 , B60W50/04 , B60W2050/021 , B60W2050/0292 , B60W2050/143 , B60W2420/42 , B60W2510/18 , B60W2520/10 , B60W2540/18 , B60W2550/142 , B60W2550/402 , B60W2750/40
摘要： In an example method, a vehicle configured to operate in an autonomous mode could predict an output of the vehicle based on an input provided to control the vehicle and a state of the vehicle. The method could include receiving an indication of an input from at least one input-indication sensor and an indication of an output from at least one output-indication sensor. A predicted output value could be calculated based on the indication of the input and a state of the vehicle. The predicted output value could be compared with the indication of the output. If the comparison is not within a threshold range, an alert indicator could be created. Upon creating the alert indicator, an alert action could be activated.
摘要翻译： 在示例性方法中，被配置为以自主模式操作的车辆可以基于为控制车辆和车辆的状态提供的输入来预测车辆的输出。 该方法可以包括从至少一个输入指示传感器接收输入的指示和来自至少一个输出指示传感器的输出的指示。 可以基于输入的指示和车辆的状态来计算预测的输出值。 可以将预测的输出值与输出的指示进行比较。 如果比较不在阈值范围内，则可以创建警报指示符。 创建警报指示器后，可以激活警报操作。
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公开(公告)号：US08321067B1
公开(公告)日：2012-11-27
申请号：US13293905
申请日：2011-11-10
申请人： Luis Ricardo Prada Gomez , Nathaniel Fairfield , Andy Szybalski , Philip Nemec , Christopher Urmson
发明人： Luis Ricardo Prada Gomez , Nathaniel Fairfield , Andy Szybalski , Philip Nemec , Christopher Urmson
IPC分类号： G05D1/00
CPC分类号： G05D1/0022 , B62D15/0285 , G05D1/0061 , G05D2201/02
摘要： Disclosed are methods and devices for transitioning a mixed-mode autonomous vehicle from a human driven mode to an autonomously driven mode. Transitioning may include stopping a vehicle on a predefined landing strip and detecting a reference indicator. Based on the reference indicator, the vehicle may be able to know its exact position. Additionally, the vehicle may use the reference indictor to obtain an autonomous vehicle instruction via a URL. After the vehicle knows its precise location and has an autonomous vehicle instruction, it can operate in autonomous mode.
摘要翻译： 公开了用于将混合模式自主车辆从人类驾驶模式转换到自主驾驶模式的方法和装置。 过渡可能包括在预定义的着陆带上停止车辆并检测参考指示符。 基于参考指示器，车辆可能能够知道其确切的位置。 此外，车辆可以使用参考指示器通过URL获得自主车辆指令。 在车辆知道其精确位置并具有自主车辆指令之后，它可以在自主模式下操作。
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公开(公告)号：US20110182475A1
公开(公告)日：2011-07-28
申请号：US12819575
申请日：2010-06-21
CPC分类号： G06K9/00825 , G05D1/0212 , G08G1/09623
摘要： A system and method provides maps identifying the 3D location of traffic lights. The position, location, and orientation of a traffic light may be automatically extrapolated from two or more images. The maps may then be used to assist robotic vehicles or human drivers to identify the location and status of a traffic signal.
摘要翻译： 系统和方法提供了识别交通灯3D位置的地图。 交通信号灯的位置，位置和方向可以从两个或更多个图像自动地外推。 然后可以使用地图来帮助机器人车辆或人类驾驶员识别交通信号的位置和状态。
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6.发明授权公开(公告)号：US08260482B1
公开(公告)日：2012-09-04
申请号：US12832447
申请日：2010-07-08
申请人： Andrew Szybalski , Luis Ricardo Prada Gomez , Philip Nemec , Christopher Urmson , Sebastian Thrun
发明人： Andrew Szybalski , Luis Ricardo Prada Gomez , Philip Nemec , Christopher Urmson , Sebastian Thrun
CPC分类号： G05D1/0061 , B60W10/04 , B60W10/18 , B60W10/20 , B60W10/30 , B60W50/10 , B62D1/286 , B62D15/025 , G01S19/10 , G05D2201/0213 , G06F3/04842 , G06F3/04847
摘要： A passenger in an automated vehicle may relinquish control of the vehicle to a control computer when the control computer has determined that it may maneuver the vehicle safely to a destination. The passenger may relinquish or regain control of the vehicle by applying different degrees of pressure, for example, on a steering wheel of the vehicle. The control computer may convey status information to a passenger in a variety of ways including by illuminating elements of the vehicle. The color and location of the illumination may indicate the status of the control computer, for example, whether the control computer has been armed, is ready to take control of the vehicle, or is currently controlling the vehicle.
摘要翻译： 当控制计算机已经确定可以将车辆安全地操纵到目的地时，自动车辆中的乘客可放弃对控制计算机的控制。 乘客可以通过施加不同程度的压力来放弃或重新获得对车辆的控制，例如在车辆的方向盘上。 控制计算机可以以包括车辆的照明元件在内的各种方式将状态信息传送给乘客。 照明的颜色和位置可以指示控制计算机的状态，例如，控制计算机是否已布防，准备好控制车辆，或正在控制车辆。
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公开(公告)号：US08559673B2
公开(公告)日：2013-10-15
申请号：US12819575
申请日：2010-06-21
CPC分类号： G06K9/00825 , G05D1/0212 , G08G1/09623
摘要： A system and method provides maps identifying the 3D location of traffic lights. The position, location, and orientation of a traffic light may be automatically extrapolated from two or more images. The maps may then be used to assist robotic vehicles or human drivers to identify the location and status of a traffic signal.
摘要翻译： 系统和方法提供了识别交通灯3D位置的地图。 交通信号灯的位置，位置和方向可以从两个或更多个图像自动地外推。 然后可以使用地图来帮助机器人车辆或人类驾驶员识别交通信号的位置和状态。
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公开(公告)号：US08346426B1
公开(公告)日：2013-01-01
申请号：US12769252
申请日：2010-04-28
申请人： Andrew Szybalski , Luis Ricardo Prada Gomez , Philip Nemec , Christopher Urmson , Sebastian Thrun
发明人： Andrew Szybalski , Luis Ricardo Prada Gomez , Philip Nemec , Christopher Urmson , Sebastian Thrun
CPC分类号： G06T11/20 , B60K35/00 , B60K2350/1076 , B60W30/12 , B60W30/16 , B60W50/14 , B60W2050/146 , B60W2550/14 , B60W2550/30 , B60W2550/402 , G01C21/367 , G01C21/3676 , G06T11/001 , G06T2207/30252
摘要： Autonomous vehicles use various computing systems to transport passengers from one location to another. A control computer sends messages to the various systems of the vehicle in order to maneuver the vehicle safely to the destination. The control computer may display information on an electronic display in order to allow the passenger to understand what actions the vehicle may be taking in the immediate future. Various icons and images may be used to provide this information to the passenger.
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公开(公告)号：US08078349B1
公开(公告)日：2011-12-13
申请号：US13105101
申请日：2011-05-11
申请人： Luis Ricardo Prada Gomez , Nathaniel Fairfield , Andy Szybalski , Philip Nemec , Christopher Urmson
发明人： Luis Ricardo Prada Gomez , Nathaniel Fairfield , Andy Szybalski , Philip Nemec , Christopher Urmson
CPC分类号： G05D1/0022 , B62D15/0285 , G05D1/0061 , G05D2201/02
摘要： Disclosed are methods and devices for transitioning a mixed-mode autonomous vehicle from a human driven mode to an autonomously driven mode. Transitioning may include stopping a vehicle on a predefined landing strip and detecting a reference indicator. Based on the reference indicator, the vehicle may be able to know its exact position. Additionally, the vehicle may use the reference indictor to obtain an autonomous vehicle instruction via a URL. After the vehicle knows its precise location and has an autonomous vehicle instruction, it can operate in autonomous mode.
摘要翻译： 公开了用于将混合模式自主车辆从人类驾驶模式转换到自主驾驶模式的方法和装置。 过渡可能包括在预定义的着陆带上停止车辆并检测参考指示符。 基于参考指示器，车辆可能能够知道其确切的位置。 此外，车辆可以使用参考指示器通过URL获得自主车辆指令。 在车辆知道其精确位置并具有自主车辆指令之后，它可以在自主模式下操作。
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