公开(公告)号：US20150266472A1

公开(公告)日：2015-09-24

申请号：US14629344

申请日：2015-02-23

Applicant: Google Inc.

Inventor： David Ian Ferguson ,  Dirk Haehnel ,  Ian Mahon

IPC: B60W30/08 ,  G01S17/93

CPC classification number: B60W30/08 ,  B25J9/16 ,  B25J9/1697 ,  B25J19/023 ,  B60W30/09 ,  B60W30/0956 ,  B60W30/18163 ,  B60W40/06 ,  B60W2420/42 ,  G01C21/28 ,  G01C21/3461 ,  G01S7/4808 ,  G01S13/86 ,  G01S13/865 ,  G01S13/867 ,  G01S17/023 ,  G01S17/89 ,  G01S17/936 ,  G01S2013/9346 ,  G01S2013/935 ,  G01S2013/9371 ,  G01S2013/9375 ,  G01S2013/9382 ,  G01S2013/9389 ,  G01S2013/9396 ,  G05D1/0088 ,  G05D1/021 ,  G05D1/0246 ,  G05D1/0251 ,  G05D1/027 ,  G05D2201/0213 ,  G06K9/00664 ,  G06K9/00798 ,  G06K9/00805 ,  G06K9/00818 ,  G08G1/16 ,  G08G1/165 ,  G08G1/166 ,  G08G1/167 ,  Y10S901/47

Abstract: Methods and systems for construction zone object detection are described. A computing device may be configured to receive, from a LIDAR, a 3D point cloud of a road on which a vehicle is travelling. The 3D point cloud may comprise points corresponding to light reflected from objects on the road. Also, the computing device may be configured to determine sets of points in the 3D point cloud representing an area within a threshold distance from a surface of the road. Further, the computing device may be configured to identify construction zone objects in the sets of points. Further, the computing device may be configured to determine a likelihood of existence of a construction zone, based on the identification. Based on the likelihood, the computing device may be configured to modify a control strategy of the vehicle; and control the vehicle based on the modified control strategy.

Abstract translation: 描述了施工区物体检测的方法和系统。 计算设备可以被配置为从LIDAR接收车辆行驶的道路的3D点云。 3D点云可以包括对应于从道路上的物体​​反射的光的点。 此外，计算设备可以被配置为确定3D点云中的点，其表示距离道路表面的阈值距离内的区域。 此外，计算设备可以被配置为识别该组点中的构造区域对象。 此外，计算设备可以被配置为基于识别来确定建筑区域的存在的可能性。 基于可能性，计算设备可以被配置为修改车辆的控制策略; 并根据修改的控制策略控制车辆。

公开(公告)号：US20150266471A1

公开(公告)日：2015-09-24

申请号：US14718237

申请日：2015-05-21

Applicant: Google Inc.

Inventor： David Ian Ferguson ,  Dirk Haehnel

IPC: B60W30/00 ,  G01S17/02

CPC classification number: B60W30/00 ,  B25J9/1697 ,  B60W30/09 ,  B60W30/0956 ,  B60W30/12 ,  B60W30/16 ,  B60W40/06 ,  B60W50/0098 ,  B60W2050/0075 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2550/14 ,  B60W2550/20 ,  G01S7/4802 ,  G01S17/02 ,  G01S17/89 ,  G01S17/936 ,  G05D1/0088 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0251 ,  G05D1/027 ,  G05D2201/0213 ,  G06K9/00664 ,  G06K9/00798 ,  G08G1/09623 ,  G08G1/16 ,  G08G1/165 ,  G08G1/167

Abstract: Methods and systems for construction zone sign detection are described. A computing device may be configured to receive a 3D point cloud of a vicinity of a road on which a vehicle is travelling. The 3D point cloud may include points corresponding to light reflected from objects in the vicinity of the road. The computing device may be configured to determine a set of points representing an area at a given height from a surface of the road, and estimate a shape associated with the set of points. Further, the computing device may be configured to determine a likelihood that the set of points represents a construction zone sign, based on the estimated shape. Based on the likelihood, the computing device may be configured to modify a control strategy associated with a driving behavior of the vehicle; and control the vehicle based on the modified control strategy.

Abstract translation: 描述了施工区域标志检测的方法和系统。 计算设备可以被配置为接收车辆行驶的道路附近的3D点云。 3D点云可以包括对应于在道路附近的物体反射的光的点。 计算设备可以被配置为确定表示来自道路表面的给定高度处的区域的一组点，并且估计与该组点相关联的形状。 此外，计算设备可以被配置为基于估计的形状来确定点集合表示构造区域符号的可能性。 基于可能性，计算设备可以被配置为修改与车辆的驾驶行为相关联的控制策略; 并根据修改的控制策略控制车辆。

公开(公告)号：US09193355B2

公开(公告)日：2015-11-24

申请号：US14718237

申请日：2015-05-21

Applicant: Google Inc.

Inventor： David Ian Ferguson ,  Dirk Haehnel

IPC: G05D1/00 ,  G05D1/02 ,  G08G1/16 ,  B60W30/09 ,  G01S17/93 ,  G06K9/00 ,  B25J9/16 ,  B25J19/00 ,  B60W30/00 ,  G01S17/02 ,  B60W30/095

CPC classification number: B60W30/00 ,  B25J9/1697 ,  B60W30/09 ,  B60W30/0956 ,  B60W30/12 ,  B60W30/16 ,  B60W40/06 ,  B60W50/0098 ,  B60W2050/0075 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2550/14 ,  B60W2550/20 ,  G01S7/4802 ,  G01S17/02 ,  G01S17/89 ,  G01S17/936 ,  G05D1/0088 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0251 ,  G05D1/027 ,  G05D2201/0213 ,  G06K9/00664 ,  G06K9/00798 ,  G08G1/09623 ,  G08G1/16 ,  G08G1/165 ,  G08G1/167

Abstract: Methods and systems for construction zone sign detection are described. A computing device may be configured to receive a 3D point cloud of a vicinity of a road on which a vehicle is travelling. The 3D point cloud may include points corresponding to light reflected from objects in the vicinity of the road. The computing device may be configured to determine a set of points representing an area at a given height from a surface of the road, and estimate a shape associated with the set of points. Further, the computing device may be configured to determine a likelihood that the set of points represents a construction zone sign, based on the estimated shape. Based on the likelihood, the computing device may be configured to modify a control strategy associated with a driving behavior of the vehicle; and control the vehicle based on the modified control strategy.

公开(公告)号：US09256226B1

公开(公告)日：2016-02-09

申请号：US14252966

申请日：2014-04-15

Applicant: Google Inc.

Inventor： Jiajun Zhu ,  Dirk Haehnel

IPC: G01C22/00 ,  G05D1/00 ,  G05D1/02 ,  G06K9/00 ,  B60K31/00

CPC classification number: G05D1/0274 ,  B60K31/0008 ,  G01S17/42 ,  G01S17/89 ,  G01S17/936 ,  G05D1/0088 ,  G05D1/024 ,  G06K9/00791 ,  G06K9/00805 ,  G06T7/11 ,  G06T7/13 ,  G06T2207/10016 ,  G06T2207/10028 ,  G06T2207/30261

Abstract: Aspects of the disclosure relate generally to maneuvering autonomous vehicles. Specifically, the vehicle may use a laser to collect scan data for a section of roadway. The vehicle may access a detailed map including the section of the roadway. A disturbance indicative of an object and including a set of data points data may be identified from the scan data based on the detailed map. The detailed map may also be used to estimate a heading of the disturbance. A bounding box for the disturbance may be estimated using the set of data points as well as the estimated heading. The parameters of the bounding box may then be adjusted in order to increase or maximize the average density of data points of the disturbance along the edges of the bounding box visible to the laser. This adjusted bounding box may then used to maneuver the vehicle.

Abstract translation: 本公开的方面通常涉及操纵自主车辆。 具体地，车辆可以使用激光来收集道路的一部分的扫描数据。 车辆可以访问包括道路部分的详细地图。 可以根据详细地图从扫描数据识别表示对象并包括一组数据点数据的干扰。 详细的地图也可以用来估计干扰的方向。 可以使用该组数据点以及估计的标题来估计扰动的边界框。 然后可以调整边界框的参数，以便增加或最大化沿着激光可见的边界框的边缘的扰动的数据点的平均密度。 然后可以使用该调整的边界框来操纵车辆。

公开(公告)号：US09199641B2

公开(公告)日：2015-12-01

申请号：US14629344

申请日：2015-02-23

Applicant: Google Inc.

Inventor： David Ian Ferguson ,  Dirk Haehnel ,  Ian Mahon

IPC: B60W30/09 ,  G08G1/16 ,  G05D1/00 ,  G05D1/02 ,  G01S17/93 ,  G06K9/00 ,  B25J9/02 ,  B25J9/16 ,  B60W30/08 ,  B60W30/095 ,  B25J19/02

CPC classification number: B60W30/08 ,  B25J9/16 ,  B25J9/1697 ,  B25J19/023 ,  B60W30/09 ,  B60W30/0956 ,  B60W30/18163 ,  B60W40/06 ,  B60W2420/42 ,  G01C21/28 ,  G01C21/3461 ,  G01S7/4808 ,  G01S13/86 ,  G01S13/865 ,  G01S13/867 ,  G01S17/023 ,  G01S17/89 ,  G01S17/936 ,  G01S2013/9346 ,  G01S2013/935 ,  G01S2013/9371 ,  G01S2013/9375 ,  G01S2013/9382 ,  G01S2013/9389 ,  G01S2013/9396 ,  G05D1/0088 ,  G05D1/021 ,  G05D1/0246 ,  G05D1/0251 ,  G05D1/027 ,  G05D2201/0213 ,  G06K9/00664 ,  G06K9/00798 ,  G06K9/00805 ,  G06K9/00818 ,  G08G1/16 ,  G08G1/165 ,  G08G1/166 ,  G08G1/167 ,  Y10S901/47

Abstract: Methods and systems for construction zone object detection are described. A computing device may be configured to receive, from a LIDAR, a 3D point cloud of a road on which a vehicle is travelling. The 3D point cloud may comprise points corresponding to light reflected from objects on the road. Also, the computing device may be configured to determine sets of points in the 3D point cloud representing an area within a threshold distance from a surface of the road. Further, the computing device may be configured to identify construction zone objects in the sets of points. Further, the computing device may be configured to determine a likelihood of existence of a construction zone, based on the identification. Based on the likelihood, the computing device may be configured to modify a control strategy of the vehicle; and control the vehicle based on the modified control strategy.

Abstract translation: 描述了施工区物体检测的方法和系统。 计算设备可以被配置为从LIDAR接收车辆行驶的道路的3D点云。 3D点云可以包括对应于从道路上的物体​​反射的光的点。 此外，计算设备可以被配置为确定3D点云中的点，其表示距离道路表面的阈值距离内的区域。 此外，计算设备可以被配置为识别该组点中的构造区域对象。 此外，计算设备可以被配置为基于识别来确定建筑区域的存在的可能性。 基于可能性，计算设备可以被配置为修改车辆的控制策略; 并根据修改的控制策略控制车辆。