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公开(公告)号：US09373045B1
公开(公告)日：2016-06-21
申请号：US15002775
申请日：2016-01-21
申请人： Google Inc.
CPC分类号： G06K9/00825 , G05D1/0088 , G06K9/00791 , G06K9/00805 , G06K9/00818 , G06K9/3241 , G06K9/46 , G06K9/6202 , G06K2209/23 , G06T7/11 , G06T7/62 , G06T7/90 , G06T2207/10024 , G06T2207/20021 , G06T2207/30252 , G06T2207/30261
摘要： Methods and systems are provided that may allow an autonomous vehicle to discern a school bus from image data. An example method may include receiving image data indicative of a vehicles operating in an environment. The image data may depict sizes of the vehicles. The method may also include, based on relative sizes of the vehicles, determining a vehicle that is larger in size as compared the other vehicles. The method may additionally include comparing a size of the determined vehicle to a size of a school bus and based on the size of vehicle being within a threshold size of the school bus, comparing a color of the vehicle to a color of the school bus. The method may further include based on the vehicle being substantially the same color as the school bus, determining that the vehicle is representative of the school bus.
摘要翻译： 提供了可以允许自主车辆从图像数据辨别校车的方法和系统。 示例性方法可以包括接收指示在环境中操作的车辆的图像数据。 图像数据可以描绘车辆的尺寸。 该方法还可以基于车辆的相对尺寸来确定与其他车辆相比尺寸较大的车辆。 该方法可以另外包括将所确定的车辆的大小与校车的尺寸进行比较，并且基于在校车的阈值尺寸内的车辆的尺寸，将车辆的颜色与校车的颜色进行比较。 该方法还可以包括基于车辆与校车基本相同的颜色，确定车辆是校车的代表。
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2.发明授权公开(公告)号：US09213338B1
公开(公告)日：2015-12-15
申请号：US14469290
申请日：2014-08-26
申请人： Google Inc.
CPC分类号： B60W30/18009 , B60W10/04 , B60W10/18 , B60W10/20 , B60W30/18163 , B60W2550/20 , B60W2710/18 , B60W2710/20 , B60W2720/10 , G01C21/3415 , G05D1/0088 , G05D1/0214 , G05D1/0289 , G06F17/00
摘要： A method is provided that includes receiving user input identifying a travel destination for a first vehicle, determining, by a processor, a first route for the first vehicle to follow, and configuring the first vehicle to follow the first route. The method further includes obtaining a model for a second vehicle that shares a road with the first vehicle and comparing model to a pre-determined template for a vehicle that is known to be a special purpose vehicle in order to determine whether the first template and the second template match. The method further includes determining, by the processor, a second route that leads to the travel destination, when a match is found to exist, and switching the first vehicle from following the first route to following the second route.
摘要翻译： 提供了一种方法，包括接收识别第一车辆的旅行目的地的用户输入，由处理器确定第一车辆跟随的第一路线，以及配置第一车辆跟随第一路线。 该方法还包括获得与第一车辆共享道路的第二车辆的模型，并且将已知为专用车辆的车辆的模型与预定模板进行比较，以确定第一模板和 第二个模板匹配。 所述方法还包括：当发现匹配存在时，由所述处理器确定通向所述旅行目的地的第二路线，以及将所述第一车辆从所述第一路线追随到所述第二路线之后。
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3.发明授权公开(公告)号：US09097804B1
公开(公告)日：2015-08-04
申请号：US14332498
申请日：2014-07-16
申请人： Google Inc.
IPC分类号： G01S17/93
CPC分类号： G01S17/936 , B60W30/00 , G01S13/86 , G01S13/865 , G01S13/931 , G01S17/023 , G01S2013/936
摘要： Methods and systems for object and ground segmentation from a sparse one-dimensional range data are described. A computing device may be configured to receive scan data representing points in an environment of a vehicle. The computing device may be configured to determine if a test point in the scan data is likely to be an obstacle or ground by comparing the point to other points in the scan data to determine if specific constraints are violated. Points that do not pass these tests are likely to be above the ground, and therefore likely belong to obstacles.
摘要翻译： 描述了从稀疏一维范围数据对象和地面分割的方法和系统。 计算设备可以被配置为接收表示车辆环境中的点的扫描数据。 计算设备可以被配置为通过将点与扫描数据中的其他点进行比较来确定扫描数据中的测试点是否可能是障碍物或地面，以确定是否违反特定的约束。 不通过这些测试的点可能在地面以上，因此可能属于障碍物。
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4.发明申请Modifying Behavior of Autonomous Vehicle Based on Predicted Behavior of Other Vehicles 有权基于其他车辆预测行为修改自主车辆行为公开(公告)号：US20140142799A1
公开(公告)日：2014-05-22
申请号：US14165740
申请日：2014-01-28
申请人： Google Inc.
IPC分类号： G08G1/16
CPC分类号： G08G1/166 , B60W30/095 , B60W30/12 , B60W30/16 , B60W30/18163 , B60W50/0097 , B60W2050/143 , B60W2520/10 , B60W2550/402 , B60W2750/40 , G05D1/00 , G05D1/0088 , G05D2201/0213 , Y02T10/84
摘要： A vehicle configured to operate in an autonomous mode could determine a current state of the vehicle and the current state of the environment of the vehicle. The environment of the vehicle includes at least one other vehicle. A predicted behavior of the at least one other vehicle could be determined based on the current state of the vehicle and the current state of the environment of the vehicle. A confidence level could also be determined based on the predicted behavior, the current state of the vehicle, and the current state of the environment of the vehicle. In some embodiments, the confidence level may be related to the likelihood of the at least one other vehicle to perform the predicted behavior. The vehicle in the autonomous mode could be controlled based on the predicted behavior, the confidence level, and the current state of the vehicle and its environment.
摘要翻译： 配置为以自主模式操作的车辆可以确定车辆的当前状态和车辆的当前状态。 车辆的环境包括至少一个其他车辆。 可以基于车辆的当前状态和车辆的环境的当前状态来确定至少一个其他车辆的预测行为。 还可以基于预测的行为，车辆的当前状态和车辆的当前状态来确定置信水平。 在一些实施例中，置信水平可以与至少一个其他车辆执行预测行为的可能性有关。 可以根据车辆的预测行为，置信水平和当前状态及其环境来控制自主模式下的车辆。
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公开(公告)号：US09558413B2
公开(公告)日：2017-01-31
申请号：US15158008
申请日：2016-05-18
申请人： Google Inc.
IPC分类号： G06K9/00 , G05D1/00 , G06T7/00 , G06T7/40 , G06T7/60 , G06K9/32 , G06K9/46 , G06K9/62 , B60Q1/26 , H04N5/225
CPC分类号： G06K9/00825 , G05D1/0088 , G06K9/00791 , G06K9/00805 , G06K9/00818 , G06K9/3241 , G06K9/46 , G06K9/6202 , G06K2209/23 , G06T7/11 , G06T7/62 , G06T7/90 , G06T2207/10024 , G06T2207/20021 , G06T2207/30252 , G06T2207/30261
摘要： Methods and systems are provided that may allow an autonomous vehicle to discern a school bus from image data. An example method may include receiving image data indicative of a vehicles operating in an environment. The image data may depict sizes of the vehicles. The method may also include, based on relative sizes of the vehicles, determining a vehicle that is larger in size as compared the other vehicles. The method may additionally include comparing a size of the determined vehicle to a size of a school bus and based on the size of vehicle being within a threshold size of the school bus, comparing a color of the vehicle to a color of the school bus. The method may further include based on the vehicle being substantially the same color as the school bus, determining that the vehicle is representative of the school bus.
摘要翻译： 提供了可以允许自主车辆从图像数据辨别校车的方法和系统。 示例性方法可以包括接收指示在环境中操作的车辆的图像数据。 图像数据可以描绘车辆的尺寸。 该方法还可以基于车辆的相对尺寸来确定与其他车辆相比尺寸较大的车辆。 该方法可以另外包括将所确定的车辆的大小与校车的尺寸进行比较，并且基于在校车的阈值尺寸内的车辆的尺寸，将车辆的颜色与校车的颜色进行比较。 该方法还可以包括基于车辆与校车基本相同的颜色，确定车辆是校车的代表。
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6.发明授权Approach for consolidating observed vehicle trajectories into a single representative trajectory 有权将观察到的车辆轨迹整合成单个代表性轨迹的方法公开(公告)号：US09459625B1
公开(公告)日：2016-10-04
申请号：US14449792
申请日：2014-08-01
申请人： Google Inc.
IPC分类号： G05D1/02
CPC分类号： G05D1/0212 , B60W40/04 , B62D15/025 , B62D15/0255 , G05D1/0088 , G05D1/0214 , G05D1/0223 , G05D1/0246 , G05D1/0287 , G08G1/096725
摘要： A method and apparatus is provided for controlling the operation of an autonomous vehicle. According to one aspect, the autonomous vehicle may track the trajectories of other vehicles on a road. Based on the other vehicle's trajectories, the autonomous vehicle may generate a pool of combined trajectories. Subsequently, the autonomous vehicle may select one of the combined trajectories as a representative trajectory. The representative trajectory may be used to change at least one of the speed or direction of the autonomous vehicle.
摘要翻译： 提供了一种用于控制自主车辆的操作的方法和装置。 根据一个方面，自主车辆可以跟踪道路上的其他车辆的轨迹。 基于其他车辆的轨迹，自主车辆可以产生组合轨迹池。 随后，自主车辆可以选择组合轨迹中的一个作为代表轨迹。 代表性轨迹可以用于改变自主车辆的速度或方向中的至少一个。
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公开(公告)号：US09330571B2
公开(公告)日：2016-05-03
申请号：US14165740
申请日：2014-01-28
申请人： Google Inc.
CPC分类号： G08G1/166 , B60W30/095 , B60W30/12 , B60W30/16 , B60W30/18163 , B60W50/0097 , B60W2050/143 , B60W2520/10 , B60W2550/402 , B60W2750/40 , G05D1/00 , G05D1/0088 , G05D2201/0213 , Y02T10/84
摘要： A vehicle configured to operate in an autonomous mode could determine a current state of the vehicle and the current state of the environment of the vehicle. The environment of the vehicle includes at least one other vehicle. A predicted behavior of the at least one other vehicle could be determined based on the current state of the vehicle and the current state of the environment of the vehicle. A confidence level could also be determined based on the predicted behavior, the current state of the vehicle, and the current state of the environment of the vehicle. In some embodiments, the confidence level may be related to the likelihood of the at least one other vehicle to perform the predicted behavior. The vehicle in the autonomous mode could be controlled based on the predicted behavior, the confidence level, and the current state of the vehicle and its environment.
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公开(公告)号：US08977007B1
公开(公告)日：2015-03-10
申请号：US13868353
申请日：2013-04-23
申请人： Google Inc.
CPC分类号： G06K9/00825
摘要： Methods and systems for detecting a vehicle signal through image differencing and filtering are described. A computing device may be configured to receive a sequence of images of an identified vehicle in a vicinity of a given vehicle. The computing device may be configured to determine, based on a comparison of a first image of a pair of images of the sequence of images to a second image of the pair of images, a portion of image data exhibiting a change in color and a change in brightness between the first image and the second image of the pair of images. The computing device may be configured to determine that the portion indicates a light signal for the identified vehicle; and provide instructions to control the given vehicle based on the light signal of the identified vehicle.
摘要翻译： 描述了通过图像差分和滤波检测车辆信号的方法和系统。 计算设备可以被配置为在给定车辆的附近接收识别的车辆的一系列图像。 计算设备可以被配置为基于图像序列的一对图像的第一图像与该对图像的第二图像的比较来确定表现出颜色变化和变化的图像数据的一部分 在第一图像和该对图像的第二图像之间的亮度。 计算设备可以被配置为确定该部分指示用于所识别的车辆的光信号; 并提供基于识别的车辆的光信号来控制给定车辆的指令。
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公开(公告)号：US08935034B1
公开(公告)日：2015-01-13
申请号：US14190621
申请日：2014-02-26
申请人： Google Inc.
IPC分类号： G05D1/02
CPC分类号： B60W30/00 , B60W30/12 , B60W30/16 , B60W2050/0095 , B60W2550/30 , B60W2550/402 , G01C21/34 , G05D1/02
摘要： Aspects of the disclosure relate generally to detecting discrete actions by traveling vehicles. The features described improve the safety, use, driver experience, and performance of autonomously controlled vehicles by performing a behavior analysis on mobile objects in the vicinity of an autonomous vehicle. Specifically, an autonomous vehicle is capable of detecting and tracking nearby vehicles and is able to determine when these nearby vehicles have performed actions of interest by comparing their tracked movements with map data.
摘要翻译： 本公开的方面通常涉及通过行驶车辆检测离散动作。 所描述的特征通过对自主车辆附近的移动物体进行行为分析来改善自主驾驶车辆的安全性，驾驶经验和性能。 具体来说，自主车辆能够检测和跟踪附近的车辆，并且能够通过将其跟踪的运动与地图数据进行比较来确定这些附近车辆何时已经执行感兴趣的动作。
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10.发明授权公开(公告)号：US09684836B1
公开(公告)日：2017-06-20
申请号：US14939232
申请日：2015-11-12
申请人： Google Inc.
CPC分类号： G06K9/00798 , B60W30/12 , G05D1/0088 , G05D1/0246 , G06K9/209 , G06K9/6202 , G06K9/6288 , G06T7/74 , G06T2207/30256
摘要： A vehicle is provided that may combine multiple estimates of an environment into a consolidated estimate. The vehicle may receive first data indicative of the region of interest in an environment from a sensor of the vehicle. The first data may include a first accuracy value and a first estimate of the region of interest. The vehicle may also receive second data indicative of the region of interest in the environment, and the second data may include a second accuracy value and a second estimate of the region of interest. Based on the first data and the second data, the vehicle may combine the first estimate of the region of interest and the second estimate of the region of interest.
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