公开(公告)号：US09558411B1

公开(公告)日：2017-01-31

申请号：US14503626

申请日：2014-10-01

Applicant: Google Inc.

Inventor： David Ian Franklin Ferguson ,  David Harrison Silver ,  Hyman Jack Murveit

IPC: G06K9/00 ,  G05D1/02

CPC classification number: G06K9/00818 ,  G05D1/0246 ,  G06K9/00536

Abstract: Aspects of the disclosure relate to classifying the status of objects. For examples, one or more computing devices detect an object from an image of a vehicle's environment. The object is associated with a location. The one or more computing devices receive data corresponding to the surfaces of objects in the vehicle's environment and identifying data within a region around the location of the object. The one or more computing devices also determine whether the data within the region corresponds to a planar surface extending away from an edge of the object. Based on this determination, the one or more computing devices classify the status of the object.

Abstract translation: 本公开的方面涉及对物体的状态进行分类。 例如，一个或多个计算设备从车辆的环境的图像中检测物体。 该对象与一个位置相关联。 一个或多个计算设备接收对应于车辆环境中的物体的表面的数据，并且在物体的位置周围的区域内识别数据。 一个或多个计算设备还确定该区域内的数据是否对应于远离物体的边缘延伸的平面。 基于该确定，一个或多个计算设备对对象的状态进行分类。

公开(公告)号：US08954217B1

公开(公告)日：2015-02-10

申请号：US14220653

申请日：2014-03-20

Applicant: Google Inc.

Inventor： Michael Steven Montemerlo ,  Hyman Jack Murveit ,  Christopher Paul Urmson ,  Dmitri A. Dolgov ,  Philip Nemec

IPC: G05D1/00 ,  B60W30/00

CPC classification number: G05D1/0061 ,  B60W30/00 ,  G05D2201/0213

Abstract: Aspects of the disclosure relate generally to determining whether an autonomous vehicle should be driven in an autonomous or semiautonomous mode (where steering, acceleration, and braking are controlled by the vehicle's computer). For example, a computer may maneuver a vehicle in an autonomous or a semiautonomous mode. The computer may continuously receive data from one or more sensors. This data may be processed to identify objects and the characteristics of the objects. The detected objects and their respective characteristics may be compared to a traffic pattern model and detailed map information. If the characteristics of the objects deviate from the traffic pattern model or detailed map information by more than some acceptable deviation threshold value, the computer may generate an alert to inform the driver of the need to take control of the vehicle or the computer may maneuver the vehicle in order to avoid any problems.

Abstract translation: 本公开的方面通常涉及确定自主车辆是否应以自主或半自主模式（其中转向，加速和制动由车辆的计算机控制）驱动。 例如，计算机可以以自主或半自主的方式操纵车辆。 计算机可以连续地从一个或多个传感器接收数据。 可以处理该数据以识别对象和对象的特征。 可以将检测到的对象及其各自的特征与交通模式模型和详细地图信息进行比较。 如果物体的特征偏离交通模式模型或详细地图信息超过一些可接受的偏差阈值，则计算机可以产生警报以通知驾驶员需要控制车辆，或者计算机可以操纵 车辆为了避免任何问题。