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    VEHICLE COMMUNICATION USING AUDIBLE SIGNALS
    2.
    发明申请
    VEHICLE COMMUNICATION USING AUDIBLE SIGNALS 审中-公开
    使用可信信号进行车辆通信

    公开(公告)号：US20150268665A1

    公开(公告)日：2015-09-24

    申请号：US14074356

    申请日：2013-11-07

    申请人： Christopher Ludwick ,  Clifford Ivar Nass ,  David I. Ferguson

    发明人： Christopher Ludwick ,  Clifford Ivar Nass ,  David I. Ferguson

    IPC分类号： G05D1/00

    CPC分类号： B60Q5/008

    摘要： The present disclosure relates to enabling an autonomous vehicle operating in a self-driving mode to communicate information about what the vehicle is about to do or is currently doing. For example, one or more processors may maneuver a vehicle in an autonomous or self-driving mode. While maneuvering the vehicle in the autonomous driving mode, a time when the vehicle will begin to accelerate may be determined. A first audible signal may be played through a speaker at a time t seconds before the time when the vehicle will begin to accelerate. While maneuvering the vehicle in the autonomous driving mode, a time when the vehicle will begin to decelerate may also be determined. A second audible signal, different from the first audible signal, may be played through the speaker at the time when the vehicle begins decelerating.

    摘要翻译： 本公开涉及使得能够以自行驾驶模式操作的自主车辆传达关于车辆将要做或正在做什么的信息。 例如，一个或多个处理器可以以自主或自行驾驶模式操纵车辆。 在以自主驾驶模式操纵车辆的同时，可以确定车辆开始加速的时间。 可以在车辆开始加速之前的t秒的时间通过扬声器播放第一声音信号。 在以自主驾驶模式操纵车辆的同时，也可以确定车辆开始减速的时间。 在车辆开始减速时，可以通过扬声器播放与第一可听信号不同的第二可听信号。

    Object detection based on known structures of an environment of an autonomous vehicle
    3.
    发明授权
    Object detection based on known structures of an environment of an autonomous vehicle 有权
    基于自主车辆的环境的已知结构的对象检测

    公开(公告)号：US08855849B1

    公开(公告)日：2014-10-07

    申请号：US13775554

    申请日：2013-02-25

    申请人： David I. Ferguson ,  Abhijit Ogale

    发明人： David I. Ferguson ,  Abhijit Ogale

    IPC分类号： G05D1/00

    CPC分类号： G05D1/00 ,  G05D1/0214 ,  G05D1/0246 ,  G05D2201/0213 ,  G06K9/00805

    摘要： An autonomous vehicle may be configured to detect objects based on known structures of an environment. The vehicle may be configured to obtain image data from a sensor and be configured to operate in an autonomous mode. The image data may include data indicative of a known structure in the environment. The vehicle may include a computer system. The computer system may determine, based on a first portion of the image data, information indicative of an appearance of the known structure. The computer system may determine, based on a second portion of the image data, information indicative of an appearance of an unknown object in the environment. The computer system may also compare the information indicative of the appearance of the known structure with the information indicative of the appearance of the unknown object and provide instructions to control the vehicle in the autonomous mode based on the comparison.

    摘要翻译： 自主车辆可以被配置为基于环境的已知结构来检测对象。 车辆可以被配置为从传感器获得图像数据并且被配置为以自主模式操作。 图像数据可以包括指示环境中的已知结构的数据。 车辆可以包括计算机系统。 计算机系统可以基于图像数据的第一部分来确定指示已知结构的外观的信息。 计算机系统可以基于图像数据的第二部分来确定指示环境中的未知对象的外观的信息。 计算机系统还可以将表示已知结构的外观的信息与指示未知对象的外观的信息进行比较，并且基于比较提供以自主模式控制车辆的指令。

    DETECTING LANE MARKINGS
    4.
    发明申请
    DETECTING LANE MARKINGS 审中-公开
    检测路标

    公开(公告)号：US20130253753A1

    公开(公告)日：2013-09-26

    申请号：US13427964

    申请日：2012-03-23

    申请人： Donald Jason Burnette ,  David I. Ferguson

    发明人： Donald Jason Burnette ,  David I. Ferguson

    IPC分类号： G05D1/00 ,  G06K9/00

    CPC分类号： G06K9/00798 ,  G06K9/2036

    摘要： Aspects of the disclosure relate generally to detecting lane markers. More specifically, laser scan data may be collected by moving a laser along a roadway. The laser scan data may include data points describing the intensity and location information of objects within range of the laser. Each beam of the laser may be associated with a respective subset of data points. For a single beam, the subset of data points may be further divided into sections. For each section, the average intensity and standard deviation may be used to determine a threshold intensity. A set of lane marker data points may be generated by comparing the intensity of each data point to the threshold intensity for the section in which the data point appears and based on the elevation of the data point. This set may be stored for later use or otherwise made available for further processing.

    摘要翻译： 本公开的方面通常涉及检测车道标记。 更具体地，可以通过沿着道路移动激光来收集激光扫描数据。 激光扫描数据可以包括描述激光器范围内的物体的强度和位置信息的数据点。 激光器的每个光束可以与数据点的相应子集相关联。 对于单个波束，数据点的子集可以进一步分为多个部分。 对于每个部分，可以使用平均强度和标准偏差来确定阈值强度。 可以通过将每个数据点的强度与出现数据点的部分的阈值强度相对应，并且基于数据点的高程来生成一组车道标记数据点。 该集合可以存储以供以后使用或以其他方式可用于进一步处理。

    Estimating road lane geometry using lane marker observations
    7.
    发明授权
    Estimating road lane geometry using lane marker observations 有权
    使用车道标记观察估计道路几何

    公开(公告)号：US08755967B1

    公开(公告)日：2014-06-17

    申请号：US13427959

    申请日：2012-03-23

    申请人： David I. Ferguson ,  Jiajun Zhu

    发明人： David I. Ferguson ,  Jiajun Zhu

    IPC分类号： G01C21/26 ,  G01S17/89

    CPC分类号： G05D1/00 ,  B60W10/20 ,  B60W2710/20 ,  G01S17/89 ,  G05D1/021

    摘要： Aspects of the disclosure relate generally to detecting the edges of lane lines. Specifically, a vehicle driving on a roadway may use a laser to collect data for the roadway. A computer may process the data received from the laser in order to extract the points which potentially reside on two lane lines defining a lane. The extracted points are used by the computer to determine a model of a left lane edge and a right lane edge for the lane. The model may be used to estimate a centerline between the two lane lines. All or some of the model and centerline estimates, may be used to maneuver a vehicle in real time and also to update or generate map information used to maneuver vehicles.

    摘要翻译： 本公开的方面通常涉及检测车道线的边缘。 特别地，在道路上行驶的车辆可以使用激光来收集道路的数据。 计算机可以处理从激光器接收的数据，以便提取可能驻留在限定车道的两条车道线上的点。 提取的点被计算机用于确定车道的左车道边缘和右车道边缘的模型。 该模型可用于估计两条车道线之间的中心线。 所有或一些模型和中心线估计可用于实时地操纵车辆，并且还可以更新或生成用于操纵车辆的地图信息。

    System and method for automatically detecting key behaviors by vehicles
    8.
    发明授权
    System and method for automatically detecting key behaviors by vehicles 有权
    自动检测车辆关键行为的系统和方法

    公开(公告)号：US08700251B1

    公开(公告)日：2014-04-15

    申请号：US13446518

    申请日：2012-04-13

    申请人： Jiajun Zhu ,  David I. Ferguson ,  Dmitri A. Dolgov

    发明人： Jiajun Zhu ,  David I. 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。

    Modifying behavior of autonomous vehicle based on predicted behavior of other vehicles
    10.
    发明授权
    Modifying behavior of autonomous vehicle based on predicted behavior of other vehicles 有权
    基于其他车辆的预测行为改变自主车辆的行为

    公开(公告)号：US08457827B1

    公开(公告)日：2013-06-04

    申请号：US13420820

    申请日：2012-03-15

    申请人： David I. Ferguson ,  Dmitri A. Dolgov

    发明人： David I. Ferguson ,  Dmitri A. Dolgov

    IPC分类号： G01C22/00 ,  G05D1/00

    CPC分类号： G08G1/166 ,  B60W30/095 ,  B60W30/12 ,  B60W30/16 ,  B60W30/18163 ,  B60W50/0097 ,  B60W2050/143 ,  B60W2520/10 ,  B60W2550/402 ,  B60W2750/40 ,  G05D1/00 ,  G05D1/0088 ,  G05D2201/0213 ,  Y02T10/84

    摘要： A vehicle configured to operate in an autonomous mode could determine a current state of the vehicle and the current state of the environment of the vehicle. The environment of the vehicle includes at least one other vehicle. A predicted behavior of the at least one other vehicle could be determined based on the current state of the vehicle and the current state of the environment of the vehicle. A confidence level could also be determined based on the predicted behavior, the current state of the vehicle, and the current state of the environment of the vehicle. In some embodiments, the confidence level may be related to the likelihood of the at least one other vehicle to perform the predicted behavior. The vehicle in the autonomous mode could be controlled based on the predicted behavior, the confidence level, and the current state of the vehicle and its environment.

    摘要翻译： 配置为以自主模式操作的车辆可以确定车辆的当前状态和车辆的当前状态。 车辆的环境包括至少一个其他车辆。 可以基于车辆的当前状态和车辆的环境的当前状态来确定至少一个其他车辆的预测行为。 还可以基于预测的行为，车辆的当前状态和车辆的当前状态来确定置信水平。 在一些实施例中，置信水平可以与至少一个其他车辆执行预测行为的可能性有关。 可以根据车辆的预测行为，置信水平和当前状态及其环境来控制自主模式下的车辆。