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公开(公告)号：WO2014039200A1
公开(公告)日：2014-03-13
申请号：PCT/US2013/053944
申请日：2013-08-07
Applicant: GOOGLE INC.
Inventor： FERGUSON, David, Ian , HAEHNEL, Dirk , FAIRFIELD, Nathaniel
CPC classification number: B60W30/00 , B60W30/12 , B60W30/16 , B60W40/06 , B60W2050/0091 , B60W2420/42 , B60W2420/52 , B60W2550/40 , B60W2550/402
Abstract: Methods and systems for detection of a construction zone using information from a plurality of sources are described. In an example, a computing device, configured to control the vehicle, may be configured to receive information, from a plurality of sources, relating to detection of a construction zone on the road on which the vehicle is travelling. Also, the computing device may be configured to determine a likelihood of existence of the construction zone on the road, based on the information. Further the computing device may be configured to modify a control strategy associated with a driving behavior of the vehicle, based on the likelihood; and control the vehicle based on the modified control strategy.
Abstract translation: 描述了使用来自多个源的信息来检测构造区域的方法和系统。 在一个示例中，被配置为控制车辆的计算设备可以被配置为从多个源接收关于在车辆行驶的道路上的建筑区域的检测的信息。 此外，计算设备可以被配置为基于该信息来确定道路上的建筑区域的存在的可能性。 此外，计算设备可以被配置为基于可能性修改与车辆的驾驶行为相关联的控制策略; 并根据修改的控制策略控制车辆。
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2.发明申请A ROBUST METHOD FOR DETECTING TRAFFIC SIGNALS AND THEIR ASSOCIATED STATES 审中-公开一种用于检测交通信号及其相关状态的稳健方法
公开(公告)号：WO2013147994A1
公开(公告)日：2013-10-03
申请号：PCT/US2013/024573
申请日：2013-02-04
Applicant: GOOGLE INC. , FAIRFIELD, Nathaniel , FERGUSON, David, I. , LEVANDOWSKI, Anthony
Inventor： FAIRFIELD, Nathaniel , FERGUSON, David, I. , LEVANDOWSKI, Anthony
CPC classification number: B60W30/18154 , B60W2550/22 , B60W2550/402 , G05D1/0088 , G05D1/0231 , G06K9/00791 , G06K9/00818 , G06K9/00825
Abstract: Methods and devices for detecting traffic signals and their associated states are disclosed. In one embodiment, an example method includes a scanning a target area using one or more sensors of a vehicle to obtain target area information. The vehicle may be configured to operate in an autonomous mode, and the target area may be a type of area where traffic signals are typically located. The method may also include detecting a traffic signal in the target area information, determining a location of the traffic signal, and determining a state of the traffic signal. Also, a confidence in the traffic signal may be determined. For example, the location of the traffic signal may be compared to known locations of traffic signals. Based on the state of the traffic signal and the confidence in the traffic signal, the vehicle may be controlled in the autonomous mode.
Abstract translation: 公开了用于检测交通信号及其相关状态的方法和设备。 在一个实施例中，示例性方法包括使用车辆的一个或多个传感器来扫描目标区域以获得目标区域信息。 车辆可以被配置为以自主模式操作，并且目标区域可以是交通信号通常位于的区域的类型。 该方法还可以包括检测目标区域信息中的业务信号，确定业务信号的位置，以及确定业务信号的状态。 此外，可以确定交通信号的置信度。 例如，可以将交通信号的位置与交通信号的已知位置进行比较。 基于交通信号灯的状态和交通信号的置信度，车辆可以被控制在自主模式中。
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公开(公告)号：WO2017070127A1
公开(公告)日：2017-04-27
申请号：PCT/US2016/057562
申请日：2016-10-19
Applicant: GOOGLE INC.
Inventor： LUDERS, Brandon, Douglas , CAMPBELL, Tim , FAIRFIELD, Nathaniel
CPC classification number: G01S13/865 , G01S7/4026 , G01S7/4972 , G01S13/04 , G01S13/87 , G01S13/931 , G01S17/023 , G01S17/026 , G01S17/10 , G01S17/42 , G01S17/87 , G01S17/936 , G01S2007/4039 , G01S2013/9375 , G01S2013/9378 , G01S2013/9382 , G01S2013/9385
Abstract: A method is provided that involves identifying a target region of an environment of an autonomous vehicle to be monitored for presence of moving objects. The method also involves operating a first sensor to obtain a scan of a portion of the environment that includes at least a portion of the target region and an intermediate region between the autonomous vehicle and the target region. The method also involves determining whether a second sensor has a sufficiently clear view of the target region based on at least the scan obtained by the first sensor. The method also involves operating the second sensor to monitor the target region for presence of moving objects based on at least a determination that the second sensor has a sufficiently clear view of the target region. Also provided is an autonomous vehicle configured to perform the method.
Abstract translation: 提供了一种方法，该方法包括识别待监测的自主车辆的环境的目标区域是否存在移动物体。 该方法还涉及操作第一传感器以获得包括目标区域的至少一部分和自主车辆与目标区域之间的中间区域的环境的一部分的扫描。 该方法还涉及至少基于由第一传感器获得的扫描确定第二传感器是否具有足够清晰的目标区域的视图。 该方法还涉及基于至少确定第二传感器具有足够清晰的目标区域视图来操作第二传感器以监视目标区域是否存在移动物体。 还提供配置为执行该方法的自动车辆。
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公开(公告)号：WO2015134152A1
公开(公告)日：2015-09-11
申请号：PCT/US2015/015039
申请日：2015-02-09
Applicant: GOOGLE INC.
Inventor： FAIRFIELD, Nathaniel , HERBACH, Joshua, Seth , FURMAN, Vadim
CPC classification number: G05D1/0044 , B60W30/00 , G05D1/0011 , G05D1/0027 , G05D1/0033 , G05D1/0038 , G05D2201/0213
Abstract: Example systems and methods enable an autonomous vehicle to request assistance from a remote operator in certain predetermined situations. One example method includes determining a representation of an environment of an autonomous vehicle based on sensor data of the environment. Based on the representation, the method may also include identifying a situation from a predetermined set of situations for which the autonomous vehicle will request remote assistance. The method may further include sending a request for assistance to a remote assistor, the request including the representation of the environment and the identified situation. The method may additionally include receiving a response from the remote assistor indicating an autonomous operation. The method may also include causing the autonomous vehicle to perform the autonomous operation.
Abstract translation: 示例系统和方法使得自主车辆能够在某些预定情况下请求来自远程操作员的帮助。 一个示例性方法包括基于环境的传感器数据来确定自主车辆的环境的表示。 基于该表示，该方法还可以包括从自动车辆将要求远程协助的预定情况集合中识别情况。 该方法还可以包括向远程组合器发送帮助请求，该请求包括环境的表示和所识别的情况。 该方法可以另外包括从远程组件接收指示自主操作的响应。 该方法还可以包括使自主车辆执行自主操作。
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公开(公告)号：WO2012166170A8
公开(公告)日：2012-12-06
申请号：PCT/US2011/054157
申请日：2011-09-30
Applicant: GOOGLE INC. , FAIRFIELD, Nathaniel , ZHU, Jiajun , DOLGOV, Dmitri, A.
Inventor： FAIRFIELD, Nathaniel , ZHU, Jiajun , DOLGOV, Dmitri, A.
Abstract: 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.
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Patent Agency Ranking
公开(公告)号：WO2015134153A1
公开(公告)日：2015-09-11
申请号：PCT/US2015/015040
申请日：2015-02-09
Applicant: GOOGLE INC.
Inventor： FAIRFIELD, Nathaniel , HERBACH, Joshua, Seth , CHATHAM, Andrew, Hughes , MONTEMERLO, Michael, Steven
CPC classification number: G08G1/161 , B60W30/00 , B60W2050/008 , G05D1/0088 , G05D1/0287 , G08G1/0112 , G08G1/096725 , G08G1/096741 , G08G1/096775 , G08G1/22
Abstract: Example systems and methods allow for reporting and sharing of information reports relating to driving conditions within a fleet of autonomous vehicles. One example method includes receiving information reports relating to driving conditions from a plurality of autonomous vehicles within a fleet of autonomous vehicles. The method may also include receiving sensor data from a plurality of autonomous vehicles within the fleet of autonomous vehicles. The method may further include validating some of the information reports based at least in part on the sensor data. The method may additionally include combining validated information reports into a driving information map. The method may also include periodically filtering the driving information map to remove outdated information reports. The method may further include providing portions of the driving information map to autonomous vehicles within the fleet of autonomous vehicles.
Abstract translation: 示例系统和方法允许报告和共享与自动车辆的车队内的驾驶状况有关的信息报告。 一个示例性方法包括从自动车辆的车队内的多个自主车辆接收与驾驶条件相关的信息报告。 该方法还可以包括从自主车辆的车队内的多个自主车辆接收传感器数据。 该方法还可以包括至少部分地基于传感器数据验证一些信息报告。 该方法还可以包括将经验证的信息报告合并到驾驶信息图中。 该方法还可以包括周期性地过滤驾驶信息图以消除过时的信息报告。 该方法还可以包括将驾驶信息的一部分映射到自主车辆的车队内的自主车辆。
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公开(公告)号：WO2012154208A3
公开(公告)日：2012-11-15
申请号：PCT/US2011/061657
申请日：2011-11-21
Applicant: GOOGLE INC. , PRADA GOMEZ, Luis Ricardo , FAIRFIELD, Nathaniel , SZYBALSKI, Andy , NEMEC, Philip , URMSON, Christopher
Inventor： PRADA GOMEZ, Luis Ricardo , FAIRFIELD, Nathaniel , SZYBALSKI, Andy , NEMEC, Philip , URMSON, Christopher
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.
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公开(公告)号：WO2016191348A1
公开(公告)日：2016-12-01
申请号：PCT/US2016/033728
申请日：2016-05-23
Applicant: GOOGLE INC.
Inventor： HERBACH, Joshua, Seth , NEMEC, Philip , FAIRFIELD, Nathaniel
IPC: G05D1/02 , B60W50/029
CPC classification number: G08G1/202 , B60W50/029 , B60W2050/0005 , B60W2050/0006 , B60W2560/02 , G05D1/0088 , G05D1/0297 , G05D2201/0213 , G06F9/46 , G06F9/4881 , G06F9/546 , G08G1/00
Abstract: The invention relates to a system having a memory (130), a plurality of self-driving systems (160-172) for controlling a vehicle (100), and one or more processors (120). The processors are configured to receive at least one fallback task in association with a request for a primary task and at least one trigger of each fallback task. Each trigger is a set of conditions that, when satisfied, indicate when a vehicle requires attention for proper operation. The processors are also configured to send instructions to the self-driving systems to execute the primary task and receive status updates from the self-driving systems. The processors are configured to determine that a set of conditions of a trigger is satisfied based on the status updates and send further instructions based on the associated fallback task to the self-driving systems.
Abstract translation: 本发明涉及具有存储器（130），用于控制车辆（100）的多个自行车系统（160-172）和一个或多个处理器（120）的系统。 处理器被配置为接收与主任务的请求和每个后备任务的至少一个触发相关联的至少一个后备任务。 每个触发器是一组条件，当满足时，指示车辆何时需要注意正确的操作。 处理器还被配置为向自动驾驶系统发送指令以执行主要任务并从自驾驾驶系统接收状态更新。 处理器被配置为基于状态更新来确定触发的一组条件，并且基于相关联的回退任务向另一个自行车系统发送进一步的指令。
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公开(公告)号：WO2016018636A1
公开(公告)日：2016-02-04
申请号：PCT/US2015/040698
申请日：2015-07-16
Applicant: GOOGLE INC.
Inventor： GUTMANN, Jens-steffen, Ralf , WENDEL, Andreas , FAIRFIELD, Nathaniel , DOLGOV, Dmitri, A. , BURNETTE, Donald, Jason
CPC classification number: B60W30/09 , G08G1/09623 , G08G1/09626 , G08G1/096725 , G08G1/096783 , G08G1/096791
Abstract: Aspects of the disclosure relate to determining whether a vehicle 100 should continue through an intersection 502. For example, the one or more of the vehicle's computers 110 may identify a time when the traffic signal light 526 will turn from yellow to red. The one or more computers may also estimate a location of a vehicle at the time when the traffic signal light will turn from yellow to red. A starting point 350 of the intersection may be identified. Based on whether the estimated location of the vehicle is at least a threshold distance past the starting point at the time when the traffic signal light will turn from yellow to red, the computers can determine whether the vehicle should continue through the intersection.
Abstract translation: 本公开的方面涉及确定车辆100是否应该通过交叉口502继续。例如，车辆计算机110中的一个或多个可以识别交通信号灯526将从黄色变为红色的时间。 一个或多个计算机还可以在交通信号灯从黄色变为红色时估计车辆的位置。 可以识别交叉点的起始点350。 基于车辆的估计位置是否至少在交通信号灯从黄色变为红色时起始点的阈值距离，计算机可以确定车辆是否应该继续通过交叉路口。
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公开(公告)号：WO2014039202A1
公开(公告)日：2014-03-13
申请号：PCT/US2013/053965
申请日：2013-08-07
Applicant: GOOGLE INC.
Inventor： FAIRFIELD, Nathaniel , FERGUSON, David, Ian , OGALE, Abhijit , WANG, Matthew , YEE, Yangli, Hector
CPC classification number: G06K9/78 , B60T1/10 , B60T7/12 , B60T7/18 , B60T7/22 , B60T2201/08 , B60W30/10 , B60W30/143 , B60W40/06 , B60W2420/42 , B60W2550/14 , B60W2550/22 , B62D6/00 , B62D15/025 , B62D15/0255 , B62D15/0265 , G01S7/4802 , G01S7/4808 , G01S13/865 , G01S13/867 , G01S13/931 , G01S17/89 , G01S17/936 , G01S2013/9353 , G01S2013/936 , G05D1/0088 , G05D1/0214 , G05D1/024 , G05D1/0246 , G05D1/0257 , G05D1/027 , G05D1/0278 , G05D2201/0213 , G06K9/00798 , G06K9/00805 , G06K9/00818 , H04N7/18
Abstract: Methods and systems for detection of a construction zone sign are described. A computing device, configured to control the vehicle, may be configured to receive, from an image-capture device coupled to the computing device, images of a vicinity of the road on which the vehicle is travelling. Also, the computing device may be configured to determine image portions in the images that may depict sides of the road at a predetermined height range. Further, the computing device may be configured to detect a construction zone sign in the image portions, and determine a type of the construction zone sign. Accordingly, the computing device may be configured to modify a control strategy associated with a driving behavior of the vehicle; and control the vehicle based on the modified control strategy.
Abstract translation: 描述了用于检测结构区域符号的方法和系统。 被配置为控制车辆的计算设备可以被配置为从耦合到计算设备的图像捕获设备接收车辆行驶的道路附近的图像。 此外，计算设备可以被配置为确定可以在预定高度范围处描绘道路的侧面的图像中的图像部分。 此外，计算装置可以被配置为检测图像部分中的构造区域签名，并且确定构造区域符号的类型。 因此，计算设备可以被配置为修改与车辆的驾驶行为相关联的控制策略; 并根据修改的控制策略控制车辆。
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