公开(公告)号：US09090259B2

公开(公告)日：2015-07-28

申请号：US14302990

申请日：2014-06-12

Applicant: Google Inc.

Inventor： Dmitri Dolgov ,  Christopher Urmson

IPC: B60W30/00 ,  G05D3/00 ,  B62D6/00 ,  B60W30/12 ,  B62D15/02 ,  B60W30/095 ,  B60W10/20 ,  B60W30/18 ,  G05D1/02

CPC classification number: B60W30/12 ,  B60W10/20 ,  B60W30/095 ,  B60W30/18163 ,  B60W2550/302 ,  B60W2550/306 ,  B60W2750/308 ,  B62D15/026 ,  G01C21/3407 ,  G01C21/3658 ,  G05D1/0212 ,  G08G1/167

Abstract: 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.

Abstract translation: 描述了用于控制车辆横向车道定位的方法和系统。 计算装置可以被配置为识别道路上的车辆附近的物体。 计算装置可以被配置为基于车辆的特性和对象的各个特征来估计车辆将横向邻近对象的时间间隔。 基于车辆的特征，计算设备可以被配置为在时间间隔期间估计车辆在道路上的纵向位置。 基于对象的相应特征，计算设备可以被配置为在车辆的纵向位置的时间间隔期间确定车辆在车辆与物体之间的横向距离，并提供控制指令 车辆基于横向距离。

公开(公告)号：US20140297094A1

公开(公告)日：2014-10-02

申请号：US14302990

申请日：2014-06-12

Applicant: Google Inc.

Inventor： Dmitri Dolgov ,  Christopher Urmson

IPC: B60W30/12

CPC classification number: B60W30/12 ,  B60W10/20 ,  B60W30/095 ,  B60W30/18163 ,  B60W2550/302 ,  B60W2550/306 ,  B60W2750/308 ,  B62D15/026 ,  G01C21/3407 ,  G01C21/3658 ,  G05D1/0212 ,  G08G1/167

Abstract: 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.

Abstract translation: 描述了用于控制车辆横向车道定位的方法和系统。 计算装置可以被配置为识别道路上的车辆附近的物体。 计算装置可以被配置为基于车辆的特性和对象的各个特征来估计车辆将横向邻近对象的时间间隔。 基于车辆的特征，计算设备可以被配置为在时间间隔期间估计车辆在道路上的纵向位置。 基于对象的相应特征，计算设备可以被配置为在车辆的纵向位置的时间间隔期间确定车辆在车辆和物体之间保持的横向距离，并且提供控制指令 车辆基于横向距离。

公开(公告)号：US20140121880A1

公开(公告)日：2014-05-01

申请号：US13903693

申请日：2013-05-28

Applicant: Google Inc.

Inventor： Dmitri Dolgov ,  Christopher Urmson

IPC: G05D1/02

CPC classification number: B60W30/12 ,  B60W10/20 ,  B60W30/095 ,  B60W30/18163 ,  B60W2550/302 ,  B60W2550/306 ,  B60W2750/308 ,  B62D15/026 ,  G01C21/3407 ,  G01C21/3658 ,  G05D1/0212 ,  G08G1/167

Abstract: 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.

Abstract translation: 描述了用于控制车辆横向车道定位的方法和系统。 计算装置可以被配置为识别道路上的车辆附近的物体。 计算装置可以被配置为基于车辆的特性和对象的各个特征来估计车辆将横向邻近对象的时间间隔。 基于车辆的特征，计算设备可以被配置为在时间间隔期间估计车辆在道路上的纵向位置。 基于对象的相应特征，计算设备可以被配置为在车辆的纵向位置的时间间隔期间确定车辆在车辆和物体之间保持的横向距离，并且提供控制指令 车辆基于横向距离。

公开(公告)号：US09342074B2

公开(公告)日：2016-05-17

申请号：US13857240

申请日：2013-04-05

Applicant: Google Inc.

Inventor： Dmitri Dolgov ,  Andrew Schultz ,  Daniel Trawick Egnor ,  Christopher Urmson

IPC: G01C22/00 ,  G05D1/00 ,  B60W30/00

CPC classification number: G05D1/0061 ,  B60W30/00 ,  B60W50/10 ,  B60W2050/0096 ,  G05D2201/0213

Abstract: Methods and systems for adaptive methods for transitioning control to the driver are described. A computing device controlling a vehicle autonomously may be configured to receive a request for a transition of the vehicle from autonomous mode to manual mode through an indication by the driver. The computing device may determine the state of the vehicle based on parameters related to the autonomous operation of the vehicle. Based on the state of the vehicle and the indication, the computing device may determine instructions corresponding to the transition of control, which may include a strategy for the transition and duration of time corresponding to the transition of control. The computing device may provide the instructions to perform the transition of control of the vehicle from autonomous mode to manual mode.

Abstract translation: 描述了用于将控制转换到驱动器的自适应方法的方法和系统。 可以自动地控制车辆的计算设备可以被配置为通过驾驶员的指示来接收从自主模式转换到手动模式的请求。 计算装置可以基于与车辆的自主操作相关的参数来确定车辆的状态。 基于车辆的状态和指示，计算设备可以确定对应于控制转换的指令，其可以包括用于转换的策略和对应于控制转换的时间持续时间。 计算设备可以提供执行从自主模式到手动模式的车辆控制转换的指令。

公开(公告)号：US20140358331A1

公开(公告)日：2014-12-04

申请号：US14467201

申请日：2014-08-25

Applicant: Google Inc.

Inventor： Luis Ricardo Prada Gomez ,  Nathaniel Fairfield ,  Andy Szybalski ,  Philip Nemec ,  Christopher Urmson

IPC: G05D1/00

CPC classification number: G05D1/0022 ,  B62D15/0285 ,  G05D1/0061 ,  G05D2201/02

Abstract: Disclosed are methods and devices for transitioning a mixed-mode autonomous vehicle from a human driven mode to an autonomously driven mode. Transitioning may include stopping a vehicle on a predefined landing strip and detecting a reference indicator. Based on the reference indicator, the vehicle may be able to know its exact position. Additionally, the vehicle may use the reference indictor to obtain an autonomous vehicle instruction via a URL. After the vehicle knows its precise location and has an autonomous vehicle instruction, it can operate in autonomous mode.

公开(公告)号：US20140303827A1

公开(公告)日：2014-10-09

申请号：US13857240

申请日：2013-04-05

Applicant: Google Inc.

Inventor： Dmitri Dolgov ,  Andrew Schultz ,  Daniel Trawick Egnor ,  Christopher Urmson

IPC: G05D1/00

CPC classification number: G05D1/0061 ,  B60W30/00 ,  B60W50/10 ,  B60W2050/0096 ,  G05D2201/0213

Abstract: Methods and systems for adaptive methods for transitioning control to the driver are described. A computing device controlling a vehicle autonomously may be configured to receive a request for a transition of the vehicle from autonomous mode to manual mode through an indication by the driver. The computing device may determine the state of the vehicle based on parameters related to the autonomous operation of the vehicle. Based on the state of the vehicle and the indication, the computing device may determine instructions corresponding to the transition of control, which may include a strategy for the transition and duration of time corresponding to the transition of control. The computing device may provide the instructions to perform the transition of control of the vehicle from autonomous mode to manual mode.

Abstract translation: 描述了用于将控制转换到驱动器的自适应方法的方法和系统。 可以自动地控制车辆的计算设备可以被配置为通过驾驶员的指示来接收从自主模式转换到手动模式的请求。 计算装置可以基于与车辆的自主操作相关的参数来确定车辆的状态。 基于车辆的状态和指示，计算设备可以确定对应于控制转换的指令，其可以包括用于转换的策略和对应于控制转换的时间持续时间。 计算设备可以提供执行从自主模式到手动模式的车辆控制转换的指令。

公开(公告)号：US08781670B2

公开(公告)日：2014-07-15

申请号：US13903693

申请日：2013-05-28

Applicant: Google Inc.

Inventor： Dmitri Dolgov ,  Christopher Urmson

IPC: B60W30/00 ,  B62D6/00 ,  G05D3/00

CPC classification number: B60W30/12 ,  B60W10/20 ,  B60W30/095 ,  B60W30/18163 ,  B60W2550/302 ,  B60W2550/306 ,  B60W2750/308 ,  B62D15/026 ,  G01C21/3407 ,  G01C21/3658 ,  G05D1/0212 ,  G08G1/167

Abstract: 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.

Abstract translation: 描述了用于控制车辆横向车道定位的方法和系统。 计算装置可以被配置为识别道路上的车辆附近的物体。 计算装置可以被配置为基于车辆的特性和对象的各个特征来估计车辆将横向邻近对象的时间间隔。 基于车辆的特征，计算设备可以被配置为在时间间隔期间估计车辆在道路上的纵向位置。 基于对象的相应特征，计算设备可以被配置为在车辆的纵向位置的时间间隔期间确定车辆在车辆与物体之间的横向距离，并提供控制指令 车辆基于横向距离。

公开(公告)号：US09383749B2

公开(公告)日：2016-07-05

申请号：US14467201

申请日：2014-08-25

Applicant: Google Inc.

Inventor： Luis Ricardo Prada Gomez ,  Nathaniel Fairfield ,  Andy Szybalski ,  Philip Nemec ,  Christopher Urmson

IPC: G05D1/00 ,  B62D15/02

CPC classification number: G05D1/0022 ,  B62D15/0285 ,  G05D1/0061 ,  G05D2201/02

Abstract: Disclosed are methods and devices for transitioning a mixed-mode autonomous vehicle from a human driven mode to an autonomously driven mode. Transitioning may include stopping a vehicle on a predefined landing strip and detecting a reference indicator. Based on the reference indicator, the vehicle may be able to know its exact position. Additionally, the vehicle may use the reference indictor to obtain an autonomous vehicle instruction via a URL. After the vehicle knows its precise location and has an autonomous vehicle instruction, it can operate in autonomous mode.

Abstract translation: 公开了用于将混合模式自主车辆从人类驾驶模式转换到自主驾驶模式的方法和装置。 过渡可能包括在预定义的着陆带上停止车辆并检测参考指示符。 基于参考指示器，车辆可能能够知道其确切的位置。 此外，车辆可以使用参考指示器通过URL获得自主车辆指令。 在车辆知道其精确位置并具有自主车辆指令之后，它可以在自主模式下操作。

公开(公告)号：US08849493B2

公开(公告)日：2014-09-30

申请号：US13660071

申请日：2012-10-25

Applicant: Google Inc.

Inventor： Luis Ricardo Prada Gomez ,  Nathaniel Fairfield ,  Andy Szybalski ,  Philip Nemec ,  Christopher Urmson

IPC: G01C22/00

CPC classification number: G05D1/0022 ,  B62D15/0285 ,  G05D1/0061 ,  G05D2201/02

Abstract: Disclosed are methods and devices for transitioning a mixed-mode autonomous vehicle from a human driven mode to an autonomously driven mode. Transitioning may include stopping a vehicle on a predefined landing strip and detecting a reference indicator. Based on the reference indicator, the vehicle may be able to know its exact position. Additionally, the vehicle may use the reference indictor to obtain an autonomous vehicle instruction via a URL. After the vehicle knows its precise location and has an autonomous vehicle instruction, it can operate in autonomous mode.

Abstract translation: 公开了用于将混合模式自主车辆从人类驾驶模式转换到自主驾驶模式的方法和装置。 过渡可能包括在预定义的着陆带上停止车辆并检测参考指示符。 基于参考指示器，车辆可能能够知道其确切的位置。 此外，车辆可以使用参考指示器通过URL获得自主车辆指令。 在车辆知道其精确位置并具有自主车辆指令之后，它可以在自主模式下操作。