公开(公告)号：US09008890B1

公开(公告)日：2015-04-14

申请号：US13837573

申请日：2013-03-15

Applicant: Google Inc.

Inventor： Joshua Seth Herbach ,  Nathaniel Fairfield ,  Dmitri Dolgov ,  Peter Colijn ,  Andrew Chatham

IPC: G06F19/00 ,  G05D1/02 ,  G05D1/00

CPC classification number: G05D1/0212 ,  B60W30/00 ,  G01C21/34 ,  G05D1/0214 ,  G05D1/0231 ,  G05D1/0297 ,  G05D2201/0213 ,  G07C5/008

Abstract: An autonomous vehicle may include a stuck condition detection component and a communications component. The stuck-detection component may be configured to detect a condition in which the autonomous vehicle is impeded from navigating according to a first trajectory. The communications component may send an assistance signal to an assistance center and receive a response to the assistance signal. The assistance signal may include sensor information from the autonomous vehicle. The assistance center may include a communications component and a trajectory specification component. The communications component may receive the assistance signal and send a corresponding response. The trajectory specification component may specify a second trajectory for the autonomous vehicle and generate the corresponding response that includes a representation of the second trajectory. The second trajectory may be based on the first trajectory and may ignore an object that obstructs the first trajectory.

Abstract translation: 自主车辆可以包括卡住状态检测部件和通信部件。 卡住检测部件可以被配置为根据第一轨迹来检测自主车辆被阻止导航的状态。 通信部件可以向辅助中心发送辅助信号并且接收对辅助信号的响应。 辅助信号可以包括来自自主车辆的传感器信息。 辅助中心可以包括通信组件和轨迹规范组件。 通信部件可以接收辅助信号并发送相应的响应。 轨迹规范组件可以为自主车辆指定第二轨迹，并产生包括第二轨迹表示的对应响应。 第二轨迹可以基于第一轨迹，并且可以忽略妨碍第一轨迹的物体。

公开(公告)号：US08995721B1

公开(公告)日：2015-03-31

申请号：US13759033

申请日：2013-02-04

Applicant: Google Inc.

Inventor： Nathaniel Fairfield ,  Dave Ferguson

IPC: G06K9/00 ,  G08G1/123

CPC classification number: G06K9/00825

Abstract: Methods and apparatus are disclosed related to classifying illuminated objects. A computing device can receive a sequence of images including first and second images. The first image can be of an environment of a vehicle taken at a first time. The second image can be of the environment of the vehicle taken at a second time. The vehicle can include a light source that illuminates a portion of the environment. The first and second times can differ. The computing device can detect an object having a first size and a first brightness in the first image. The computing device can detect the object having a second size and a second brightness in the second image. The computing device can classify the object based on a brightness difference between the first brightness and second brightness and a size difference between the first size and second size.

Abstract translation: 公开了与分类照明物体相关的方法和装置。 计算设备可以接收包括第一和第二图像的图像序列。 第一个图像可以是第一次拍摄的车辆的环境。 第二个图像可以是第二次拍摄的车辆的环境。 车辆可以包括照亮环境的一部分的光源。 第一次和第二次可以不同。 计算设备可以检测第一图像中具有第一大小和第一亮度的对象。 计算设备可以在第二图像中检测具有第二大小和第二亮度的对象。 计算装置可以基于第一亮度和第二亮度之间的亮度差以及第一尺寸和第二尺寸之间的尺寸差来对对象进行分类。

公开(公告)号：US20140358331A1

公开(公告)日：2014-12-04

申请号：US14467201

申请日：2014-08-25

Applicant: Google Inc.

Inventor： Luis Ricardo Prada Gomez ,  Nathaniel Fairfield ,  Andy Szybalski ,  Philip Nemec ,  Christopher Urmson

IPC: G05D1/00

CPC classification number: G05D1/0022 ,  B62D15/0285 ,  G05D1/0061 ,  G05D2201/02

Abstract: Disclosed are methods and devices for transitioning a mixed-mode autonomous vehicle from a human driven mode to an autonomously driven mode. Transitioning may include stopping a vehicle on a predefined landing strip and detecting a reference indicator. Based on the reference indicator, the vehicle may be able to know its exact position. Additionally, the vehicle may use the reference indictor to obtain an autonomous vehicle instruction via a URL. After the vehicle knows its precise location and has an autonomous vehicle instruction, it can operate in autonomous mode.