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    Modifying Behavior of Autonomous Vehicle Based on Predicted Behavior of Other Vehicles
    33.
    发明申请
    Modifying Behavior of Autonomous Vehicle Based on Predicted Behavior of Other Vehicles 有权
    基于其他车辆预测行为修改自主车辆行为

    公开(公告)号：US20130261872A1

    公开(公告)日：2013-10-03

    申请号：US13900784

    申请日：2013-05-23

    Applicant: Google Inc.

    Inventor： David Ian Franklin Ferguson ,  Dmitri A. Dolgov

    IPC: G05D1/00

    CPC classification number: G08G1/166 ,  B60W30/095 ,  B60W30/12 ,  B60W30/16 ,  B60W30/18163 ,  B60W50/0097 ,  B60W2050/143 ,  B60W2520/10 ,  B60W2550/402 ,  B60W2750/40 ,  G05D1/00 ,  G05D1/0088 ,  G05D2201/0213 ,  Y02T10/84

    Abstract: A vehicle configured to operate in an autonomous mode could determine a current state of the vehicle and the current state of the environment of the vehicle. The environment of the vehicle includes at least one other vehicle. A predicted behavior of the at least one other vehicle could be determined based on the current state of the vehicle and the current state of the environment of the vehicle. A confidence level could also be determined based on the predicted behavior, the current state of the vehicle, and the current state of the environment of the vehicle. In some embodiments, the confidence level may be related to the likelihood of the at least one other vehicle to perform the predicted behavior. The vehicle in the autonomous mode could be controlled based on the predicted behavior, the confidence level, and the current state of the vehicle and its environment.

    Abstract translation: 配置为以自主模式操作的车辆可以确定车辆的当前状态和车辆的当前状态。 车辆的环境包括至少一个其他车辆。 可以基于车辆的当前状态和车辆的环境的当前状态来确定至少一个其他车辆的预测行为。 还可以基于预测的行为，车辆的当前状态和车辆的当前状态来确定置信水平。 在一些实施例中，置信水平可以与至少一个其他车辆执行预测行为的可能性有关。 可以根据车辆的预测行为，置信水平和当前状态及其环境来控制自主模式下的车辆。

    Determining when to drive autonomously
    38.
    发明授权
    Determining when to drive autonomously 有权
    确定何时自主驾驶

    公开(公告)号：US08954217B1

    公开(公告)日：2015-02-10

    申请号：US14220653

    申请日：2014-03-20

    Applicant: Google Inc.

    Inventor： Michael Steven Montemerlo ,  Hyman Jack Murveit ,  Christopher Paul Urmson ,  Dmitri A. Dolgov ,  Philip Nemec

    IPC: G05D1/00 ,  B60W30/00

    CPC classification number: G05D1/0061 ,  B60W30/00 ,  G05D2201/0213

    Abstract: Aspects of the disclosure relate generally to determining whether an autonomous vehicle should be driven in an autonomous or semiautonomous mode (where steering, acceleration, and braking are controlled by the vehicle's computer). For example, a computer may maneuver a vehicle in an autonomous or a semiautonomous mode. The computer may continuously receive data from one or more sensors. This data may be processed to identify objects and the characteristics of the objects. The detected objects and their respective characteristics may be compared to a traffic pattern model and detailed map information. If the characteristics of the objects deviate from the traffic pattern model or detailed map information by more than some acceptable deviation threshold value, the computer may generate an alert to inform the driver of the need to take control of the vehicle or the computer may maneuver the vehicle in order to avoid any problems.

    Abstract translation: 本公开的方面通常涉及确定自主车辆是否应以自主或半自主模式（其中转向，加速和制动由车辆的计算机控制）驱动。 例如，计算机可以以自主或半自主的方式操纵车辆。 计算机可以连续地从一个或多个传感器接收数据。 可以处理该数据以识别对象和对象的特征。 可以将检测到的对象及其各自的特征与交通模式模型和详细地图信息进行比较。 如果物体的特征偏离交通模式模型或详细地图信息超过一些可接受的偏差阈值，则计算机可以产生警报以通知驾驶员需要控制车辆，或者计算机可以操纵 车辆为了避免任何问题。

    Avoiding blind spots of other vehicles
    39.
    发明授权
    Avoiding blind spots of other vehicles 有权
    避免其他车辆的盲点

    公开(公告)号：US08874267B1

    公开(公告)日：2014-10-28

    申请号：US14150901

    申请日：2014-01-09

    Applicant: Google Inc.

    Inventor： Dmitri A. Dolgov ,  Christopher Paul Urmson

    IPC: G05D1/00 ,  G06F19/00 ,  G08G3/02 ,  G05B19/04 ,  G05B19/18 ,  G05B15/00

    CPC classification number: G05D1/0214 ,  B60W30/08 ,  B60W30/09 ,  B60W30/095 ,  B60W30/0956 ,  B60W30/12 ,  B60W30/16 ,  B60W50/0097 ,  B60W2550/20 ,  B60W2720/10 ,  G01C21/26 ,  G05D1/0061 ,  G05D1/0088 ,  G08G1/16 ,  G08G1/166 ,  G08G1/167

    Abstract: Aspects of the disclosure relate generally to detecting and avoiding blind spots of other vehicles when maneuvering an autonomous vehicle. Blind spots may include both areas adjacent to another vehicle in which the driver of that vehicle would be unable to identify another object as well as areas that a second driver in a second vehicle may be uncomfortable driving. In one example, a computer of the autonomous vehicle may identify objects that may be relevant for blind spot detecting and may determine the blind spots for these other vehicles. The computer may predict the future locations of the autonomous vehicle and the identified vehicles to determine whether the autonomous vehicle would drive in any of the determined blind spots. If so, the autonomous driving system may adjust its speed to avoid or limit the autonomous vehicle's time in any of the blind spots.

    Abstract translation: 本公开的方面通常涉及在操纵自主车辆时检测和避免其他车辆的盲点。 盲点可以包括与另一车辆相邻的两个区域，其中该车辆的驾驶员将不能识别另一个物体，以及第二车辆中的第二驾驶员可能不舒适驾驶的区域。 在一个示例中，自主车辆的计算机可以识别可能与盲点检测相关的对象，并且可以确定这些其他车辆的盲点。 计算机可以预测自主车辆和所识别的车辆的未来位置，以确定自主车辆是否将在任何确定的盲点中行驶。 如果是这样，自主驾驶系统可以调整其速度以避免或限制自动车辆在任何盲区的时间。

    Detecting and responding to tailgaters
    40.
    发明授权
    Detecting and responding to tailgaters 有权
    检测和回应尾管

    公开(公告)号：US08818682B1

    公开(公告)日：2014-08-26

    申请号：US14096613

    申请日：2013-12-04

    Applicant: Google Inc.

    Inventor： Dmitri A. Dolgov ,  Philip Nemec ,  Anne Aula

    IPC: G05D1/00 ,  G08G1/14 ,  G08G9/02

    CPC classification number: G05D1/021 ,  B60W30/16 ,  B60W2550/30 ,  B60W2550/308 ,  B60W2750/308 ,  B62D15/025 ,  B62D15/0255 ,  G05D1/00 ,  G05D1/0055 ,  G05D1/0287

    Abstract: An autonomous vehicle detects a tailgating vehicle and uses various response mechanisms. For example, a vehicle is identified as a tailgater based on whether its characteristics meet a variable threshold. When the autonomous vehicle is traveling at slower speeds, the threshold is defined in distance. When the autonomous vehicle is traveling at faster speeds, the threshold is defined in time. The autonomous vehicle may respond to the tailgater by modifying its driving behavior. In one example, the autonomous vehicle adjusts a headway buffer (defined in time) from another vehicle in front of the autonomous vehicle. For example, if the tailgater is T seconds too close to the autonomous vehicle, the autonomous vehicle increases the headway buffer to the vehicle in front of it by some amount relative to T.

    Abstract translation: 自主车辆检测尾随车辆并使用各种响应机制。 例如，基于其特性是否满足可变阈值，将车辆识别为尾舱。 当自主车辆以较慢的速度行驶时，阈值以距离定义。 当自主车辆以更快的速度行驶时，阈值被及时定义。 自主车辆可以通过修改其驾驶行为来响应尾舱。 在一个示例中，自主车辆在自主车辆前面从另一车辆调整前进缓冲器（在时间上限定）。 例如，如果尾座T秒太靠近自主车辆，则自主车辆将其前方的车辆的前进缓冲器增加相对于T的一定量。

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