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

IPC: G06K9/00 ,  G06T9/00 ,  B60R11/04 ,  G06K9/62

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。

公开(公告)号：US20150248131A1

公开(公告)日：2015-09-03

申请号：US14195682

申请日：2014-03-03

Applicant: Google Inc.

Inventor： Nathaniel Fairfield ,  Joshua Seth Herbach ,  Vadim Furman

IPC: G05D1/00

CPC classification number: G05D1/0044 ,  B60W30/00 ,  G05D1/0011 ,  G05D1/0027 ,  G05D1/0033 ,  G05D1/0038 ,  G05D2201/0213

Abstract: Example systems and methods enable an autonomous vehicle to request assistance from a remote operator in certain predetermined situations. One example method includes determining a representation of an environment of an autonomous vehicle based on sensor data of the environment. Based on the representation, the method may also include identifying a situation from a predetermined set of situations for which the autonomous vehicle will request remote assistance. The method may further include sending a request for assistance to a remote assistor, the request including the representation of the environment and the identified situation. The method may additionally include receiving a response from the remote assistor indicating an autonomous operation. The method may also include causing the autonomous vehicle to perform the autonomous operation.

Abstract translation: 示例系统和方法使得自主车辆能够在某些预定情况下请求来自远程操作员的帮助。 一个示例性方法包括基于环境的传感器数据来确定自主车辆的环境的表示。 基于该表示，该方法还可以包括从自动车辆将要求远程协助的预定情况集合中识别情况。 该方法还可以包括向远程组合器发送帮助请求，该请求包括环境的表示和所识别的情况。 该方法可以另外包括从远程组件接收指示自主操作的响应。 该方法还可以包括使自主车辆执行自主操作。

公开(公告)号：US09081383B1

公开(公告)日：2015-07-14

申请号：US14161295

申请日：2014-01-22

Applicant: Google Inc.

Inventor： Michael Steven Montemerlo ,  John Tisdale ,  Vadim Furman

IPC: G05D1/02 ,  G01C21/00 ,  G01C21/36

CPC classification number: G05D1/0274 ,  B60W30/00 ,  G01C21/005 ,  G01C21/3602 ,  G05D1/0212 ,  G05D1/0246 ,  G05D1/0248 ,  G06K9/00798 ,  G08G1/00 ,  G08G1/164

Abstract: Systems and methods are provided that may optimize basic models of an intersection in a roadway with high intensity image data of the intersection of the roadway. More specifically, parameters that define the basic model of the intersection in the roadway may be adjusted to more accurately define the intersection. For example, by comparing a shape of the intersection predicted by the basic model with extracted curbs and lane boundaries from elevation and intensity maps, the intersection parameters can be optimized to match real intersection-features in the environment. Once the optimal intersection parameters have been found, roadgraph features describing the intersection may be extracted.

Abstract translation: 提供了系统和方法，可以优化巷道交叉口的基本模型，并具有巷道交叉口的高强度图像数据。 更具体地，可以调整定义道路中的交叉路口的基本模型的参数以更准确地定义交叉点。 例如，通过将由基本模型预测的交点的形状与提取的路标和车道边界的高程和强度图进行比较，可以优化交点参数以匹配环境中的实际交叉特征。 一旦找到了最佳的交点参数，就可以提取描述十字路口的路标特征。

公开(公告)号：US09494942B1

公开(公告)日：2016-11-15

申请号：US14724243

申请日：2015-05-28

Applicant: Google Inc.

Inventor： Michael Steven Montemerlo ,  John Tisdale ,  Vadim Furman

IPC: G05D1/02

CPC classification number: G05D1/0274 ,  B60W30/00 ,  G01C21/005 ,  G01C21/3602 ,  G05D1/0212 ,  G05D1/0246 ,  G05D1/0248 ,  G06K9/00798 ,  G08G1/00 ,  G08G1/164

Abstract: Systems and methods are provided that may optimize basic models of an intersection in a roadway with high intensity image data of the intersection of the roadway. More specifically, parameters that define the basic model of the intersection in the roadway may be adjusted to more accurately define the intersection. For example, by comparing a shape of the intersection predicted by the basic model with extracted curbs and lane boundaries from elevation and intensity maps, the intersection parameters can be optimized to match real intersection-features in the environment. Once the optimal intersection parameters have been found, roadgraph features describing the intersection may be extracted.

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

IPC: G06T9/00 ,  G06K9/00 ,  B60R11/04 ,  G06K9/62 ,  B60R11/00

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。

公开(公告)号：US09201421B1

公开(公告)日：2015-12-01

申请号：US14254810

申请日：2014-04-16

Applicant: Google Inc.

Inventor： Nathaniel Fairfield ,  Josh Seth Herbach ,  Vadim Furman

IPC: G05D1/00

CPC classification number: G05D1/0246 ,  B60W40/04 ,  B60W2050/0077 ,  B60W2050/0215 ,  G05D1/00 ,  G05D1/0022 ,  G05D1/0088 ,  G06K9/00791 ,  G06K9/00805 ,  G07C5/008 ,  H04L67/125

Abstract: Disclosed herein are systems and methods for providing supplemental identification abilities to an autonomous vehicle system. The sensor unit of the vehicle may be configured to receive data indicating an environment of the vehicle, while the control system may be configured to operate the vehicle. The vehicle may also include a processing unit configured to analyze the data indicating the environment to determine at least one object having a detection confidence below a threshold. Based on the at least one object having a detection confidence below a threshold, the processor may communicate at least a subset of the data indicating the environment for further processing. The vehicle is also configured to receive an indication of an object confirmation of the subset of the data. Based on the object confirmation of the subset of the data, the processor may alter the control of the vehicle by the control system.

Abstract translation: 本文公开了用于向自主车辆系统提供补充识别能力的系统和方法。 车辆的传感器单元可以被配置为接收指示车辆的环境的数据，而控制系统可被配置为操作车辆。 车辆还可以包括处理单元，其被配置为分析指示环境的数据，以确定具有低于阈值的检测置信度的至少一个对象。 基于具有低于阈值的检测置信度的至少一个对象，处理器可以传达指示环境的数据的至少一个子集用于进一步处理。 车辆还被配置为接收数据子集的对象确认的指示。 基于数据子集的对象确认，处理器可以改变控制系统对车辆的控制。