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    Location-aware notifications and applications for autonomous vehicles
    31.
    发明授权
    Location-aware notifications and applications for autonomous vehicles 有权
    自动车辆的位置感知通知和应用

    公开(公告)号：US08880270B1

    公开(公告)日：2014-11-04

    申请号：US13736937

    申请日：2013-01-08

    Applicant: Google Inc.

    Inventor： Dave Ferguson ,  Jiajun Zhu ,  Manuel Christian Clement

    IPC: G01C21/00 ,  G05D1/02

    CPC classification number: G05D1/021 ,  G05D2201/0213

    Abstract: Methods and apparatus are disclosed related to autonomous vehicle applications for selecting destinations. A control system of an autonomous vehicle can determine a status of the autonomous vehicle. The control system can determine a possible destination of the autonomous vehicle. The control system can generate and provide a hint related to the possible destination based on the status of the autonomous vehicle. The control system can receive input related to the hint. Based on the input, the control system can determine whether to navigate the autonomous vehicle to the possible destination. After determining to navigate the autonomous vehicle to the possible destination, the control system can direct the autonomous vehicle to travel to the possible destination.

    Abstract translation: 公开了与用于选择目的地的自主车辆应用相关的方法和装置。 自主车辆的控制系统可以确定自主车辆的状态。 控制系统可以确定自主车辆的可能目的地。 控制系统可以基于自主车辆的状态生成并提供与可能目的地相关的提示。 控制系统可以接收与提示有关的输入。 基于输入，控制系统可以确定是否将自主车辆导航到可能的目的地。 在确定将自主车辆导航到可能的目的地之后，控制系统可以引导自主车辆行驶到可能的目的地。

    Obstacle Evaluation Technique
    32.
    发明申请
    Obstacle Evaluation Technique 有权
    障碍评估技术

    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。

    DETECTING ROAD WEATHER CONDITIONS
    34.
    发明申请
    DETECTING ROAD WEATHER CONDITIONS 有权

    公开(公告)号：US20140081507A1

    公开(公告)日：2014-03-20

    申请号：US13623422

    申请日：2012-09-20

    Applicant: Google Inc.

    Inventor： Christopher Paul Urmson ,  Michael Steven Montemerlo ,  Jiajun Zhu

    IPC: G05D1/00

    CPC classification number: B60W40/06 ,  B60W2420/62

    Abstract: Aspects of the disclosure relate generally to detecting road weather conditions. Vehicle sensors including a laser, precipitation sensors, and/or camera may be used to detect information such as the brightness of the road, variations in the brightness of the road, brightness of the world, current precipitation, as well as the detected height of the road. Information received from other sources such as networked based weather information (forecasts, radar, precipitation reports, etc.) may also be considered. The combination of the received and detected information may be used to estimate the probability of precipitation such as water, snow or ice in the roadway. This information may then be used to maneuver an autonomous vehicle (for steering, accelerating, or braking) or identify dangerous situations.

    Three-dimensional annotations for street view data
    36.
    发明授权
    Three-dimensional annotations for street view data 有权
    街景视图数据的三维注释

    公开(公告)号：US09471597B2

    公开(公告)日：2016-10-18

    申请号：US14230840

    申请日：2014-03-31

    Applicant: Google Inc.

    Inventor： Jiajun Zhu ,  Daniel Joseph Filip ,  Luc Vincent

    IPC: G06T15/00 ,  G06T15/02 ,  G06T17/00 ,  G06T19/00 ,  G06F17/30

    CPC classification number: G06T11/60 ,  G06F17/241 ,  G06F17/30241 ,  G06T7/75 ,  G06T19/00 ,  G06T19/20 ,  G06T2207/10028 ,  G06T2207/20101 ,  G06T2210/12 ,  G06T2219/004

    Abstract: The present invention relates to annotating images. In an embodiment, the present invention enables users to create annotations corresponding to three-dimensional objects while viewing two-dimensional images. In one embodiment, this is achieved by projecting a selecting object onto a three-dimensional model created from a plurality of two-dimensional images. The selecting object is input by a user while viewing a first image corresponding to a portion of the three-dimensional model. A location corresponding to the projection on the three-dimensional model is determined, and content entered by the user while viewing the first image is associated with the location. The content is stored together with the location information to form an annotation. The annotation can be retrieved and displayed together with other images corresponding to the location.

    Abstract translation: 本发明涉及注释图像。 在一个实施例中，本发明使用户能够在观看二维图像的同时创建与三维对象相对应的注释。 在一个实施例中，这是通过将选择对象投影到由多个二维图像创建的三维模型上而实现的。 选择对象由用户输入，同时观看对应于三维模型的一部分的第一图像。 确定与三维模型上的投影对应的位置，并且在查看第一图像时由用户输入的内容与位置相关联。 内容与位置信息一起存储以形成注释。 注释可以与对应于该位置的其他图像一起检索和显示。

    Approach for consolidating observed vehicle trajectories into a single representative trajectory
    37.
    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：US09459625B1

    公开(公告)日：2016-10-04

    申请号：US14449792

    申请日：2014-08-01

    Applicant: Google Inc.

    Inventor： David Ian Franklin Ferguson ,  Jiajun Zhu

    IPC: G05D1/02

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

    Abstract: 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.

    Abstract translation: 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。

    Wide-view LIDAR with areas of special attention
    38.
    发明授权
    Wide-view LIDAR with areas of special attention 有权
    宽视野激光雷达与特别关注的领域

    公开(公告)号：US09383753B1

    公开(公告)日：2016-07-05

    申请号：US13627623

    申请日：2012-09-26

    Applicant: Google Inc.

    Inventor： Bradley Templeton ,  Pierre-yves Droz ,  Jiajun Zhu

    IPC: G01C23/00 ,  G05D1/02

    CPC classification number: G05D1/0231 ,  G01S7/4802 ,  G01S7/484 ,  G01S7/4865 ,  G01S17/023 ,  G01S17/10 ,  G01S17/42 ,  G01S17/89 ,  G01S17/936 ,  G05D1/024 ,  G05D1/0246 ,  G05D2201/0213

    Abstract: A light detection and ranging device with dynamically adjustable angular resolution for use as a sensor providing environmental information for navigating an autonomous vehicle is disclosed. A first region of a scanning zone is scanned while emitting light pulses at a first pulse rate, and a second region of the scanning zone is scanned while emitting light pulses at a second pulse rate different from the first pulse rate. Information from the LIDAR device indicative of the time delays between the emission of the light pulses and the reception of the corresponding returning light pulses is received. A three dimensional point map is generated where the resolution of the point map in the first region is based on the first pulse rate and is based on the second pulse rate in the second region.

    Abstract translation: 公开了一种具有动态可调角度分辨率的光检测和测距装置，用作提供用于导航自主车辆的环境信息的传感器。 在以第一脉冲速率发射光脉冲的同时扫描扫描区域的第一区域，扫描区域的第二区域被扫描，同时以不同于第一脉冲速率的第二脉冲速率发射光脉冲。 来自LIDAR装置的指示光脉冲的发射与相应的返回光脉冲的接收之间的时间延迟的信息被接收。 产生三维点图，其中第一区域中的点图的分辨率基于第一脉冲率，并且基于第二区域中的第二脉冲率。

    Cross-validating sensors of an autonomous vehicle
    39.
    发明授权
    Cross-validating sensors of an autonomous vehicle 有权
    自动车辆的交叉验证传感器

    公开(公告)号：US09221396B1

    公开(公告)日：2015-12-29

    申请号：US13628986

    申请日：2012-09-27

    Applicant: Google Inc.

    Inventor： Jiajun Zhu ,  Dmitri A. Dolgov ,  Christopher Paul Urmson

    IPC: H04N7/18 ,  B60R1/00

    CPC classification number: B60W50/0205 ,  B60Q9/008 ,  B60R1/00 ,  B60R2300/8093 ,  B60W50/14 ,  B60W2050/0043 ,  B60W2050/0215 ,  B60W2050/146 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2420/62 ,  G01D18/00 ,  G01S7/40 ,  G01S7/497 ,  G01S13/723 ,  G01S13/862 ,  G01S13/865 ,  G01S13/867 ,  G01S13/931 ,  G01S17/023 ,  G01S17/936 ,  G06K9/00791 ,  G06K9/03 ,  G08G1/163 ,  G08G1/166 ,  H04N7/181

    Abstract: Methods and systems are disclosed for cross-validating a second sensor with a first sensor. Cross-validating the second sensor may include obtaining sensor readings from the first sensor and comparing the sensor readings from the first sensor with sensor readings obtained from the second sensor. In particular, the comparison of the sensor readings may include comparing state information about a vehicle detected by the first sensor and the second sensor. In addition, comparing the sensor readings may include obtaining a first image from the first sensor, obtaining a second image from the second sensor, and then comparing various characteristics of the images. One characteristic that may be compared are object labels applied to the vehicle detected by the first and second sensor. The first and second sensors may be different types of sensors.

    Abstract translation: 公开了用于与第一传感器交叉验证第二传感器的方法和系统。 交叉验证第二传感器可以包括从第一传感器获得传感器读数并将来自第一传感器的传感器读数与从第二传感器获得的传感器读数进行比较。 特别地，传感器读数的比较可以包括比较由第一传感器和第二传感器检测到的关于车辆的状态信息。 此外，比较传感器读数可以包括从第一传感器获得第一图像，从第二传感器获得第二图像，然后比较图像的各种特性。 可以比较的一个特征是应用于由第一和第二传感器检测到的车辆的对象标签。 第一和第二传感器可以是不同类型的传感器。

    Collision avoidance for vehicle control
    40.
    发明授权
    Collision avoidance for vehicle control 有权
    碰撞避免车辆控制

    公开(公告)号：US09121717B1

    公开(公告)日：2015-09-01

    申请号：US14103280

    申请日：2013-12-11

    Applicant: Google Inc.

    Inventor： Jiajun Zhu

    IPC: G01C21/26 ,  G08G9/02

    CPC classification number: G01C21/26 ,  B60W30/16 ,  B60W2420/42 ,  B60W2520/16 ,  B60W2550/142 ,  B60W2550/308 ,  G01S11/12 ,  G01S17/936 ,  G05D1/0251 ,  G05D2201/0213 ,  G06K9/00805 ,  G08G1/165 ,  G08G1/166 ,  G08G9/02

    Abstract: A method is provided for processing an image in which only parts of the image that appear above a point on a horizon line are analyzed to identify an object. In one embodiment, the distance between the object and a vehicle is determined, and at least one of the speed and direction of the vehicle is changed when it is determined that the distance is less than the range of a sensor. The method for processing images is not limited to vehicular applications only and it may be used in all applications where computer vision is used to identify objects in an image.

    Abstract translation: 提供了一种处理图像的方法，其中仅分析出现在水平线上的点上方的图像的一部分以识别对象。 在一个实施例中，确定物体与车辆之间的距离，并且当确定距离小于传感器的范围时，车辆的速度和方向中的至少一个被改变。 用于处理图像的方法不仅限于车辆应用，并且可以在计算机视觉用于识别图像中的对象的所有应用中使用。

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