公开(公告)号：US08818681B1

公开(公告)日：2014-08-26

申请号：US13949894

申请日：2013-07-24

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. For example, 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。 例如，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。

公开(公告)号：US20130297140A1

公开(公告)日：2013-11-07

申请号：US13932090

申请日：2013-07-01

Applicant: Google Inc.

Inventor： Michael Steven Montemerlo ,  Dmitri A. Dolgov ,  Christopher Paul Urmson

IPC: G05D1/02

CPC classification number: G06K9/00201 ,  B60R1/00 ,  B60R2300/30 ,  B60W30/08 ,  B60W30/186 ,  B60W2050/0292 ,  B60W2530/14 ,  B60W2550/22 ,  B62D6/00 ,  G01C21/3617 ,  G05D1/0055 ,  G05D1/0088 ,  G05D1/021 ,  G05D1/0214 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0257 ,  G05D1/0274 ,  G05D1/0276 ,  G05D1/0278 ,  G05D2201/0213 ,  G06K9/00791 ,  G06K9/00798 ,  G06K9/00805 ,  G06K9/3241 ,  G06T7/0044 ,  G06T7/0057 ,  G06T7/20 ,  G06T7/223 ,  G06T7/231 ,  G06T2207/10004 ,  G06T2207/10028 ,  G06T2207/30236 ,  G06T2207/30252 ,  G06T2207/30261

Abstract: A roadgraph may include a graph network of information such as roads, lanes, intersections, and the connections between these features. The roadgraph may also include one or more zones associated with particular rules. The zones may include locations where driving is typically challenging such as merges, construction zones, or other obstacles. In one example, the rules may require an autonomous vehicle to alert a driver that the vehicle is approaching a zone. The vehicle may thus require a driver to take control of steering, acceleration, deceleration, etc. In another example, the zones may be designated by a driver and may be broadcast to other nearby vehicles, for example using a radio link or other network such that other vehicles may be able to observer the same rule at the same location or at least notify the other vehicle's drivers that another driver felt the location was unsafe for autonomous driving.

Abstract translation: 道路图可以包括信息的图形网络，例如道路，车道，交叉路口以及这些特征之间的连接。 道路图也可以包括与特定规则相关联的一个或多个区域。 这些区域可以包括驾驶通常是具有挑战性的位置，例如合并，建筑区域或其他障碍物。 在一个示例中，规则可能需要自主车辆来警告驾驶员车辆正在接近区域。 因此，车辆可能需要驾驶员来控制转向，加速，减速等。在另一个示例中，区域可以由驾驶员指定，并且可以广播到其他附近的车辆，例如使用无线电链路或其他网络 其他车辆可能能够在相同的位置观察相同的规则，或者至少通知另一车辆的司机，另一司机认为该位置对于自主驾驶是不安全的。