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1. 发明申请

WO2012047977A3 SYSTEM AND METHOD FOR PREDICTING BEHAVIORS OF DETECTED OBJECTS 审中-公开
公开(公告)号：WO2012047977A3
公开(公告)日：2012-04-12
申请号：PCT/US2011/054896
申请日：2011-10-05
申请人： GOOGLE INC. , ZHU, Jiajun , FERGUSON, David, I. , DOLGOV, Dmitri, A.
发明人： ZHU, Jiajun , FERGUSON, David, I. , DOLGOV, Dmitri, A.
IPC分类号： B60W30/00 , B60W40/02 , B60W30/10 , B60W30/14
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.

2. 发明申请

WO2012166170A8 SENSOR FIELD SELECTION 审中-公开
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
申请人： GOOGLE INC. , FAIRFIELD, Nathaniel , ZHU, Jiajun , DOLGOV, Dmitri, A.
发明人： FAIRFIELD, Nathaniel , ZHU, Jiajun , DOLGOV, Dmitri, A.
IPC分类号： G05D1/02 , B60W30/00 , B60W30/08 , B60W40/02
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.

3. 发明申请

WO2013138000A1 MODIFYING BEHAVIOR OF AUTONOMOUS VEHICLE BASED ON PREDICTED BEHAVIOR OF OTHER VEHICLES 审中-公开
标题翻译：基于其他车辆的预测行为修改自动车辆的行为
公开(公告)号：WO2013138000A1
公开(公告)日：2013-09-19
申请号：PCT/US2013/025592
申请日：2013-02-11
申请人： GOOGLE INC. , FERGUSON, David, I. , DOLGOV, Dmitri, A.
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.
摘要翻译：配置为以自主模式操作的车辆可以确定车辆的当前状态和车辆的当前状态。车辆的环境包括至少一个其他车辆。可以基于车辆的当前状态和车辆的环境的当前状态来确定至少一个其他车辆的预测行为。还可以基于预测的行为，车辆的当前状态和车辆的当前状态来确定置信水平。在一些实施例中，置信水平可以与至少一个其他车辆执行预测行为的可能性有关。可以根据车辆的预测行为，置信水平和当前状态及其环境来控制自主模式下的车辆。

4. 发明申请

WO2012047743A3 ZONE DRIVING 审中-公开
公开(公告)号：WO2012047743A3
公开(公告)日：2012-04-12
申请号：PCT/US2011/054154
申请日：2011-09-30
申请人： GOOGLE INC. , MONTEMERLO, Michael, Steven , DOLGOV, Dmitri, A. , URMSON, Christopher, Paul
发明人： MONTEMERLO, Michael, Steven , DOLGOV, Dmitri, A. , URMSON, Christopher, Paul
IPC分类号： B60W50/08 , G01C21/26 , B60W40/02 , B60W30/00
摘要： 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 510 associated with particular rules. The zones 510 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 300-B to alert a driver that the vehicle is approaching a zone. The vehicle 300-B may thus require a driver to take control of steering, acceleration, deceleration, etc. In another example, the zones 520 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 observe 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.

5. 发明申请

WO2012047980A2 DIAGNOSIS AND REPAIR FOR AUTONOMOUS VEHICLES 审中-公开
标题翻译：自动车辆诊断和维修
公开(公告)号：WO2012047980A2
公开(公告)日：2012-04-12
申请号：PCT/US2011/054899
申请日：2011-10-05
申请人： GOOGLE INC. , DOLGOV, Dmitri, A. , URMSON, Christopher, Paul
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 , G06T7/0044 , G06T7/0057 , G06T7/20 , G06T7/223 , G06T7/231 , G06T2207/10004 , G06T2207/10028 , G06T2207/30236 , G06T2207/30252 , G06T2207/30261
摘要： A system and method of controlling a vehicle (101) is provided. In one aspect, the system and method determines the amount of wear on a component (180) of the vehicle (101) and, based on the amount of wear and information derived from the environment (209) surrounding the vehicle (101) (e.g., another vehicle in the path of the vehicle or a requirement to stop at a particular location (510)), maneuvers the vehicle (101) to mitigate further wear on the component (180).
摘要翻译：提供一种控制车辆（101）的系统和方法。在一个方面，系统和方法确定车辆（101）的部件（180）上的磨损量，并且基于从环绕车辆（101）的环境（209）获得的磨损量和信息量（例如，，车辆路径中的另一车辆或要求在特定位置（510）停车的要求），操纵车辆（101）以减轻部件（180）上的进一步磨损。

6. 发明申请

WO2010124056A1 DETECTION OF TOPOLOGICAL STRUCTURE FROM SENSOR DATA WITH APPLICATION TO AUTONOMOUS DRIVING IN SEMI-STRUCTURED ENVIRONMENTS 审中-公开
标题翻译：传感器数据中的拓扑结构检测应用于半结构环境中的自动驱动
公开(公告)号：WO2010124056A1
公开(公告)日：2010-10-28
申请号：PCT/US2010/032003
申请日：2010-04-22
申请人： TOYOTA MOTOR ENGINEERING AND MANUFACTURING N.A. , DOLGOV, Dmitri, A. , THRUN, Sebastian
发明人： DOLGOV, Dmitri, A. , THRUN, Sebastian
IPC分类号： G05B15/00
CPC分类号： G01C21/20
摘要： A method of creating an obstacle-free diagram using topological sensor data to form a graph corresponding to a driving path, transforming the graph using discrete heuristics, locally smoothing a plurality of edges of the graph after the transforming, and globally smoothing the graph after the locally smoothing. Transforming includes deleting an edge of the graph, merging two intersections of the graph into a single intersection, and collapsing a plurality of edges forming a loop into a single edge. Locally smoothing includes smoothing a lane segment of the graph by minimizing a sum of a function of smoothness and a function of distance. Globally smoothing includes defining an intersection potential and minimizing a sum of the function of smoothness, the function of distance, a function of intersections and a function of direction.
摘要翻译：一种使用拓扑传感器数据形成与驱动路径对应的图形的无障碍图的方法，使用离散启发式变换图形，在变换之后对图形的多个边缘进行局部平滑化，并在图形之后进行全局平滑化局部平滑。变换包括删除图形的边缘，将图形的两个交集合并成单个交集，以及将形成循环的多个边缘折叠成单个边缘。局部平滑包括通过最小化平滑度函数和距离函数的和来平滑图形的通道段。全局平滑包括定义交点电位，并使平滑度函数，距离函数，交点函数和方向函数最小化。

7. 发明申请

WO2007109785A2 SYSTEM AND METHOD OF COLLISION AVOIDANCE USING INTELLIGENT NAVIGATION 审中-公开
标题翻译：使用智能导航的碰撞避免的系统和方法
公开(公告)号：WO2007109785A2
公开(公告)日：2007-09-27
申请号：PCT/US2007/064778
申请日：2007-03-23
申请人： TOYOTA TECHNICAL CENTER, USA, INC. , DOLGOV, Dmitri, A. , LABERTEAUX, Kenneth, P.
发明人： DOLGOV, Dmitri, A. , LABERTEAUX, Kenneth, P.
IPC分类号： G08G1/16
CPC分类号： G08G1/164
摘要： A system and method of intelligent navigation with collision avoidance for a vehicle is provided. The system includes a global positioning system and a vehicle navigation means in communication with the global positioning system. The system also includes a centrally located processor in communication with the navigation means, and an information database associated with the controller, for identifying a location of a first vehicle and a second vehicle. The system further includes an alert means for transmitting an alert message to the vehicle operator regarding a collision with a second vehicle. The method includes the steps of determining a geographic location of a first vehicle and a second vehicle within an environment using the global positioning system on the first vehicle and the global positioning system on the second vehicle, and modeling a collision avoidance domain of the environment of the first vehicle as a discrete state space Markov Decision Process. The methodology scales down the model of the collision avoidance domain, and determines an optimal value function and control policy that solves the scaled down collision avoidance domain. The methodology extracts a basis function from the optimal value function, scales up the extracted basis function to represent the unsealed domain, and determines an approximate solution to the control policy by solving the rescaled domain using the scaled up basis function. The methodology further uses the solution to determine if the second vehicle may collide with the first vehicle and transmits a message to the user notification device.
摘要翻译：提供了一种用于车辆的防碰撞的智能导航系统和方法。该系统包括全球定位系统和与全球定位系统通信的车辆导航装置。该系统还包括与导航装置通信的中心定位的处理器，以及与控制器相关联的用于识别第一车辆和第二车辆的位置的信息数据库。该系统还包括警报装置，用于向车辆操作者发送关于与第二车辆的碰撞的警报消息。该方法包括以下步骤：使用第一车辆上的全球定位系统和第二车辆上的全球定位系统来确定环境中的第一车辆和第二车辆的地理位置，并且对环境的碰撞避免域进行建模第一辆车作为离散状态空间马尔可夫决策过程。该方法缩小了避碰域的模型，并确定了解决缩小的避免冲突域的最优值函数和控制策略。该方法从最优值函数中提取基函数，将提取的基函数放大以表示非密封域，并通过使用放大的基函数求解重定标域来确定控制策略的近似解。该方法进一步使用该解决方案来确定第二车辆是否可能与第一车辆碰撞并且向用户通知装置发送消息。

8. 发明申请

WO2016018636A1 TRAFFIC SIGNAL RESPONSE FOR AUTONOMOUS VEHICLES 审中-公开
标题翻译：自动车辆的交通信号响应
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
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 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.
摘要翻译：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。

9. 发明申请

WO2014116512A1 MODIFYING BEHAVIOR OF AUTONOMOUS VEHICLES BASED ON SENSOR BLIND SPOTS AND LIMITATIONS 审中-公开
标题翻译：基于传感器盲点和限制的自动车辆修改行为
公开(公告)号：WO2014116512A1
公开(公告)日：2014-07-31
申请号：PCT/US2014/012020
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： Aspects of the present disclosure relate generally to modeling a vehicle's (101) view of its environment. 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 (310-311, 320-323, 330-331) if the sensors were completely un-occluded. For example, for each of a plurality of sensors of the object detection component (148), a computer (110) may employ 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 (1304, 1306 in FIG. 13). After this adjusting, the models may be aggregated into a comprehensive 3D model (FIG. 10, 1308 in FIG. 13). The comprehensive model may be combined with detailed map information indicating the probability of detecting objects at different locations (1100 in FIG. 11, 1310 in FIG. 13). A model of the vehicle's environment may be computed based on the combined comprehensive 3D model and detailed map information (1312 in FIG. 13) and may be used to maneuver the vehicle (1314 in FIG. 13).
摘要翻译：本公开的方面通常涉及对车辆（101）的环境视图进行建模。该视图不需要包括车辆实际看到的物体或特征，而是车辆能够使用其传感器（310-311,320-323,330-331）能够观察到的那些区域，如果传感器完全不被遮挡。例如，对于物体检测部件（148）的多个传感器中的每一个，计算机（110）可以采用该传感器的视野的单独的3D模型。天气信息被接收并用于调整一个或多个模型（图13中的1304,1306）。在该调整之后，可将模型聚合成一个综合的3D模型（图13中的图10，图1308）。综合模型可以与指示在不同位置（图11中的1100，图13中的1310）中检测对象的概率的详细地图信息组合。可以基于组合的综合3D模型和详细地图信息（图13中的1312）来计算车辆环境的模型，并且可以用于操纵车辆（图13中的1314）。

10. 发明申请

WO2013116141A1 VEHICLE CONTROL BASED ON PERCEPTION UNCERTAINTY 审中-公开
标题翻译：基于情感不确定性的车辆控制
公开(公告)号：WO2013116141A1
公开(公告)日：2013-08-08
申请号：PCT/US2013/023399
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.
摘要翻译：本公开的方面通常涉及操纵自主车辆。具体来说，车辆（101）可以确定其感知系统的不确定性，并使用该不确定性值来作出关于如何操纵车辆的决定。例如，感知系统可以包括传感器（310-311,321-323,330-331），对象类型模型和对象运动模型（146），每个都与不确定性相关联。传感器可以基于传感器的范围，速度和/或形状（421A-423A，421B-423B）与不确定性相关联。对象类型模型可能与不确定性相关联，例如，感知对象是否是一种类型（例如小型轿厢）或另一类型（例如自行车）。对象运动模型也可能与不确定性相关联，例如，并不是所有的对象将按照预测的移动精确地移动。这些不确定性可用于操纵车辆。

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