公开(公告)号：US09008890B1

公开(公告)日：2015-04-14

申请号：US13837573

申请日：2013-03-15

Applicant: Google Inc.

Inventor： Joshua Seth Herbach ,  Nathaniel Fairfield ,  Dmitri Dolgov ,  Peter Colijn ,  Andrew Chatham

IPC: G06F19/00 ,  G05D1/02 ,  G05D1/00

CPC classification number: G05D1/0212 ,  B60W30/00 ,  G01C21/34 ,  G05D1/0214 ,  G05D1/0231 ,  G05D1/0297 ,  G05D2201/0213 ,  G07C5/008

Abstract: An autonomous vehicle may include a stuck condition detection component and a communications component. The stuck-detection component may be configured to detect a condition in which the autonomous vehicle is impeded from navigating according to a first trajectory. The communications component may send an assistance signal to an assistance center and receive a response to the assistance signal. The assistance signal may include sensor information from the autonomous vehicle. The assistance center may include a communications component and a trajectory specification component. The communications component may receive the assistance signal and send a corresponding response. The trajectory specification component may specify a second trajectory for the autonomous vehicle and generate the corresponding response that includes a representation of the second trajectory. The second trajectory may be based on the first trajectory and may ignore an object that obstructs the first trajectory.

Abstract translation: 自主车辆可以包括卡住状态检测部件和通信部件。 卡住检测部件可以被配置为根据第一轨迹来检测自主车辆被阻止导航的状态。 通信部件可以向辅助中心发送辅助信号并且接收对辅助信号的响应。 辅助信号可以包括来自自主车辆的传感器信息。 辅助中心可以包括通信组件和轨迹规范组件。 通信部件可以接收辅助信号并发送相应的响应。 轨迹规范组件可以为自主车辆指定第二轨迹，并产生包括第二轨迹表示的对应响应。 第二轨迹可以基于第一轨迹，并且可以忽略妨碍第一轨迹的物体。