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公开(公告)号：US09123152B1
公开(公告)日：2015-09-01
申请号：US13465578
申请日：2012-05-07
CPC分类号： G01C21/34 , G01C21/26 , G01C21/30 , G01S19/13 , G06F17/30061 , G06T17/005 , H04L67/42
摘要： Aspects of the present disclosure relate generally to systems and methods for assessing validity of a map using image data collected by a laser sensor along a vehicle path. The method may compile image data received from the laser sensor. The map subject to assessment may define an area prohibiting entry by a vehicle.
摘要翻译： 本公开的方面总体上涉及使用由激光传感器沿着车辆路径收集的图像数据来评估地图的有效性的系统和方法。 该方法可以编译从激光传感器接收的图像数据。 经过评估的地图可以界定禁止车辆进入的区域。
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公开(公告)号：US08885151B1
公开(公告)日：2014-11-11
申请号：US13602665
申请日：2012-09-04
IPC分类号： G01S17/89
CPC分类号： G01S17/89 , G01S7/4808 , G01S17/42
摘要： Aspects of the disclosure relate generally to condensing sensor data for transmission and processing. For example, laser scan data including location, elevation, and intensity information may be collected along a roadway. This data may be sectioned into quanta representing some period of time during which the laser sweeps through a portion of its field of view. The data may also be filtered spatially to remove data outside of a threshold quality area. The data within the threshold quality area for a particular quantum may be projected onto a two-dimensional grid of cells. For each cell of the two-dimensional grid, a computer evaluates the cells to determine a set of characteristics for the cell. The sets of characteristics for all of the cells of the two-dimensional grid for the particular quantum are then sent to a central computing system for further processing.
摘要翻译： 本公开的方面通常涉及冷凝用于传输和处理的传感器数据。 例如，可以沿着道路收集包括位置，高程和强度信息的激光扫描数据。 该数据可以被分割成表示激光扫描其视场的一部分的一段时间的量子。 也可以在空间上对数据进行滤波以去除阈值质量区域之外的数据。 用于特定量子的阈值质量区域内的数据可以投影到二维网格格子上。 对于二维网格的每个单元，计算机评估单元以确定单元格的一组特性。 然后将用于特定量子的二维网格的所有单元的特征集合发送到中央计算系统用于进一步处理。
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3.发明授权公开(公告)号：US08527199B1
公开(公告)日：2013-09-03
申请号：US13474591
申请日：2012-05-17
IPC分类号： G01C21/00
CPC分类号： G01C21/32 , G08G1/0112 , G08G1/0129 , G08G1/0141
摘要： Disclosed herein are methods and apparatus for generating accurate maps for autonomous vehicles. A map is stored at a computing device associated with a vehicle. The vehicle can be operated in a partially-autonomous mode, where the computing device can generate driving directions for manual execution along a route based on the map. The computing device can be configured to receive and store information related to features and a quality of driving along the route. The map can be updated and quality control statistics can be determined based on the stored information. The updated map can be promoted based on the quality control statistics. In response to promoting the updated map, the computing device can store the promoted map and enable the vehicle to operate in the autonomous-operation mode using the promoted map.
摘要翻译： 这里公开了用于生成自主车辆的精确地图的方法和装置。 地图存储在与车辆相关联的计算设备处。 车辆可以以部分自主的方式操作，其中计算设备可以基于地图生成沿着路线的手动执行的驾驶方向。 计算设备可以被配置为接收和存储与特征相关的信息和沿着路线的驾驶质量。 可以更新地图，并且可以基于所存储的信息来确定质量控制统计。 可以根据质量控制统计数据推广更新的地图。 响应于促进更新的地图，计算设备可以存储升级的地图，并且使得车辆能够使用升级的地图在自主操作模式下操作。
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