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公开(公告)号：US09495875B2
公开(公告)日：2016-11-15
申请号：US14296670
申请日：2014-06-05
Applicant: Google Inc.
Inventor： Jonathan Baldwin Dowdall , Jiajun Zhu
IPC: B60R21/00 , B60R21/013 , B60W30/095 , B60W30/08 , G08G1/16 , G06K9/00
CPC classification number: G08G1/166 , B60R21/00 , B60R21/013 , B60W30/08 , B60W30/095 , G06K9/00805
Abstract: A vehicle configured to operate in an autonomous mode may engage in an obstacle evaluation technique that includes employing a sensor system to collect data relating to a plurality of obstacles, identifying from the plurality of obstacles an obstacle pair including a first obstacle and a second obstacle, engaging in an evaluation process by comparing the data collected for the first obstacle to the data collected for the second obstacle, and in response to engaging in the evaluation process, making a determination of whether the first obstacle and the second obstacle are two separate obstacles.
Abstract translation: 构造成以自主模式操作的车辆可以参与障碍物评估技术，其包括采用传感器系统来收集与多个障碍物相关的数据，从多个障碍物识别包括第一障碍物和第二障碍物的障碍物， 通过将针对第一障碍物收集的数据与针对第二障碍物收集的数据进行比较，并且响应于参与评估处理，确定第一障碍物和第二障碍物是否是两个单独的障碍物来进行评估过程。
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公开(公告)号：US20140288817A1
公开(公告)日：2014-09-25
申请号：US14296670
申请日：2014-06-05
Applicant: GOOGLE INC.
Inventor： Jonathan Baldwin Dowdall , Jiajun Zhu
IPC: G08G1/16 , B60W30/095
CPC classification number: G08G1/166 , B60R21/00 , B60R21/013 , B60W30/08 , B60W30/095 , G06K9/00805
Abstract: A vehicle configured to operate in an autonomous mode may engage in an obstacle evaluation technique that includes employing a sensor system to collect data relating to a plurality of obstacles, identifying from the plurality of obstacles an obstacle pair including a first obstacle and a second obstacle, engaging in an evaluation process by comparing the data collected for the first obstacle to the data collected for the second obstacle, and in response to engaging in the evaluation process, making a determination of whether the first obstacle and the second obstacle are two separate obstacles.
Abstract translation: 构造成以自主模式操作的车辆可以参与障碍物评估技术，其包括采用传感器系统来收集与多个障碍物相关的数据，从多个障碍物识别包括第一障碍物和第二障碍物的障碍物， 通过将针对第一障碍物收集的数据与针对第二障碍物收集的数据进行比较，并且响应于参与评估处理，确定第一障碍物和第二障碍物是否是两个单独的障碍物来进行评估过程。
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Patent Agency Ranking
公开(公告)号：US09336436B1
公开(公告)日：2016-05-10
申请号：US14042103
申请日：2013-09-30
Applicant: Google Inc.
Inventor： Jonathan Baldwin Dowdall
CPC classification number: G06K9/00362 , B60W30/09 , B60W2420/52 , B60W2420/62 , G06K9/00335 , G06K9/00496 , G06K9/00791 , G06K9/6218 , G08G1/166
Abstract: An autonomous vehicle configured to avoid pedestrians using hierarchical cylindrical features. An example method involves: (a) receiving, at a computing device, range data corresponding to an environment of a vehicle, and the range data comprises a plurality of data points; (b) detecting, by the computing device, one or more subsets of data points from the plurality of data points that are indicative of an upper-body region of a pedestrian, and the upper-body region may comprise parameters corresponding to one or more of a head and a chest of the pedestrian; and (c) in response to detecting the one or more subsets of data points, determining a position of the pedestrian relative to the vehicle.
Abstract translation: 一种自主车辆，其被配置为避免使用分级圆柱形特征的行人。 示例性方法包括：（a）在计算设备处接收与车辆的环境相对应的范围数据，并且所述范围数据包括多个数据点; （b）由计算设备检测来自指示行人的上半身区域的多个数据点的一个或多个数据点子集，并且上体区域可以包括对应于一个或多个 的一个头和胸部的行人; 以及（c）响应于检测到所述一个或多个数据点子集，确定所述行人相对于所述车辆的位置。
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公开(公告)号：US09335766B1
公开(公告)日：2016-05-10
申请号：US14099004
申请日：2013-12-06
Applicant: Google Inc.
CPC classification number: G06K9/00805 , G01S13/04 , G01S13/931 , G01S17/026 , G01S17/936 , G01S19/13 , G01V11/00 , G05D1/0088 , G05D1/021 , G05D1/0238 , G05D2201/0213 , G06K9/6215 , G06K9/6277 , G06K9/628
Abstract: A vehicle is provided that may distinguish between dynamic obstacles and static obstacles. Given a detector for a class of static obstacles or objects, the vehicle may receive sensor data indicative of an environment of the vehicle. When a possible object is detected in a single frame, a location of the object and a time of observation of the object may be compared to previous observations. Based on the object being observed a threshold number of times, in substantially the same location, and within some window of time, the vehicle may accurately detect the presence of the object and reduce any false detections.
Abstract translation: 提供可以区分动态障碍物和静态障碍物的车辆。 给定一类静态障碍物或物体的检测器，车辆可以接收指示车辆环境的传感器数据。 当在单个帧中检测到可能的对象时，可以将对象的位置和对象的观察时间与先前的观察进行比较。 基于所观察到的物体在基本上相同的位置，并且在一些时间窗口内的阈值次数，车辆可以准确地检测物体的存在并减少任何错误检测。
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公开(公告)号：US09080866B1
公开(公告)日：2015-07-14
申请号：US13927518
申请日：2013-06-26
Applicant: Google Inc.
Inventor： Jonathan Baldwin Dowdall , Jiajun Zhu , Pierre-yves Droz , Luke Wachter , Dorel Ionut Iordache
CPC classification number: G01S17/026 , G01C3/08 , G01S7/4802 , G01S17/023 , G01S17/42 , G01S17/89 , G01S17/936 , G06K9/00798 , G08G5/0026 , G08G5/065
Abstract: Example methods and systems for detecting reflective markers at long range are provided. An example method includes receiving laser data collected from successive scans of an environment of a vehicle. The method also includes determining a respective size of the one or more objects based on the laser data collected from respective successive scans. The method may further include determining, by a computing device and based at least in part on the respective size of the one or more objects for the respective successive scans, an object that exhibits a change in size as a function of distance from the vehicle. The method may also include determining that the object is representative of a reflective marker. In one example, a computing device may use the detection of one reflective marker to help detect subsequent reflective markers that may be in a similar position.
Abstract translation: 提供了用于检测远距离反射标记的示例方法和系统。 示例性方法包括接收从车辆的环境的连续扫描收集的激光数据。 该方法还包括基于从相应的连续扫描收集的激光数据确定一个或多个对象的相应尺寸。 该方法可以进一步包括由计算设备确定并且至少部分地基于相应连续扫描的一个或多个对象的相应大小来确定作为与车辆距离的函数的尺寸变化的对象。 该方法还可以包括确定对象代表反射标记。 在一个示例中，计算设备可以使用一个反射标记的检测来帮助检测可能处于相似位置的后续反射标记。
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公开(公告)号：US20160224850A1
公开(公告)日：2016-08-04
申请号：US15094776
申请日：2016-04-08
Applicant: Google Inc.
Inventor： David Harrison Silver , Jonathan Baldwin Dowdall , David Ian Ferguson
CPC classification number: G06K9/00805 , G01S13/04 , G01S13/931 , G01S17/026 , G01S17/936 , G01S19/13 , G01V11/00 , G05D1/0088 , G05D1/021 , G05D1/0246 , G05D2201/0213 , G06K9/6215 , G06K9/6277 , G06K9/628
Abstract: A vehicle is provided that may distinguish between dynamic obstacles and static obstacles. Given a detector for a class of static obstacles or objects, the vehicle may receive sensor data indicative of an environment of the vehicle. When a possible object is detected in a single frame, a location of the object and a time of observation of the object may be compared to previous observations. Based on the object being observed a threshold number of times, in substantially the same location, and within some window of time, the vehicle may accurately detect the presence of the object and reduce any false detections.
Abstract translation: 提供可以区分动态障碍物和静态障碍物的车辆。 给定一类静态障碍物或物体的检测器，车辆可以接收指示车辆环境的传感器数据。 当在单个帧中检测到可能的对象时，可以将对象的位置和对象的观察时间与先前的观察进行比较。 基于所观察到的物体在基本上相同的位置，并且在一些时间窗口内的阈值次数，车辆可以准确地检测物体的存在并减少任何错误检测。
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公开(公告)号：US09234618B1
公开(公告)日：2016-01-12
申请号：US13629378
申请日：2012-09-27
Applicant: Google Inc.
Inventor： Jiajun Zhu , David I. Ferguson , Dmitri A. Dolgov , Jonathan Baldwin Dowdall
CPC classification number: G01N21/27 , F16L55/00 , G01C3/08 , G01S7/4808 , G01S7/497 , G01S17/023 , G01S17/08 , G01S17/10 , G01S17/42 , G01S17/89 , G01S17/936 , G05D1/0088
Abstract: A light detection and ranging device associated with an autonomous vehicle scans through a scanning zone while emitting light pulses and receives reflected signals corresponding to the light pulses. The reflected signals indicate a three-dimensional point map of the distribution of reflective points in the scanning zone. A hyperspectral sensor images a region of the scanning zone corresponding to a reflective feature indicated by the three-dimensional point map. The output from the hyperspectral sensor includes spectral information characterizing a spectral distribution of radiation received from the reflective feature. The spectral characteristics of the reflective feature allow for distinguishing solid objects from non-solid reflective features, and a map of solid objects is provided to inform real time navigation decisions.
Abstract translation: 与自主车辆相关联的光检测和测距装置在发射光脉冲的同时扫描扫描区域并接收对应于光脉冲的反射信号。 反射信号表示扫描区域中反射点分布的三维点图。 高光谱传感器对与三维点图所示的反射特征对应的扫描区域进行成像。 来自高光谱传感器的输出包括表征从反射特征接收的辐射的光谱分布的光谱信息。 反射特征的光谱特征允许区分固体物体与非固体反射特征，并且提供固体物体的映射以通知实时导航决定。
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