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    Approach for consolidating observed vehicle trajectories into a single representative trajectory
    1.
    发明授权
    Approach for consolidating observed vehicle trajectories into a single representative trajectory 有权
    将观察到的车辆轨迹整合成单个代表性轨迹的方法

    公开(公告)号：US08825265B1

    公开(公告)日：2014-09-02

    申请号：US13422688

    申请日：2012-03-16

    申请人： David I. Ferguson ,  Jiajun Zhu

    发明人： David I. Ferguson ,  Jiajun Zhu

    IPC分类号： G05D1/02

    CPC分类号： G05D1/0212 ,  B60W40/04 ,  B62D15/025 ,  B62D15/0255 ,  G05D1/0088 ,  G05D1/0214 ,  G05D1/0223 ,  G05D1/0246 ,  G05D1/0287 ,  G08G1/096725

    摘要： A method and apparatus is provided for controlling the operation of an autonomous vehicle. According to one aspect, the autonomous vehicle may track the trajectories of other vehicles on a road. Based on the other vehicle's trajectories, the autonomous vehicle may generate a pool of combined trajectories. Subsequently, the autonomous vehicle may select one of the combined trajectories as a representative trajectory. The representative trajectory may be used to change at least one of the speed or direction of the autonomous vehicle.

    摘要翻译： 提供了一种用于控制自主车辆的操作的方法和装置。 根据一个方面，自主车辆可以跟踪道路上的其他车辆的轨迹。 基于其他车辆的轨迹，自主车辆可以产生组合轨迹池。 随后，自主车辆可以选择组合轨迹中的一个作为代表轨迹。 代表性轨迹可以用于改变自主车辆的速度或方向中的至少一个。

    VEHICLE CONTROL BASED ON PERCEPTION UNCERTAINTY
    2.
    发明申请
    VEHICLE CONTROL BASED ON PERCEPTION UNCERTAINTY 审中-公开
    基于情感不确定性的车辆控制

    公开(公告)号：US20130197736A1

    公开(公告)日：2013-08-01

    申请号：US13361083

    申请日：2012-01-30

    申请人： Jiajun Zhu ,  Dmitri A. Dolgov ,  David I. Ferguson

    发明人： Jiajun Zhu ,  Dmitri A. Dolgov ,  David I. Ferguson

    IPC分类号： G05D1/00

    CPC分类号： G05D1/0088 ,  G05D2201/0213

    摘要： Aspects of the disclosure relate generally to maneuvering autonomous vehicles. Specifically, the vehicle may determine the uncertainty in its perception system and use this uncertainty value to make decisions about how to maneuver the vehicle. For example, the perception system may include sensors, object type models, and object motion models, each associated with uncertainties. The sensors may be associated with uncertainties based on the sensor's range, speed, and /or shape of the sensor field. The object type models may be associated with uncertainties, for example, in whether a perceived object is of one type (such as a small car) or another type (such as a bicycle). The object motion models may also be associated with uncertainties, for example, not all objects will move exactly as they are predicted to move. These uncertainties may be used to maneuver the vehicle.

    摘要翻译： 本公开的方面通常涉及操纵自主车辆。 具体来说，车辆可以确定其感知系统的不确定性，并使用该不确定性值来决定如何操纵车辆。 例如，感知系统可以包括传感器，对象类型模型和对象运动模型，每个与不确定性相关联。 传感器可能会根据传感器范围，速度和/或传感器场的形状与不确定性相关联。 对象类型模型可能与不确定性相关联，例如，感知对象是否是一种类型（例如小型轿厢）或另一类型（例如自行车）。 对象运动模型也可能与不确定性相关联，例如，并不是所有的对象将按照预测的移动精确地移动。 这些不确定性可用于操纵车辆。

    Actively modifying a field of view of an autonomous vehicle in view of constraints
    3.
    发明授权
    Actively modifying a field of view of an autonomous vehicle in view of constraints 有权

    公开(公告)号：US09760092B2

    公开(公告)日：2017-09-12

    申请号：US13423143

    申请日：2012-03-16

    申请人： David I. Ferguson ,  Jiajun Zhu

    发明人： David I. Ferguson ,  Jiajun Zhu

    IPC分类号： G05D1/02 ,  G08G1/16 ,  B60R1/00

    CPC分类号： G05D1/0231 ,  B60R1/00 ,  B60R2300/301 ,  B60R2300/302 ,  B60R2300/307 ,  G05D1/0214 ,  G08G1/167

    摘要： Methods and devices for actively modifying a field of view of an autonomous vehicle in view of constraints are disclosed. In one embodiment, an example method is disclosed that includes causing a sensor in an autonomous vehicle to sense information about an environment in a first field of view, where a portion of the environment is obscured in the first field of view. The example method further includes determining a desired field of view in which the portion of the environment is not obscured and, based on the desired field of view and a set of constraints for the vehicle, determining a second field of view in which the portion of the environment is less obscured than in the first field of view. The example method further includes modifying a position of the vehicle, thereby causing the sensor to sense information in the second field of view.

    System to automatically measure perception sensor latency in an autonomous vehicle
    5.
    发明授权
    System to automatically measure perception sensor latency in an autonomous vehicle 有权
    自动测量自主车辆感知传感器延迟的系统

    公开(公告)号：US08838322B1

    公开(公告)日：2014-09-16

    申请号：US13585486

    申请日：2012-08-14

    申请人： Jiajun Zhu ,  David I. Ferguson

    发明人： Jiajun Zhu ,  David I. Ferguson

    IPC分类号： G01C22/00

    CPC分类号： G01C22/00 ,  B60W30/00 ,  G01S7/4004 ,  G01S7/497 ,  G01S13/86 ,  G01S13/931 ,  G01S17/023 ,  G01S17/936 ,  G05D1/024 ,  G05D1/0248 ,  G05D1/0257 ,  G05D2201/0213

    摘要： A vehicle may operate in an autonomous mode in an environment during a test period. The vehicle may include at least one sensor coupled to the vehicle, configured to acquire sensor data during the test period. The sensor data may include data representative of a target object in the environment. The vehicle may operate the sensor to obtain the sensor data. The vehicle may define a movement of the vehicle, determine a predicted movement of the target object in the sensor data based on the defined movement, initiate the defined movement of the vehicle at an initiation time during the test period, complete the defined movement of the vehicle at a completion time during the test period, analyze the sensor data obtained during the test period, and determine a latency of the at least one sensor based on the analyzed data.

    摘要翻译： 在测试期间，车辆可以在环境中以自主模式操作。 车辆可以包括耦合到车辆的至少一个传感器，被配置为在测试期间获取传感器数据。 传感器数据可以包括表示环境中的目标对象的数据。 车辆可以操作传感器以获得传感器数据。 车辆可以定义车辆的运动，基于所确定的运动来确定传感器数据中的目标物体的预测运动，在测试期间的起始时间开始定义的车辆运动，完成定义的运动 在测试期间的完成时间，分析在测试期间获得的传感器数据，并且基于分析的数据确定至少一个传感器的等待时间。

    Actively Modifying a Field of View of an Autonomous Vehicle in View of Constraints
    10.
    发明申请
    Actively Modifying a Field of View of an Autonomous Vehicle in View of Constraints 有权
    以约束力积极修改自主车辆的视野

    公开(公告)号：US20130245877A1

    公开(公告)日：2013-09-19

    申请号：US13423143

    申请日：2012-03-16

    申请人： David I. Ferguson ,  Jiajun Zhu

    发明人： David I. Ferguson ,  Jiajun Zhu

    IPC分类号： G05D1/00

    CPC分类号： G05D1/0231 ,  B60R1/00 ,  B60R2300/301 ,  B60R2300/302 ,  B60R2300/307 ,  G05D1/0214 ,  G08G1/167

    摘要： Methods and devices for actively modifying a field of view of an autonomous vehicle in view of constraints are disclosed. In one embodiment, an example method is disclosed that includes causing a sensor in an autonomous vehicle to sense information about an environment in a first field of view, where a portion of the environment is obscured in the first field of view. The example method further includes determining a desired field of view in which the portion of the environment is not obscured and, based on the desired field of view and a set of constraints for the vehicle, determining a second field of view in which the portion of the environment is less obscured than in the first field of view. The example method further includes modifying a position of the vehicle, thereby causing the sensor to sense information in the second field of view.

    摘要翻译： 本发明公开了一种用于主动修改自主车辆视野的方法和装置。 在一个实施例中，公开了一种示例性方法，其包括使自主车辆中的传感器在第一视野中感测关于环境的信息，其中环境的一部分在第一视场中被遮蔽。 该示例性方法还包括确定期望的视场，其中环境的该部分不被遮蔽，并且基于所需的视场和车辆的一组约束，确定第二视野，其中部分 环境不如第一视野那么模糊。 该示例方法还包括修改车辆的位置，从而使传感器在第二视场中感测信息。