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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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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。
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公开(公告)号：US20170176641A1
公开(公告)日：2017-06-22
申请号：US15449097
申请日：2017-03-03
Applicant: Google Inc.
Inventor： Jiajun Zhu , Dmitri Dolgov , Dave Ferguson
CPC classification number: G01W1/00 , G01N21/4738 , G01S17/023 , G01S17/87 , G01W1/14 , G05D1/0088 , G05D1/024 , G05D1/0246 , G05D1/0257 , G05D1/0276 , H04N7/183
Abstract: Example methods and systems for detecting weather conditions using vehicle onboard sensors are provided. An example method includes receiving laser data collected for an environment of a vehicle, and the laser data includes a plurality of laser data points. The method also includes associating, by a computing device, laser data points of the plurality of laser data points with one or more objects in the environment, and determining given laser data points of the plurality of laser data points that are unassociated with the one or more objects in the environment as being representative of an untracked object. The method also includes based on one or more untracked objects being determined, identifying by the computing device an indication of a weather condition of the environment.
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4.发明授权公开(公告)号：US09360556B2
公开(公告)日：2016-06-07
申请号：US14614853
申请日：2015-02-05
Applicant: Google Inc.
Inventor： Jiajun Zhu , Dmitri Dolgov , Dave Ferguson
CPC classification number: G01S17/95 , B60W30/00 , B60W50/14 , B60W2550/12 , G01S17/06 , G01W1/00 , G01W1/02
Abstract: Methods and systems for detecting weather conditions including fog using vehicle onboard sensors are provided. An example method includes receiving laser data collected from scans of an environment of a vehicle, and associating, by a computing device, laser data points of with one or more objects in the environment. The method also includes comparing laser data points that are unassociated with the one or more objects in the environment with stored laser data points representative of a pattern due to fog, and based on the comparison, identifying by the computing device an indication that a weather condition of the environment of the vehicle includes fog.
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5.发明授权公开(公告)号：US08989944B1
公开(公告)日：2015-03-24
申请号：US14090308
申请日：2013-11-26
Applicant: Google Inc.
Inventor： Pratik Agarwal , Jiajun Zhu , Dmitri Dolgov
CPC classification number: G08G1/166 , G01S13/589 , G01S13/723 , G01S13/86 , G01S13/867 , G01S13/87 , G01S13/931 , G01S15/025 , G01S15/588 , G01S17/58 , G01S17/936 , G01S2013/9342 , G01S2013/9346 , G01S2013/935 , G01S2013/9357 , G01S2013/9375 , G01S2013/9378 , G01S2013/9382 , G01S2013/9389 , G01S2013/9396 , G01S2015/938
Abstract: An example method may include receiving a first set of points based on detection of an environment of an autonomous vehicle during a first time period, selecting a plurality of points from the first set of points that form a first point cloud representing an object in the environment, receiving a second set of points based on detection of the environment during a second time period which is after the first period, selecting a plurality of points from the second set of points that form a second point cloud representing the object in the environment, determining a transformation between the selected points from the first set of points and the selected points from the second set of points, using the transformation to determine a velocity of the object, and providing instructions to control the autonomous vehicle based at least in part on the velocity of the object.
Abstract translation: 示例性方法可以包括基于在第一时间段期间对自主车辆的环境的检测来接收第一组点，从形成表示环境中的对象的第一点云的第一组点中选择多个点 基于在所述第一时段之后的第二时间段期间的所述环境的检测来接收第二组点，从形成在所述环境中的对象的第二点云的所述第二组点中选择多个点，确定 使用所述变换来确定所述对象的速度，并且提供至少部分地基于所述速度控制所述自主车辆的指令的来自所述第一组点的所选点与来自所述第二组点的所选点之间的变换 的对象。
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Patent Agency Ranking
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。
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7.发明申请Safely Navigating on Roads Through Maintaining Safe Distance from Other Vehicles 有权通过保持与其他车辆的安全距离，安全驾驶道路公开(公告)号：US20140018995A1
公开(公告)日：2014-01-16
申请号：US13944877
申请日：2013-07-18
Applicant: Google Inc.
Inventor： David I. Ferguson , Dmitri Dolgov
IPC: G05D1/02
CPC classification number: G05D1/0212 , B60W30/12 , B60W50/029 , B60W2550/14 , B60W2550/306 , B60W2550/308 , G05D1/0289 , G06K9/00798 , G06K9/00805
Abstract: Methods and devices for controlling a vehicle in an autonomous mode are disclosed. In one aspect, an example method is disclosed that includes obtaining lane information that provides an estimated location of a lane of a road on which a vehicle is traveling. The example method further includes determining that the lane information has become unavailable or unreliable and, in response, using a sensor to monitor a first distance and a second distance between the vehicle and a neighboring vehicle, determining first and second relative positions of the neighboring vehicle based on the first and second distances, respectively, and, based on the first and second relative positions, determining an estimated path of the neighboring vehicle. The example method further includes, based on the estimated path, determining an updated estimated location of the lane, and controlling the vehicle based on the updated estimated location of the lane.
Abstract translation: 公开了以自主模式控制车辆的方法和装置。 一方面，公开了一种示例性方法，其包括获取提供车辆行驶的道路的车道的估计位置的车道信息。 示例性方法还包括确定车道信息变得不可用或不可靠，并且作为响应，使用传感器监测车辆和相邻车辆之间的第一距离和第二距离，确定相邻车辆的第一和第二相对位置 分别基于第一和第二距离，并且基于第一和第二相对位置确定相邻车辆的估计路径。 该示例方法还包括：基于估计的路径，确定车道的更新的估计位置，以及基于车道的更新的估计位置来控制车辆。
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公开(公告)号：US09632210B2
公开(公告)日：2017-04-25
申请号：US13888634
申请日：2013-05-07
Applicant: Google Inc.
Inventor： Jiajun Zhu , Dmitri Dolgov , Dave Ferguson
CPC classification number: G01W1/00 , G01N21/4738 , G01S17/023 , G01S17/87 , G01W1/14 , G05D1/0088 , G05D1/024 , G05D1/0246 , G05D1/0257 , G05D1/0276 , H04N7/183
Abstract: Example methods and systems for detecting weather conditions using vehicle onboard sensors are provided. An example method includes receiving laser data collected for an environment of a vehicle, and the laser data includes a plurality of laser data points. The method also includes associating, by a computing device, laser data points of the plurality of laser data points with one or more objects in the environment, and determining given laser data points of the plurality of laser data points that are unassociated with the one or more objects in the environment as being representative of an untracked object. The method also includes based on one or more untracked objects being determined, identifying by the computing device an indication of a weather condition of the environment.
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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：US09381917B1
公开(公告)日：2016-07-05
申请号：US14827578
申请日：2015-08-17
Applicant: Google Inc.
Inventor： Dmitri Dolgov , Dave Ferguson
CPC classification number: B60W30/16 , B60W30/143 , B60W30/17 , B60W2420/42 , B60W2550/22 , B60W2550/30 , B60W2550/302 , B60W2550/308 , B60W2750/308 , G01S13/865 , G01S13/867 , G01S13/931 , G01S17/89 , G01S17/936 , G01S2013/9325 , G05D1/0088 , G08G1/167 , G08G1/22
Abstract: Methods and systems for predictive reasoning for controlling speed of a vehicle are described. A computing device may be configured to identify a first and second vehicle travelling ahead of an autonomous vehicle and in a same lane as the autonomous vehicle. The computing device may also be configured to determine a first buffer distance behind the first vehicle at which the autonomous vehicle will substantially reach a speed of the first vehicle and a second buffer distance behind the second vehicle at which the first vehicle will substantially reach a speed of the second vehicle. The computing device may further be configured to determine a distance at which to adjust a speed of the autonomous vehicle based on the first and second buffer distances and the speed of the autonomous vehicle, and then provide instructions to adjust the speed of the autonomous vehicle based on the distance.
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