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1.发明授权Method for correcting alignment of vehicle mounted laser scans with an elevation map for obstacle detection 有权用于校正车载激光扫描的对准的方法，用于障碍物检测的高程图公开(公告)号：US09052721B1
公开(公告)日：2015-06-09
申请号：US13597143
申请日：2012-08-28
CPC分类号： G05D1/0272 , B64D45/00 , G05D1/024 , G05D1/0242 , G05D2201/0213
摘要： Methods and systems for alignment of light detection and ranging (LIDAR) data are described. In some examples, a computing device of a vehicle may be configured to compare a three-dimensional (3D) point cloud to a reference 3D point cloud to detect obstacles on a road. However, in examples, the 3D point cloud and the reference 3D point cloud may be misaligned. To align the 3D point cloud with the reference 3D point cloud, the computing device may be configured to determine a planar feature in the 3D point cloud of the road and a corresponding planar feature in the reference 3D point cloud. Further, the computing device may be configured to determine, based on comparison of the planar feature to the corresponding planar feature, a transform. The computing device may be configured to apply the transform to align the 3D point cloud with the reference 3D point cloud.
摘要翻译： 描述了光检测和测距（LIDAR）数据对准的方法和系统。 在一些示例中，车辆的计算设备可以被配置为将三维（3D）点云与参考3D点云进行比较，以检测道路上的障碍物。 然而，在示例中，3D点云和参考3D点云可能不对齐。 为了使3D点云与参考3D点云对齐，计算设备可以被配置为确定道路的3D点云中的平面特征以及参考3D点云中的相应平面特征。 此外，计算设备可以被配置为基于平面特征与对应的平面特征的比较来确定变换。 计算设备可以被配置为应用变换以使3D点云与参考3D点云对齐。
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公开(公告)号：US08948954B1
公开(公告)日：2015-02-03
申请号：US13420652
申请日：2012-03-15
申请人： David Ian Ferguson , Dmitri Dolgov
发明人： David Ian Ferguson , Dmitri Dolgov
CPC分类号： B60W30/12 , B60W2550/402
摘要： Methods and systems for modifying vehicle behavior based on confidence in lane estimation are described. In an example, a computing device may be configured to receive lane information relating to locations of lane boundaries and may be configured to estimate a lane boundary on a road on which the vehicle is traveling, based on the lane information. The computing device also may be configured to determine a level of confidence for the estimated lane boundary, modify a driving behavior for the vehicle based on the level of confidence, and also may be configured to control the vehicle based on the modified driving behavior.
摘要翻译： 描述了基于车道估计的置信度来改变车辆行为的方法和系统。 在一个示例中，计算设备可以被配置为接收与车道边界的位置相关的车道信息，并且可以被配置为基于车道信息来估计在车辆行驶的道路上的车道边界。 计算设备还可以被配置为确定估计的车道边界的置信水平，基于置信度来修改车辆的驾驶行为，并且还可以被配置为基于修改的驾驶行为来控制车辆。
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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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4.发明申请System and method for subscription-based content distribution to vehicles via wireless communication 有权基于订阅的内容通过无线通信分发给车辆的系统和方法公开(公告)号：US20060259580A1
公开(公告)日：2006-11-16
申请号：US11430114
申请日：2006-05-08
申请人： Kenneth Laberteaux , Dmitri Dolgov
发明人： Kenneth Laberteaux , Dmitri Dolgov
IPC分类号： G06F15/16
CPC分类号： H04L67/06 , H04L67/04 , H04L67/12 , H04L67/306
摘要： Methods and systems are described for delivering content to a vehicle occupant through a wireless communications link between a wireless client associated with the vehicle and a wireless access point external to the vehicle. The wireless access point is in communication with a content supplier, and available content from the content supplier, as determined from a user subscription, is delivered to the user using the wireless communications link.
摘要翻译： 描述了用于通过与车辆相关联的无线客户端与车辆外部的无线接入点之间的无线通信链路将内容传送给车辆乘客的方法和系统。 无线接入点与内容供应商通信，并且从用户订阅确定的来自内容供应商的可用内容使用无线通信链路传送给用户。
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5.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
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。
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6.发明授权Methods and systems for smooth trajectory generation for a self-driving vehicle 有权用于自行车辆的平滑轨迹生成的方法和系统公开(公告)号：US09120485B1
公开(公告)日：2015-09-01
申请号：US13616813
申请日：2012-09-14
申请人： Dmitri Dolgov
发明人： Dmitri Dolgov
CPC分类号： B60W30/10 , B62D1/28 , B62D15/025 , G05D1/0217 , G05D2201/0213
摘要： A vehicle configured to operate in an autonomous mode is provided. The vehicle is configured to follow a baseline trajectory. Changes to the baseline trajectory are received by a computer system associated with the vehicle. The computer system creates a function representing the current trajectory of the vehicle, as well as one or more functions defining any desired trajectory criteria, and generates an optimization problem from the functions, which, when solved, provide a new trajectory for the vehicle to follow that moves efficiently and smoothly toward the changed baseline trajectory.
摘要翻译： 提供了一种被配置为以自主模式操作的车辆。 车辆被配置为跟随基线轨迹。 对基线轨迹的改变由与车辆相关联的计算机系统接收。 计算机系统创建表示车辆的当前轨迹的功能，以及定义任何期望的轨迹准则的一个或多个功能，并且从功能中产生优化问题，当这些功能被解决时，它为车辆跟随提供新的轨迹 它能够朝着改变的基线轨迹高效平稳地移动。
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