公开(公告)号：US09547307B1

公开(公告)日：2017-01-17

申请号：US14549977

申请日：2014-11-21

Applicant: Google Inc.

Inventor： Brian Douglas Cullinane ,  David Tse-Zhou Lu ,  Anne Kristiina Aula ,  Jennifer Arden ,  Nathaniel Fairfield ,  Joshua Seth Herbach ,  Calvin Karl Johnson ,  Renaud-Roland Hubert

IPC: G08G1/00 ,  G05D1/00 ,  G05D1/02 ,  G01C21/34 ,  G01C21/26 ,  G06Q50/30 ,  G06K9/00 ,  B62D15/02 ,  G08G1/14 ,  B60W30/06

CPC classification number: G05D1/0212 ,  B60R25/24 ,  B60W30/06 ,  B62D15/0285 ,  E05F15/70 ,  E05F15/76 ,  E05Y2800/426 ,  E05Y2900/531 ,  G01C21/20 ,  G01C21/26 ,  G01C21/3438 ,  G01C21/3667 ,  G05D1/0088 ,  G06K9/00812 ,  G06Q50/30 ,  G07C5/008 ,  G08G1/14

Abstract: Aspects of the present disclosure relate to a vehicle having one or more computing devices that may receive instructions to pick up a passenger at a pickup location and determine when the vehicle is within a first distance of the pickup location. When the vehicle is within the first distance, the computing devices may make a first attempt to find a spot to park the vehicle and wait for the passenger. When the vehicle is unable to find a spot to park the vehicle on the first attempt, the computing devices may maneuvering the vehicle in order to make a second attempt to find a spot to park the vehicle and wait for the passenger. When the vehicle is unable to find a spot to park the vehicle on the second attempt, the computing devices may stop the vehicle in a current lane to wait for the passenger.

Abstract translation: 本公开的方面涉及具有一个或多个计算设备的车辆，其可以接收在拾取位置处拾取乘客的指令，并且确定车辆何时位于拾取位置的第一距离内。 当车辆处于第一距离内时，计算设备可以首先尝试找到停放车辆的位置并等待乘客。 当车辆在第一次尝试时不能找到停放车辆的位置时，计算设备可以操纵车辆，以便第二次尝试找到停放车辆的位置并等待乘客。 当车辆在第二次尝试中不能找到停放车辆的位置时，计算设备可能会停在当前车道上等待乘客。

公开(公告)号：US09671784B1

公开(公告)日：2017-06-06

申请号：US15016539

申请日：2016-02-05

Applicant: Google Inc.

Inventor： Dmitri A. Dolgov ,  Philip Nemec ,  Anne Kristiina Aula

IPC: G06F19/00 ,  G05D1/02 ,  B60W30/16 ,  B62D15/02

CPC classification number: G05D1/021 ,  B60W30/16 ,  B60W2550/30 ,  B60W2550/308 ,  B60W2750/308 ,  B62D15/025 ,  B62D15/0255 ,  G05D1/00 ,  G05D1/0055 ,  G05D1/0287

Abstract: An autonomous vehicle detects a tailgating vehicle and uses various response mechanisms. A vehicle is identified as a tailgater based on whether its characteristics meet a variable threshold. When the autonomous vehicle is traveling at slower speeds, the threshold is defined in distance. When the autonomous vehicle is traveling at faster speeds, the threshold is defined in time. The autonomous vehicle responds to the tailgater by modifying its driving behavior. In one example, the autonomous vehicle adjusts a headway buffer (defined in time) from another vehicle in front of the autonomous vehicle. In this regard, if the tailgater is T seconds too close to the autonomous vehicle, the autonomous vehicle increases the headway buffer to the vehicle in front of it by some amount relative to T.

公开(公告)号：US09599477B1

公开(公告)日：2017-03-21

申请号：US14840515

申请日：2015-08-31

Applicant: Google Inc.

Inventor： Anne Kristiina Aula ,  Brian Douglas Cullinane ,  Daniel Jules Switkin ,  Jennifer Arden ,  Renaud-Roland Hubert

IPC: G01C21/00 ,  G01C21/26 ,  G01C21/36

CPC classification number: G05D1/0212 ,  B60R25/24 ,  B60W30/06 ,  B62D15/0285 ,  E05F15/70 ,  E05F15/76 ,  E05Y2800/426 ,  E05Y2900/531 ,  G01C21/20 ,  G01C21/26 ,  G01C21/3438 ,  G01C21/3667 ,  G05D1/0088 ,  G06K9/00812 ,  G06Q50/30 ,  G07C5/008 ,  G08G1/14

Abstract: Aspects of the present disclosure relate to a vehicle for maneuvering a passenger to a destination autonomously. The vehicle includes one or more computing devices that receive a request for a vehicle from a client computing device. The request identifies a first location. The one or more computing devices also determine whether the first location is within a threshold outside of a service area of the vehicle. When the location is within the threshold distance outside of the service area of the vehicle, the one or more computing devices identify a second location within the service area of the vehicle where the vehicle is able to stop for a passenger and based on the first location. The one or more computing devices then provide a map and a marker identifying the position of the second location on the map for display on the client computing device.

公开(公告)号：US20160349750A1

公开(公告)日：2016-12-01

申请号：US15176535

申请日：2016-06-08

Applicant: Google Inc.

Inventor： Philip Nemec ,  Anne Kristiina Aula ,  David Tse-Zhou Lu ,  Brian Douglas Cullinane ,  Calvin Karl Johnson ,  Albert Shane ,  Christopher Kennedy Ludwick ,  YooJung Ahn

IPC: G05D1/00 ,  G05D1/02

CPC classification number: G05D1/0055 ,  B60K28/02 ,  B60K35/00 ,  B60K37/06 ,  B60K2350/1008 ,  B60K2350/1024 ,  B60K2350/406 ,  B60W30/06 ,  B60W50/082 ,  B60W2540/04 ,  B60Y2302/05 ,  B62D15/0285 ,  G05D1/0016 ,  G05D1/0088 ,  G05D1/02 ,  G05D2201/0212 ,  G08B25/016

Abstract: Aspects of the present disclosure relate to a vehicle for maneuvering a passenger to a destination autonomously. The vehicle includes one or more computing devices and a set of user input buttons for communicating requests to stop the vehicle and to initiate a trip to the destination with the one or more computing devices. The set of user input buttons consisting essentially of a dual-purpose button and an emergency stopping button different from the dual-purpose button configured to stop the vehicle. The dual-purpose button has a first purpose for communicating a request to initiate the trip to the destination and a second purpose for communicating a request to pull the vehicle over and stop the vehicle. The vehicle has no steering wheel and no user inputs for the steering, acceleration, and deceleration of the vehicle other than the set of user input buttons.

公开(公告)号：US09290181B1

公开(公告)日：2016-03-22

申请号：US14703053

申请日：2015-05-04

Applicant: Google Inc.

Inventor： Dmitri A. Dolgov ,  Philip Nemec ,  Anne Kristiina Aula

IPC: G06F17/00 ,  B60W30/16

CPC classification number: G05D1/021 ,  B60W30/16 ,  B60W2550/30 ,  B60W2550/308 ,  B60W2750/308 ,  B62D15/025 ,  B62D15/0255 ,  G05D1/00 ,  G05D1/0055 ,  G05D1/0287

Abstract: An autonomous vehicle detects a tailgating vehicle and uses various response mechanisms. A vehicle is identified as a tailgater based on whether its characteristics meet a variable threshold. When the autonomous vehicle is traveling at slower speeds, the threshold is defined in distance. When the autonomous vehicle is traveling at faster speeds, the threshold is defined in time. The autonomous vehicle responds to the tailgater by modifying its driving behavior. In one example, the autonomous vehicle adjusts a headway buffer (defined in time) from another vehicle in front of the autonomous vehicle. In this regard, if the tailgater is T seconds too close to the autonomous vehicle, the autonomous vehicle increases the headway buffer to the vehicle in front of it by some amount relative to T.

Abstract translation: 自主车辆检测尾随车辆并使用各种响应机制。 基于其特征是否满足可变阈值，将车辆识别为尾舱。 当自主车辆以较慢的速度行驶时，阈值以距离定义。 当自主车辆以更快的速度行驶时，阈值被及时定义。 自主车辆通过修改其驾驶行为来响应尾巴。 在一个示例中，自主车辆在自主车辆前面从另一车辆调整前进缓冲器（在时间上限定）。 在这方面，如果尾座T秒太靠近自主车辆，则自主车辆将其前方的车辆的前进缓冲区增加相对于T的一定量。