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公开(公告)号：US20170092131A1
公开(公告)日：2017-03-30
申请号：US15377139
申请日：2016-12-13
Applicant: Google Inc.
Inventor： Nathaniel Fairfield , Joshua Seth Herbach , Andrew Hughes Chatham , Michael Steven Montemerlo
CPC classification number: G08G1/161 , B60W30/00 , B60W2050/008 , G05D1/0088 , G05D1/0287 , G08G1/0112 , G08G1/096725 , G08G1/096741 , G08G1/096775 , G08G1/22
Abstract: Example systems and methods allow for reporting and sharing of information reports relating to driving conditions within a fleet of autonomous vehicles. One example method includes receiving information reports relating to driving conditions from a plurality of autonomous vehicles within a fleet of autonomous vehicles. The method may also include receiving sensor data from a plurality of autonomous vehicles within the fleet of autonomous vehicles. The method may further include validating some of the information reports based at least in part on the sensor data. The method may additionally include combining validated information reports into a driving information map. The method may also include periodically filtering the driving information map to remove outdated information reports. The method may further include providing portions of the driving information map to autonomous vehicles within the fleet of autonomous vehicles.
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2.发明授权System and method for determining position and distance of objects using road fiducials 有权使用道路基准确定物体的位置和距离的系统和方法公开(公告)号：US09207679B1
公开(公告)日：2015-12-08
申请号：US14508269
申请日：2014-10-07
Applicant: Google Inc.
Inventor： Andrew Hughes Chatham
CPC classification number: G08G1/166 , B60W30/00 , B60W30/08 , G05D1/0088 , G05D1/0234 , G05D1/0246 , G05D2201/0213 , G06K9/00798 , G08G1/00 , G08G1/167
Abstract: Aspects of the invention relate generally to autonomous vehicles. The features described improve the safety, use, driver experience, and performance of these vehicles by using ground markers to determine the position of the surrounding objects. In particular, the autonomous vehicle is capable of detecting nearby objects, such as vehicles and pedestrians, and is able to determine the position of these objects based on whether they have passed over ground markers.
Abstract translation: 本发明的方面一般涉及自主车辆。 所描述的特征通过使用地面标记来确定周围物体的位置来改善这些车辆的安全性，使用性，驾驶者体验和性能。 特别地，自主车辆能够检测附近的物体，例如车辆和行人，并且能够基于它们是否已经通过地面标记来确定这些物体的位置。
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公开(公告)号：US09646497B1
公开(公告)日：2017-05-09
申请号：US14928444
申请日：2015-10-30
Applicant: Google Inc.
Inventor： Andrew Hughes Chatham
CPC classification number: G08G1/166 , B60W30/00 , B60W30/08 , G05D1/0088 , G05D1/0234 , G05D1/0246 , G05D2201/0213 , G06K9/00798 , G08G1/00 , G08G1/167
Abstract: Aspects of the invention relate generally to autonomous vehicles. The features described improve the safety, use, driver experience, and performance of these vehicles by using ground markers to determine the position of the surrounding objects. In particular, the autonomous vehicle is capable of detecting nearby objects, such as vehicles and pedestrians, and is able to determine the position of these objects based on whether they have passed over ground markers.
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公开(公告)号：US20160283804A1
公开(公告)日：2016-09-29
申请号：US15173347
申请日：2016-06-03
Applicant: Google Inc.
Inventor： Vadim Furman , Andrew Hughes Chatham , Abhijit Ogale , Dmitri Dolgov
CPC classification number: G06K9/00805 , B60R11/04 , B60R2011/0026 , B60R2011/004 , B60R2011/008 , G01C21/00 , G01C21/30 , G06K9/00791 , G06K9/6202 , G06T9/00 , H04N19/117 , H04N19/136 , H04N19/167 , H04N19/17 , H04N19/85
Abstract: A vehicle may receive one or more images of an environment of the vehicle. The vehicle may also receive a map of the environment. The vehicle may also match at least one feature in the one or more images with corresponding one or more features in the map. The vehicle may also identify a given area in the one or more images that corresponds to a a portion of the map that is within a threshold distance to the one or more features. The vehicle may also compress the one or more images to include a lower amount of details in areas of the one or more images other than the given area. The vehicle may also provide the compressed images to a remote system, and responsively receive operation instructions from the remote system.
Abstract translation: 车辆可以接收车辆的环境的一个或多个图像。 车辆还可以接收环境地图。 车辆还可以将一个或多个图像中的至少一个特征与图中的相应的一个或多个特征进行匹配。 车辆还可以识别与一个或多个特征的阈值距离内的对应于地图的一部分的一个或多个图像中的给定区域。 车辆还可以压缩一个或多个图像以在除了给定区域之外的一个或多个图像的区域中包括较少量的细节。 车辆还可以将压缩图像提供给远程系统，并且响应地接收来自远程系统的操作指令。
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5.发明授权System and method for determining position and distance of objects using road fiducials 有权使用道路基准确定物体的位置和距离的系统和方法公开(公告)号：US08880273B1
公开(公告)日：2014-11-04
申请号：US13742745
申请日：2013-01-16
Applicant: Google Inc.
Inventor： Andrew Hughes Chatham
CPC classification number: G08G1/166 , B60W30/00 , B60W30/08 , G05D1/0088 , G05D1/0234 , G05D1/0246 , G05D2201/0213 , G06K9/00798 , G08G1/00 , G08G1/167
Abstract: Aspects of the invention relate generally to autonomous vehicles. The features described improve the safety, use, driver experience, and performance of these vehicles by using ground markers to determine the position of the surrounding objects. In particular, the autonomous vehicle is capable of detecting nearby objects, such as vehicles and pedestrians, and is able to determine the position of these objects based on whether they have passed over ground markers.
Abstract translation: 本发明的方面一般涉及自主车辆。 所描述的特征通过使用地面标记来确定周围物体的位置来改善这些车辆的安全性，使用性，驾驶者体验和性能。 特别地，自主车辆能够检测附近的物体，例如车辆和行人，并且能够基于它们是否已经通过地面标记来确定这些物体的位置。
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Patent Agency Ranking
公开(公告)号：US09400183B1
公开(公告)日：2016-07-26
申请号：US14590278
申请日：2015-01-06
Applicant: Google Inc.
Inventor： Christopher Paul Urmson , Michael Steven Montemerlo , Andrew Hughes Chatham , Daniel Trawick Egnor
CPC classification number: G01C21/3407 , B60W30/12 , B60W30/18154 , B60W2550/141 , B60W2550/402 , G01C21/28 , G01C21/34 , G05D1/0088 , G05D1/0246 , G05D1/0255 , G05D1/0257 , G05D1/0274 , G05D1/0278
Abstract: An autonomous vehicle may access portions of a map to maneuver a roadway. The map may be split into one or more levels that represent different regions in space. For example, an overpass may be represented by one level while the road below the overpass may be on a separate level. A vehicle traveling on a particular level may use map data that is associated with that level. Furthermore, if the vehicle travels through a warp zone, it may transition from the current level to a destination level and thus begin to use map data associated with the destination level.
Abstract translation: 自主车辆可以访问地图的部分以操纵道路。 地图可以被分割成代表空间中不同区域的一个或多个级别。 例如，立交桥可以由一级表示，而立交桥下方的道路可以在一个单独的水平上。 在特定级别上行驶的车辆可以使用与该级别相关联的地图数据。 此外，如果车辆经过弯曲区域，则其可以从当前水平转换到目的地水平，并且因此开始使用与目的地水平相关联的地图数据。
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公开(公告)号：US09384402B1
公开(公告)日：2016-07-05
申请号：US14249611
申请日：2014-04-10
Applicant: Google Inc.
Inventor： Vadim Furman , Andrew Hughes Chatham , Abhijit Ogale , Dmitri Dolgov
CPC classification number: G06K9/00805 , B60R11/04 , B60R2011/0026 , B60R2011/004 , B60R2011/008 , G01C21/00 , G01C21/30 , G06K9/00791 , G06K9/6202 , G06T9/00 , H04N19/117 , H04N19/136 , H04N19/167 , H04N19/17 , H04N19/85
Abstract: A vehicle may receive one or more images of an environment of the vehicle. The vehicle may also receive a map of the environment. The vehicle may also match at least one feature in the one or more images with corresponding one or more features in the map. The vehicle may also identify a given area in the one or more images that corresponds to a portion of the map that is within a threshold distance to the one or more features. The vehicle may also compress the one or more images to include a lower amount of details in areas of the one or more images other than the given area. The vehicle may also provide the compressed images to a remote system, and responsively receive operation instructions from the remote system.
Abstract translation: 车辆可以接收车辆的环境的一个或多个图像。 车辆还可以接收环境地图。 车辆还可以将一个或多个图像中的至少一个特征与图中的相应的一个或多个特征进行匹配。 车辆还可以识别与一个或多个特征的阈值距离内的对应于地图的一部分的一个或多个图像中的给定区域。 车辆还可以压缩一个或多个图像以在除了给定区域之外的一个或多个图像的区域中包括较少量的细节。 车辆还可以将压缩图像提供给远程系统，并且响应地接收来自远程系统的操作指令。
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公开(公告)号：US09261379B1
公开(公告)日：2016-02-16
申请号：US14640734
申请日：2015-03-06
Applicant: Google Inc.
Inventor： Andrew Hughes Chatham , Christopher Paul Urmson
IPC: G08G1/0962 , G01C21/36
CPC classification number: G01C21/3658 , G01C21/32 , G01C21/3602 , G08G1/09626 , G09B29/007
Abstract: Aspects of the disclosure relate generally to generating roadgraphs for use by autonomous vehicles. A computer may receive input defining aspects of a roadway including an intersection with another roadway, one or more traffic control features, and one or more locations at which a vehicle is required to observe at least one traffic signal before entering the intersection. A user may identify the intersection, for example, by tracing a perimeter around the intersection. In response, for each particular location of the one or more locations, the computer may identifying a route through the intersection from the particular location and determine, based on the boundary of the intersection and the particular location, a set of the one or more traffic control features must be observed by the vehicle before entering the intersection. This information may then be used to generate a roadgraph.
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公开(公告)号：US09547989B2
公开(公告)日：2017-01-17
申请号：US14196961
申请日：2014-03-04
Applicant: Google Inc.
Inventor： Nathaniel Fairfield , Joshua Seth Herbach , Andrew Hughes Chatham , Michael Steven Montemerlo
CPC classification number: G08G1/161 , B60W30/00 , B60W2050/008 , G05D1/0088 , G05D1/0287 , G08G1/0112 , G08G1/096725 , G08G1/096741 , G08G1/096775 , G08G1/22
Abstract: Example systems and methods allow for reporting and sharing of information reports relating to driving conditions within a fleet of autonomous vehicles. One example method includes receiving information reports relating to driving conditions from a plurality of autonomous vehicles within a fleet of autonomous vehicles. The method may also include receiving sensor data from a plurality of autonomous vehicles within the fleet of autonomous vehicles. The method may further include validating some of the information reports based at least in part on the sensor data. The method may additionally include combining validated information reports into a driving information map. The method may also include periodically filtering the driving information map to remove outdated information reports. The method may further include providing portions of the driving information map to autonomous vehicles within the fleet of autonomous vehicles.
Abstract translation: 示例系统和方法允许报告和共享与自动车辆的车队内的驾驶状况有关的信息报告。 一个示例性方法包括从自动车辆的车队内的多个自主车辆接收与驾驶条件相关的信息报告。 该方法还可以包括从自主车辆的车队内的多个自主车辆接收传感器数据。 该方法还可以包括至少部分地基于传感器数据验证一些信息报告。 该方法还可以包括将经验证的信息报告合并到驾驶信息图中。 该方法还可以包括周期性地过滤驾驶信息图以消除过时的信息报告。 该方法还可以包括将驾驶信息的一部分映射到自主车辆的车队内的自主车辆。
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公开(公告)号：US20150254986A1
公开(公告)日：2015-09-10
申请号：US14196961
申请日：2014-03-04
Applicant: Google Inc.
Inventor： Nathaniel Fairfield , Joshua Seth Herbach , Andrew Hughes Chatham , Michael Steven Montemerlo
CPC classification number: G08G1/161 , B60W30/00 , B60W2050/008 , G05D1/0088 , G05D1/0287 , G08G1/0112 , G08G1/096725 , G08G1/096741 , G08G1/096775 , G08G1/22
Abstract: Example systems and methods allow for reporting and sharing of information reports relating to driving conditions within a fleet of autonomous vehicles. One example method includes receiving information reports relating to driving conditions from a plurality of autonomous vehicles within a fleet of autonomous vehicles. The method may also include receiving sensor data from a plurality of autonomous vehicles within the fleet of autonomous vehicles. The method may further include validating some of the information reports based at least in part on the sensor data. The method may additionally include combining validated information reports into a driving information map. The method may also include periodically filtering the driving information map to remove outdated information reports. The method may further include providing portions of the driving information map to autonomous vehicles within the fleet of autonomous vehicles.
Abstract translation: 示例系统和方法允许报告和共享与自动车辆的车队内的驾驶状况有关的信息报告。 一个示例性方法包括从自动车辆的车队内的多个自主车辆接收与驾驶条件相关的信息报告。 该方法还可以包括从自主车辆的车队内的多个自主车辆接收传感器数据。 该方法还可以包括至少部分地基于传感器数据验证一些信息报告。 该方法还可以包括将经验证的信息报告合并到驾驶信息图中。 该方法还可以包括周期性地过滤驾驶信息图以消除过时的信息报告。 该方法还可以包括将驾驶信息的一部分映射到自主车辆的车队内的自主车辆。
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