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    Safely navigating on roads through maintaining safe distance from other vehicles
    1.
    发明授权
    Safely navigating on roads through maintaining safe distance from other vehicles 有权
    通过与其他车辆保持安全距离，安全地在道路上行驶

    公开(公告)号：US08504233B1

    公开(公告)日：2013-08-06

    申请号：US13457628

    申请日：2012-04-27

    申请人： David I. Ferguson ,  Dmitri Dolgov

    发明人： David I. Ferguson ,  Dmitri Dolgov

    IPC分类号： G01C22/00 ,  G06K9/00 ,  B60Q1/26

    CPC分类号： G05D1/0212 ,  B60W30/12 ,  B60W50/029 ,  B60W2550/14 ,  B60W2550/306 ,  B60W2550/308 ,  G05D1/0289 ,  G06K9/00798 ,  G06K9/00805

    摘要： Methods and devices for controlling a vehicle in an autonomous mode are disclosed. In one aspect, an example method is disclosed that includes obtaining, by a computer system, lane information that provides an estimated location of a lane of a road on which a vehicle is traveling, where the computer system is configured to control the vehicle in an autonomous mode. The example method further includes determining, by the computer system, that the lane information has become unavailable or unreliable and, in response to determining that the lane information has become unavailable or unreliable, the computer system using at least one sensor to monitor at least one neighboring vehicle and controlling the vehicle to maintain a distance between the vehicle and the at least one neighboring vehicle to be at least a predetermined minimum distance.

    摘要翻译： 公开了以自主模式控制车辆的方法和装置。 一方面，公开了一种示例性方法，其包括通过计算机系统获得提供车辆行驶的道路的车道的估计位置的车道信息，其中所述计算机系统被配置为以 自主模式。 该示例性方法还包括由计算机系统确定车道信息变得不可用或不可靠，并且响应于确定车道信息变得不可用或不可靠，计算机系统使用至少一个传感器来监视至少一个 并且控制车辆将车辆与至少一个相邻车辆之间的距离保持为至少预定的最小距离。

    Actively modifying a field of view of an autonomous vehicle in view of constraints
    2.
    发明授权
    Actively modifying a field of view of an autonomous vehicle in view of constraints 有权

    公开(公告)号：US09760092B2

    公开(公告)日：2017-09-12

    申请号：US13423143

    申请日：2012-03-16

    申请人： David I. Ferguson ,  Jiajun Zhu

    发明人： David I. Ferguson ,  Jiajun Zhu

    IPC分类号： G05D1/02 ,  G08G1/16 ,  B60R1/00

    CPC分类号： G05D1/0231 ,  B60R1/00 ,  B60R2300/301 ,  B60R2300/302 ,  B60R2300/307 ,  G05D1/0214 ,  G08G1/167

    摘要： Methods and devices for actively modifying a field of view of an autonomous vehicle in view of constraints are disclosed. In one embodiment, an example method is disclosed that includes causing a sensor in an autonomous vehicle to sense information about an environment in a first field of view, where a portion of the environment is obscured in the first field of view. The example method further includes determining a desired field of view in which the portion of the environment is not obscured and, based on the desired field of view and a set of constraints for the vehicle, determining a second field of view in which the portion of the environment is less obscured than in the first field of view. The example method further includes modifying a position of the vehicle, thereby causing the sensor to sense information in the second field of view.

    Using other vehicle trajectories to aid autonomous vehicles driving through partially known areas
    4.
    发明授权
    Using other vehicle trajectories to aid autonomous vehicles driving through partially known areas 有权
    使用其他车辆轨迹来帮助自主车辆通过部分已知的区域行驶

    公开(公告)号：US09355562B1

    公开(公告)日：2016-05-31

    申请号：US13585344

    申请日：2012-08-14

    申请人： David I. Ferguson

    发明人： David I. Ferguson

    IPC分类号： G08G1/16 ,  B60W30/12 ,  G08G1/0962

    CPC分类号： G08G1/167 ,  B62D15/025 ,  G05D1/0214 ,  G05D2201/0213 ,  G08G1/0112 ,  G08G1/0129 ,  G08G1/0145 ,  G08G1/096816 ,  G08G1/096844 ,  G08G1/20

    摘要： Methods and devices for controlling a vehicle in an autonomous mode are disclosed. In one aspect, an example method is disclosed that includes obtaining, by a computer system, lane information that provides an estimated location of a lane of a road on which a vehicle is travelling, where the computer system is configured to control the vehicle in an autonomous mode. The example method further includes determining, by the computer system, that the lane information has become unavailable or unreliable and, in response to determining that the lane information has become unavailable or unreliable, the computer system selecting a predetermined trajectory from a plurality of predetermined trajectories and controlling the vehicle to travel along the selected predetermined trajectory.

    摘要翻译： 公开了以自主模式控制车辆的方法和装置。 一方面，公开了一种示例性方法，其包括通过计算机系统获得提供车辆行驶的道路的车道的估计位置的车道信息，其中所述计算机系统被配置为以 自主模式。 该示例方法还包括由计算机系统确定车道信息变得不可用或不可靠，并且响应于确定车道信息变得不可用或不可靠，计算机系统从多个预定轨迹中选择预定轨迹 并且控制车辆沿所选择的预定轨迹行进。

    Robust method for detecting traffic signals and their associated states
    5.
    发明授权
    Robust method for detecting traffic signals and their associated states 有权
    用于检测交通信号及其相关状态的鲁棒方法

    公开(公告)号：US09145140B2

    公开(公告)日：2015-09-29

    申请号：US13430150

    申请日：2012-03-26

    申请人： David I. Ferguson ,  Nathaniel Fairfield ,  Anthony Levandowski

    发明人： David I. Ferguson ,  Nathaniel Fairfield ,  Anthony Levandowski

    IPC分类号： G05D1/00 ,  B60W30/18 ,  G06K9/00 ,  G05D1/02

    CPC分类号： B60W30/18154 ,  B60W2550/22 ,  B60W2550/402 ,  G05D1/0088 ,  G05D1/0231 ,  G06K9/00791 ,  G06K9/00818 ,  G06K9/00825

    摘要： Methods and devices for detecting traffic signals and their associated states are disclosed. In one embodiment, an example method includes a scanning a target area using one or more sensors of a vehicle to obtain target area information. The vehicle may be configured to operate in an autonomous mode, and the target area may be a type of area where traffic signals are typically located. The method may also include detecting a traffic signal in the target area information, determining a location of the traffic signal, and determining a state of the traffic signal. Also, a confidence in the traffic signal may be determined. For example, the location of the traffic signal may be compared to known locations of traffic signals. Based on the state of the traffic signal and the confidence in the traffic signal, the vehicle may be controlled in the autonomous mode.

    摘要翻译： 公开了用于检测交通信号及其相关状态的方法和设备。 在一个实施例中，示例性方法包括使用车辆的一个或多个传感器来扫描目标区域以获得目标区域信息。 车辆可以被配置为以自主模式操作，并且目标区域可以是交通信号通常位于的区域的类型。 该方法还可以包括检测目标区域信息中的业务信号，确定业务信号的位置，以及确定业务信号的状态。 此外，可以确定交通信号的置信度。 例如，可以将交通信号的位置与交通信号的已知位置进行比较。 基于交通信号灯的状态和交通信号的置信度，车辆可以被控制在自主模式中。

    System to automatically measure perception sensor latency in an autonomous vehicle
    6.
    发明授权
    System to automatically measure perception sensor latency in an autonomous vehicle 有权
    自动测量自主车辆感知传感器延迟的系统

    公开(公告)号：US08838322B1

    公开(公告)日：2014-09-16

    申请号：US13585486

    申请日：2012-08-14

    申请人： Jiajun Zhu ,  David I. Ferguson

    发明人： Jiajun Zhu ,  David I. Ferguson

    IPC分类号： G01C22/00

    CPC分类号： G01C22/00 ,  B60W30/00 ,  G01S7/4004 ,  G01S7/497 ,  G01S13/86 ,  G01S13/931 ,  G01S17/023 ,  G01S17/936 ,  G05D1/024 ,  G05D1/0248 ,  G05D1/0257 ,  G05D2201/0213

    摘要： A vehicle may operate in an autonomous mode in an environment during a test period. The vehicle may include at least one sensor coupled to the vehicle, configured to acquire sensor data during the test period. The sensor data may include data representative of a target object in the environment. The vehicle may operate the sensor to obtain the sensor data. The vehicle may define a movement of the vehicle, determine a predicted movement of the target object in the sensor data based on the defined movement, initiate the defined movement of the vehicle at an initiation time during the test period, complete the defined movement of the vehicle at a completion time during the test period, analyze the sensor data obtained during the test period, and determine a latency of the at least one sensor based on the analyzed data.

    摘要翻译： 在测试期间，车辆可以在环境中以自主模式操作。 车辆可以包括耦合到车辆的至少一个传感器，被配置为在测试期间获取传感器数据。 传感器数据可以包括表示环境中的目标对象的数据。 车辆可以操作传感器以获得传感器数据。 车辆可以定义车辆的运动，基于所确定的运动来确定传感器数据中的目标物体的预测运动，在测试期间的起始时间开始定义的车辆运动，完成定义的运动 在测试期间的完成时间，分析在测试期间获得的传感器数据，并且基于分析的数据确定至少一个传感器的等待时间。

    Use of uncertainty regarding observations of traffic intersections to modify behavior of a vehicle
    7.
    发明授权
    Use of uncertainty regarding observations of traffic intersections to modify behavior of a vehicle 有权
    使用交通十字路口观测的不确定性来修改车辆的行为

    公开(公告)号：US08761991B1

    公开(公告)日：2014-06-24

    申请号：US13441996

    申请日：2012-04-09

    申请人： David I. Ferguson ,  Nathaniel Fairfield

    发明人： David I. Ferguson ,  Nathaniel Fairfield

    IPC分类号： G01C22/00

    CPC分类号： G05D1/0088 ,  B60W30/18154 ,  B60W2550/22 ,  G08G1/09623 ,  G08G1/096725 ,  G08G1/096758 ,  G08G1/096783

    摘要： Methods and devices for using uncertainty regarding observations of traffic intersections to modify behavior of a vehicle are disclosed. In one embodiment, an example method includes determining a state of a traffic intersection using information from one or more sensors of a vehicle. The vehicle may be configured to operate in an autonomous mode. The method may also include determining an uncertainty associated with the determined state of the traffic intersection. The method may further include controlling the vehicle in the autonomous mode based on the determined state of the traffic intersection and the determined uncertainty.

    摘要翻译： 公开了用于对交通交叉点观测的不确定性以修改车辆行为的方法和装置。 在一个实施例中，示例性方法包括使用来自车辆的一个或多个传感器的信息确定交通路口的状态。 车辆可以被配置为以自主模式操作。 该方法还可以包括确定与确定的交通路口的状态相关联的不确定性。 该方法还可以包括基于确定的交通路口的状态和所确定的不确定性来控制在自主模式中的车辆。

    Controlling a vehicle having inadequate map data
    8.
    发明授权
    Controlling a vehicle having inadequate map data 有权
    控制地图数据不足的车辆

    公开(公告)号：US08521352B1

    公开(公告)日：2013-08-27

    申请号：US13465348

    申请日：2012-05-07

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

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

    IPC分类号： G01C22/00

    CPC分类号： G05D1/0212 ,  B62D15/0285 ,  G05D1/0274 ,  G05D2201/0213

    摘要： A vehicle can be controlled in a first autonomous mode of operation by at least navigating the vehicle based on map data. Sensor data can be obtained using one or more sensors of the vehicle. The sensor data can be indicative of an environment of the vehicle. An inadequacy in the map data can be detected by at least comparing the map data to the sensor data. In response to detecting the inadequacy in the map data, the vehicle can be controlled in a second autonomous mode of operation and a user can be prompted to switch to a manual mode of operation. The vehicle can be controlled in the second autonomous mode of operation by at least obtaining additional sensor data using the one or more sensors of the vehicle and navigating the vehicle based on the additional sensor data.

    摘要翻译： 通过至少基于地图数据导航车辆，可以在第一自主操作模式下控制车辆。 可以使用车辆的一个或多个传感器来获得传感器数据。 传感器数据可以指示车辆的环境。 可以通过至少将地图数据与传感器数据进行比较来检测地图数据的不足。 响应于检测到地图数据的不足，可以将车辆控制在第二自主操作模式中，并且可以提示用户切换到手动操作模式。 可以通过至少使用车辆的一个或多个传感器获得额外的传感器数据并基于附加的传感器数据导航车辆来将车辆控制在第二自主操作模式中。