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    VEHICLE CONTROL BASED ON PERCEPTION UNCERTAINTY
    1.
    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。

    System and method for automatically detecting key behaviors by vehicles
    6.
    发明授权
    System and method for automatically detecting key behaviors by vehicles 有权
    自动检测车辆关键行为的系统和方法

    公开(公告)号：US08700251B1

    公开(公告)日：2014-04-15

    申请号：US13446518

    申请日：2012-04-13

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

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

    IPC分类号： G05D1/02

    CPC分类号： B60W30/00 ,  B60W30/12 ,  B60W30/16 ,  B60W2050/0095 ,  B60W2550/30 ,  B60W2550/402 ,  G01C21/34 ,  G05D1/02

    摘要： Aspects of the disclosure relate generally to detecting discrete actions by traveling vehicles. The features described improve the safety, use, driver experience, and performance of autonomously controlled vehicles by performing a behavior analysis on mobile objects in the vicinity of an autonomous vehicle. Specifically, an autonomous vehicle is capable of detecting and tracking nearby vehicles and is able to determine when these nearby vehicles have performed actions of interest by comparing their tracked movements with map data.

    摘要翻译： 本公开的方面通常涉及通过行驶车辆检测离散动作。 所描述的特征通过对自主车辆附近的移动物体进行行为分析来改善自主驾驶车辆的安全性，驾驶经验和性能。 具体来说，自主车辆能够检测和跟踪附近的车辆，并且能够通过将其跟踪的运动与地图数据进行比较来确定这些附近车辆何时已经执行感兴趣的动作。

    Determination of object heading based on point cloud
    7.
    发明授权
    Determination of object heading based on point cloud 有权
    基于点云的对象标题的确定

    公开(公告)号：US09014903B1

    公开(公告)日：2015-04-21

    申请号：US13477871

    申请日：2012-05-22

    申请人： Jiajun Zhu ,  Dmitri A. Dolgov ,  Nathaniel Fairfield

    发明人： Jiajun Zhu ,  Dmitri A. Dolgov ,  Nathaniel Fairfield

    IPC分类号： G05D1/00 ,  G05D3/00 ,  G01C22/00 ,  G05D1/02 ,  G06G7/78 ,  G08G1/16 ,  G01S13/88 ,  G06K9/00 ,  G01C21/34

    CPC分类号： G01C21/3446 ,  G01S13/865 ,  G01S13/867 ,  G01S13/931 ,  G01S17/875 ,  G01S17/89 ,  G01S17/936 ,  G01S2013/9321 ,  G01S2013/9342 ,  G01S2013/9346 ,  G05D1/0238 ,  G05D2201/0213

    摘要： An autonomous vehicle configured to determine the heading of an object-of-interest based on a point cloud. An example computer-implemented method involves: (a) receiving spatial-point data indicating a set of spatial points, each spatial point representing a point in three dimensions, where the set of spatial points corresponds to an object-of-interest; (b) determining, for each spatial point, an associated projected point, each projected point representing a point in two dimensions; (c) determining a set of line segments based on the determined projected points, where each respective line segment connects at least two determined projected points; (d) determining an orientation of at least one determined line segment from the set of line segments; and (e) determining a heading of the object-of-interest based on at least the determined orientation.

    摘要翻译： 一种被配置为基于点云确定感兴趣对象的标题的自主车辆。 计算机实现的示例方法包括：（a）接收指示一组空间点的空间点数据，每个空间点表示三维点，其中该组空间点对应于感兴趣的对象; （b）为每个空间点确定相关联的投影点，每个投影点表示二维中的点; （c）基于所确定的投影点确定一组线段，其中每个相应线段连接至少两个确定的投影点; （d）从所述一组线段确定至少一个确定的线段的取向; 和（e）至少基于确定的方向来确定兴趣对象的标题。

    Sensor field selection
    8.
    发明授权
    Sensor field selection 有权
    传感器场选择

    公开(公告)号：US08589014B2

    公开(公告)日：2013-11-19

    申请号：US13150385

    申请日：2011-06-01

    申请人： Nathaniel Fairfield ,  Jiajun Zhu ,  Dmitri A. Dolgov

    发明人： Nathaniel Fairfield ,  Jiajun Zhu ,  Dmitri A. Dolgov

    IPC分类号： G05D1/02 ,  G01S7/40

    CPC分类号： G05D1/024 ,  G05D1/0246 ,  G05D1/0255 ,  G05D2201/0213

    摘要： Aspects of the present disclosure relate generally to safe and effective use of autonomous vehicles. More specifically, an autonomous vehicle is able to detect objects in its surroundings which are within the sensor fields. In response to detecting objects, the computer may adjust the autonomous vehicle's speed or change direction. In some examples, however, the sensor fields may be changed or become less reliable based on objects or other features in the vehicle's surroundings. As a result, the vehicle's computer may calculate the size and shape of the area of sensor diminution and a new sensor field based on this area of diminution. In response to identifying the area of sensor diminution or the new sensor field, the vehicle's computer may change the control strategies of the vehicle.

    摘要翻译： 本公开的方面通常涉及安全和有效地使用自主车辆。 更具体地，自主车辆能够检测其周围的传感器场内的物体。 响应于检测对象，计算机可以调节自主车辆的速度或改变方向。 然而，在一些示例中，传感器场可以基于车辆周围的物体或其它特征而改变或变得不可靠。 因此，车辆的计算机可以计算出传感器减小面积的大小和形状，以及基于该减小区域的新的传感器场。 响应于识别传感器减少的区域或新的传感器场，车辆的计算机可以改变车辆的控制策略。

    Pedestrian notifications
    9.
    发明授权
    Pedestrian notifications 有权
    行人通知

    公开(公告)号：US09196164B1

    公开(公告)日：2015-11-24

    申请号：US13628290

    申请日：2012-09-27

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

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

    IPC分类号： G08G1/16 ,  B60T8/1755

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

    摘要： 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.

    摘要翻译： 本公开的方面通常涉及向行人通知自驾驶车辆的意图。 例如，车辆可以包括传感器，该传感器检测在车辆前方尝试或即将穿过道路的行人等物体。 车辆的电脑然后可以确定正确的方式来响应行人。 例如，如果安全可行，则计算机可能会确定车辆应该停止或减速，屈服或停止。 车辆然后可以向行人提供车辆将要去或正在做什么的通知。 例如，车辆可以包括物理信号装置，电子标志或灯，用于提供可听通知的扬声器等。

    SENSOR FIELD SELECTION
    10.
    发明申请
    SENSOR FIELD SELECTION 有权
    传感器场选择

    公开(公告)号：US20120310466A1

    公开(公告)日：2012-12-06

    申请号：US13150385

    申请日：2011-06-01

    申请人： Nathaniel Fairfield ,  Jiajun Zhu ,  Dmitri A. Dolgov

    发明人： Nathaniel Fairfield ,  Jiajun Zhu ,  Dmitri A. Dolgov

    IPC分类号： G05D1/02

    CPC分类号： G05D1/024 ,  G05D1/0246 ,  G05D1/0255 ,  G05D2201/0213

    摘要： Aspects of the present disclosure relate generally to safe and effective use of autonomous vehicles. More specifically, an autonomous vehicle 301, 501 is able to detect objects in its surroundings which are within the sensor fields 410, 411, 430, 431, 420A-423A, 420B-423B, 570-75, 580. In response to detecting objects, the computer 110 may adjust the autonomous vehicle's speed or change direction. In some examples, however, the sensor fields may be changed or become less reliable based on objects or other features in the vehicle's surroundings. As a result, the vehicle's computer 110 may calculate the size and shape of the area of sensor diminution 620, 720 and a new sensor field based on this area of diminution. In response to identifying the area of sensor diminution or the new sensor field, the vehicle's computer may change the control strategies of the vehicle.

    摘要翻译： 本公开的方面通常涉及安全和有效地使用自主车辆。 更具体地，自主车辆301,501能够检测其周围的传感器场410,411,430,431,420A-423A，420B-423B，570-75,580内的物体。响应于检测物体 计算机110可以调节自主车辆的速度或改变方向。 然而，在一些示例中，传感器场可以基于车辆周围的物体或其它特征而改变或变得不可靠。 因此，车辆计算机110可以基于该减小区域来计算传感器减小区域620,720的面积和形状以及新的传感器场。 响应于识别传感器减少的区域或新的传感器场，车辆的计算机可以改变车辆的控制策略。