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11. 发明公开

EP3175311A1 TRAFFIC SIGNAL RESPONSE FOR AUTONOMOUS VEHICLES 审中-实审转让
标题翻译：交通自动驾驶车辆的交通信号反应
公开(公告)号：EP3175311A1
公开(公告)日：2017-06-07
申请号：EP15827437.3
申请日：2015-07-16
申请人： Google Inc.
发明人： GUTMANN, Jens-steffen, Ralf , WENDEL, Andreas , FAIRFIELD, Nathaniel , DOLGOV, Dmitri, A. , BURNETTE, Donald, Jason
IPC分类号： G05D1/02 , G08G1/16
CPC分类号： B60W30/09 , G08G1/09623 , G08G1/09626 , G08G1/096725 , G08G1/096783 , G08G1/096791
摘要： Aspects of the disclosure relate to determining whether a vehicle should continue through an intersection. For example, the one or more of the vehicle's computers may identify a time when the traffic signal light 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 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.
摘要翻译：本公开的各方面涉及确定车辆是否应该继续通过交叉路口。例如，车辆的一台或多台计算机可识别交通信号灯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。交点的起点可以被识别。基于在交通信号灯将从黄色变为红色时车辆的估计位置是否至少超过起点的阈值距离，计算机可以确定车辆是否应该继续通过交叉口。

12. 发明公开

EP2948928A1 MODIFYING BEHAVIOR OF AUTONOMOUS VEHICLES BASED ON SENSOR BLIND SPOTS AND LIMITATIONS 有权转让
标题翻译：自主车行为矫正基于死点和传感器的限制
公开(公告)号：EP2948928A1
公开(公告)日：2015-12-02
申请号：EP14743710.7
申请日：2014-01-17
申请人： Google Inc.
发明人： DOLGOV, Dmitri, A. , URMSON, Christopher, Paul
IPC分类号： G06T17/00 , H04N5/62
CPC分类号： G05D1/0274 , B60W30/18154 , B60W2050/0095 , B60W2550/12 , G05D1/0248 , G05D1/0257 , G05D1/0276 , G05D2201/0213
摘要： Models can be generated of a vehicle's view of its environment and used to maneuver the vehicle. This view need not include what objects or features the vehicle is actually seeing, but rather those areas that the vehicle is able to observe using its sensors if the sensors were completely un-occluded. For example, for each of a plurality of sensors of the object detection component, a computer may generate an individual 3D model of that sensor's field of view. Weather information is received and used to adjust one or more of the models. After this adjusting, the models may be aggregated into a comprehensive 3D model. The comprehensive model may be combined with detailed map information indicating the probability of detecting objects at different locations. The model of the vehicle's environment may be computed based on the combined comprehensive 3D model and detailed map information.
摘要翻译：模型可以其环境的车辆的视图的生成，并用于操纵车辆。这种观点不必包括哪些对象或功能的车辆实际看到的，而这些地区没有车辆能够通过其传感器如果传感器完全呼叫未被遮挡的观察。对于实施例，对于每个物体检测组件的传感器的多个，计算机可以在视传感器的场的个体3D模型生成一样。天气信息被接收并用于调整模型的一个或多个。调整之后，该模型可以合并为一个全面的3D模型。综合模型可以与详细地图信息指示在不同的位置检测对象的概率相结合。车辆的环境的模型可以根据组合的全面3D模型和详细的地图信息来计算。

13. 发明公开

EP2771751A1 SENSOR FIELD SELECTION 有权转让
标题翻译： SENSOR字段选择器
公开(公告)号：EP2771751A1
公开(公告)日：2014-09-03
申请号：EP11867078.5
申请日：2011-09-30
申请人： Google Inc.
发明人： FAIRFIELD, Nathaniel , ZHU, Jiajun , DOLGOV, Dmitri, A.
IPC分类号： G05D1/02 , B60W40/02 , B60W30/00 , B60W30/08
CPC分类号： G05D1/024 , G05D1/0246 , G05D1/0255 , G05D2201/0213
摘要： 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.

14. 发明公开

EP2625081A2 DIAGNOSIS AND REPAIR FOR AUTONOMOUS VEHICLES 有权转让
标题翻译：诊断和自主车辆的修理
公开(公告)号：EP2625081A2
公开(公告)日：2013-08-14
申请号：EP11831505.0
申请日：2011-10-05
申请人： Google Inc.
发明人： DOLGOV, Dmitri, A. , URMSON, Christopher, Paul
IPC分类号： B60W50/00 , B60W40/12 , B60W10/00 , B60R16/00
CPC分类号： 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 , G06T7/20 , G06T7/223 , G06T7/231 , G06T7/521 , G06T7/74 , G06T2207/10004 , G06T2207/10028 , G06T2207/30236 , G06T2207/30252 , G06T2207/30261
摘要： Aspects of the invention relate generally to autonomous vehicles 101. Specifically, the features described may be used alone or in combination in order to improve the safety, use, driver experience, and performance of these vehicles.

15. 发明授权

EP2625079B1 SYSTEM AND METHOD FOR PREDICTING BEHAVIORS OF DETECTED OBJECTS 有权转让
标题翻译：系统和方法来预测行为检测的对象
公开(公告)号：EP2625079B1
公开(公告)日：2017-03-15
申请号：EP11831503.5
申请日：2011-10-05
申请人： Google Inc.
发明人： ZHU, Jiajun , FERGUSON, David, I. , DOLGOV, Dmitri, A.
IPC分类号： B60W30/00 , B60W40/02 , B60W30/10 , B60W30/14 , G05D1/02
CPC分类号： 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
摘要： Aspects of the invention relate generally to autonomous vehicles 101. Specifically, the features described may be used alone or in combination in order to improve the safety, use, driver experience, and performance of these vehicles.

16. 发明公开

EP2825435A1 MODIFYING BEHAVIOR OF AUTONOMOUS VEHICLE BASED ON PREDICTED BEHAVIOR OF OTHER VEHICLES 有权转让
标题翻译：进行一次自主车辆的上的其他车辆的前述行为基础的改变
公开(公告)号：EP2825435A1
公开(公告)日：2015-01-21
申请号：EP13761643.9
申请日：2013-02-11
申请人： Google Inc.
发明人： FERGUSON, David, I. , DOLGOV, Dmitri, A.
IPC分类号： B60W30/14 , B60W30/16 , B60W30/08 , B60W10/00
CPC分类号： 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
摘要： 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.

17. 发明公开

EP2809561A1 VEHICLE CONTROL BASED ON PERCEPTION UNCERTAINTY 审中-公开
标题翻译：车辆控制基于感知的不确定性
公开(公告)号：EP2809561A1
公开(公告)日：2014-12-10
申请号：EP13743121.9
申请日：2013-01-28
申请人： Google Inc.
发明人： ZHU, Jiajun , DOLGOV, Dmitri, A. , FERGUSON, David, I.
IPC分类号： B60W30/08 , B60W30/00 , B60W10/04 , B60W40/02
CPC分类号： G05D1/0088 , G05D2201/0213
摘要： Aspects of the disclosure relate generally to maneuvering autonomous vehicles. Specifically, the vehicle (101) may determine the uncertainty in its perception system and use this uncertainty value to make decisions about how to maneuver the vehicle. For example, the perception system may include sensors (310-311, 321-323, 330-331), object type models, and object motion models (146), each associated with uncertainties. The sensors may be associated with uncertainties based on the sensor's range, speed, and /or shape of the sensor field (421A-423A, 421B-423B). The object type models may be associated with uncertainties, for example, in whether a perceived object is of one type (such as a small car) or another type (such as a bicycle). The object motion models may also be associated with uncertainties, for example, not all objects will move exactly as they are predicted to move. These uncertainties may be used to maneuver the vehicle.

18. 发明公开

EP2625083A2 ZONE DRIVING 有权转让
标题翻译：区域控制
公开(公告)号：EP2625083A2
公开(公告)日：2013-08-14
申请号：EP11831362.6
申请日：2011-09-30
申请人： Google Inc.
发明人： MONTEMERLO, Michael, Steven , DOLGOV, Dmitri, A. , URMSON, Christopher, Paul
IPC分类号： B60W50/08 , G01C21/26 , B60W40/02 , B60W30/00
CPC分类号： 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
摘要： Aspects of the invention relate generally to autonomous vehicles 101. Specifically, the features described may be used alone or in combination in order to improve the safety, use, driver experience, and performance of these vehicles.

19. 发明公开

EP2625079A2 SYSTEM AND METHOD FOR PREDICTING BEHAVIORS OF DETECTED OBJECTS 有权转让
标题翻译：系统VERFAHREN ZUR VORHERSAGE DES VERHALTENS ERFASSTER OBJEKTE
公开(公告)号：EP2625079A2
公开(公告)日：2013-08-14
申请号：EP11831503.5
申请日：2011-10-05
申请人： Google Inc.
发明人： ZHU, Jiajun , FERGUSON, David, I. , DOLGOV, Dmitri, A.
IPC分类号： B60W30/00 , B60W40/02 , B60W30/10 , B60W30/14
CPC分类号： 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
摘要： Aspects of the invention relate generally to autonomous vehicles 101. Specifically, the features described may be used alone or in combination in order to improve the safety, use, driver experience, and performance of these vehicles.
摘要翻译：本发明的方面大体上涉及自主车辆101.具体地，所描述的特征可以单独使用或组合使用，以便改善这些车辆的安全性，使用，驾驶者体验和性能。

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