公开(公告)号：US08954252B1

公开(公告)日：2015-02-10

申请号：US14095107

申请日：2013-12-03

Applicant: Google Inc.

Inventor： Christopher Paul Urmson ,  Ian James Mahon ,  Dmitri A. Dolgov ,  Jiajun Zhu

IPC: G08G1/16

CPC classification number: G08G1/167 ,  B60Q1/50 ,  B60Q5/005 ,  B60T8/17558 ,  B60T2201/022 ,  G08G1/165 ,  G08G1/166

Abstract: Aspects of the disclosure relate generally to notifying a pedestrian of the intent of a self-driving vehicle. For example, the vehicle may include sensors which detect an object such as a pedestrian attempting or about to cross the roadway in front of the vehicle. The vehicle's computer may then determine the correct way to respond to the pedestrian. For example, the computer may determine that the vehicle should stop or slow down, yield, or stop if it is safe to do so. The vehicle may then provide a notification to the pedestrian of what the vehicle is going to or is currently doing. For example, the vehicle may include a physical signaling device, an electronic sign or lights, a speaker for providing audible notifications, etc.

公开(公告)号：US08914212B1

公开(公告)日：2014-12-16

申请号：US14095107

申请日：2013-12-03

Applicant: Google Inc.

Inventor： Christopher Paul Urmson ,  Ian James Mahon ,  Dmitri A. Dolgov ,  Jiajun Zhu

IPC: G08G1/16

Abstract: Aspects of the disclosure relate generally to notifying a pedestrian of the intent of a self-driving vehicle. For example, the vehicle may include sensors which detect an object such as a pedestrian attempting or about to cross the roadway in front of the vehicle. The vehicle's computer may then determine the correct way to respond to the pedestrian. For example, the computer may determine that the vehicle should stop or slow down, yield, or stop if it is safe to do so. The vehicle may then provide a notification to the pedestrian of what the vehicle is going to or is currently doing. For example, the vehicle may include a physical signaling device, an electronic sign or lights, a speaker for providing audible notifications, etc.

公开(公告)号：US09767366B1

公开(公告)日：2017-09-19

申请号：US14452860

申请日：2014-08-06

Applicant: Google Inc.

Inventor： Nathaniel Fairfield ,  Ian James Mahon

IPC: G06K9/00 ,  G05D1/02 ,  G01C22/00 ,  G08G1/16

CPC classification number: G05D1/0253 ,  G05D1/021 ,  G05D1/0212 ,  G05D1/0238 ,  G05D2201/0212 ,  G06K9/00791 ,  G06K9/00805 ,  G06K9/6204 ,  G08G1/165

Abstract: A system and method is provided for identifying an object along a road, where the object may be represented by a bounding box, and projecting a set of obstacle points within the bounding box corresponding to the identified object. In one aspect, a two-dimensional plane oriented perpendicular to a direction of the movement of the vehicle may be identified. In another aspect, the areas of the plane that may be occupied based on the set of obstacle points may be determined to generate a contour of the identified object. Thereafter, the height profiles of the identified object and the vehicle may be determined and identified, respectively. Based on the height profiles, a minimum clearance may be determined.