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1. 发明公开

EP2976243A1 USE OF ENVIRONMENTAL INFORMATION TO AID IMAGE PROCESSING FOR AUTONOMOUS VEHICLES 有权转让
标题翻译：环境信息以支持VISION对于自主汽车的使用
公开(公告)号：EP2976243A1
公开(公告)日：2016-01-27
申请号：EP14817319.8
申请日：2014-04-22
申请人： Google Inc.
发明人： FERGUSON, David, I. , LO, Wan-Yen
IPC分类号： B60W40/00 , B60W40/02
CPC分类号： B60W30/09 , B60W30/12 , B60W30/16 , B60W2420/42 , B60W2550/10 , G01C21/30 , G05D1/0088 , G06K9/00798 , G06K9/00805 , G06K9/3233 , G06K9/6289
摘要： An autonomous vehicle may be configured to use environmental information for image processing. The vehicle may be configured to operate in an autonomous mode in an environment and may be operating substantially in a lane of travel of the environment. The vehicle may include a sensor configured to receive image data indicative of the environment. The vehicle may also include a computer system configured to compare environmental information indicative of the lane of travel to the image data so as to determine a portion of the image data that corresponds to the lane of travel of the environment. Based on the portion of the image data that corresponds to the lane of travel of the environment and by disregarding a remaining portion of the image data, the vehicle may determine whether an object is present in the lane, and based on the determination, provide instructions to control the vehicle in the autonomous mode in the environment.
摘要翻译：一个自治车辆可以配置为使用图像处理的环境信息。车辆可以被配置成自动模式中的环境中运作，并可按环境的行驶车道基本操作。该车辆可包括被配置成接收指示所述环境的图像数据的传感器。因此，车辆可以包括被配置为比较指示的旅行到的图像数据的车道的环境信息的计算机系统，以便确定矿的图像数据的一部分做了对应于所述环境的行驶车道。基于所述图像数据没有对应于所述环境的行驶车道的部分，并通过忽略所述图像数据的剩余部分，车辆可以确定性矿是否对象存在于车道，并且基于该确定，提供指令控制车辆在环境中的自主模式。

2. 发明公开

EP2825434A1 ACTIVELY MODIFYING A FIELD OF VIEW OF AN AUTONOMOUS VEHICLE IN VIEW OF CONSTRAINTS 有权转让
标题翻译：从约束角度看修改自治车辆视野
公开(公告)号：EP2825434A1
公开(公告)日：2015-01-21
申请号：EP13760269.4
申请日：2013-02-20
申请人： Google Inc.
发明人： FERGUSON, David, I. , ZHU, Jiajun
IPC分类号： B60W30/00 , B60W30/08 , B60W30/14
CPC分类号： G05D1/0231 , B60R1/00 , B60R2300/301 , B60R2300/302 , B60R2300/307 , G05D1/0214 , G08G1/167
摘要： Methods and devices for actively modifying a field of view of an autonomous vehicle in view of constraints are disciosed. In one embodiment, an example method is disciosed that includes causing a sensor in an autonomous vehicle to sense information about an environment in a first field of view, where a portion of the environment is obscured in the first field of view. The example method further includes determining a desired field of view in which the portion of the environment is not obscured and, based on the desired field of view and a set of constraints for the vehicle, determining a second field of view in which the portion of the environment is less obscured than in the first field of view. The example method further includes modifying a position of the vehicle, thereby causing the sensor to sense information in the second field of view.
摘要翻译：根据约束主动修改自主车辆的视野的方法和装置被公开。在一个实施例中，公开了一种示例性方法，其包括使自主车辆中的传感器感测关于第一视场中的环境的信息，其中环境的一部分在第一视场中被遮挡。该示例方法还包括确定其中环境的一部分未被遮挡的期望视场，并且基于期望的视场和车辆的一组约束来确定第二视场，在该第二视场中，环境不像第一个视角那么模糊。示例方法还包括修改车辆的位置，从而使传感器感测第二视场中的信息。

3. 发明公开

EP2841316A1 SAFELY NAVIGATING ON ROADS THROUGH MAINTAINING SAFE DISTANCE FROM OTHER VEHICLES 有权转让
标题翻译：航行安全道路上通过保持一定的安全距离其他车辆
公开(公告)号：EP2841316A1
公开(公告)日：2015-03-04
申请号：EP13780735.0
申请日：2013-04-04
申请人： Google Inc.
发明人： FERGUSON, David, I. , DOLGOV, Dmitri
IPC分类号： B60W30/10 , B60W30/12 , B60W30/08 , B60W30/00
CPC分类号： G05D1/0212 , B60W30/12 , B60W50/029 , B60W2550/14 , B60W2550/306 , B60W2550/308 , G05D1/0289 , G06K9/00798 , G06K9/00805
摘要： Some vehicles are configured to operate in an autonomous mode in which the vehicle navigates through an environment with little or no input from a driver. Such a vehicle typically includes one or more sensors that are configured to sense information about the environment. The vehicle may use the sensed information to navigate through the environment. For example, if the sensors sense that the vehicle is approaching an obstacle, the vehicle may navigate around the obstacle.

4. 发明公开

EP2830922A1 A ROBUST METHOD FOR DETECTING TRAFFIC SIGNALS AND THEIR ASSOCIATED STATES 有权转让
标题翻译：一种检测交通信号及其相关状态的稳健方法
公开(公告)号：EP2830922A1
公开(公告)日：2015-02-04
申请号：EP13768787.7
申请日：2013-02-04
申请人： Google Inc.
发明人： FAIRFIELD, Nathaniel , FERGUSON, David, I. , LEDANDOWSKI, Anthony
IPC分类号： B60W40/02 , B60W40/04 , B60W10/00
CPC分类号： B60W30/18154 , B60W2550/22 , B60W2550/402 , G05D1/0088 , G05D1/0231 , G06K9/00791 , G06K9/00818 , G06K9/00825
摘要： 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.
摘要翻译：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，示例方法包括使用车辆的一个或多个传感器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运行，并且目标区域可以是交通信号典型地位于的一类区域。该方法还可以包括检测目标区域信息中的交通信号，确定交通信号的位置以及确定交通信号的状态。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。基于交通信号的状态和交通信号的置信度，车辆可以被控制在自主模式下。

5. 发明公开

EP2812222A2 DETECTING LANE MARKINGS 审中-公开
标题翻译： ERKENNUNG VON FAHRSPURMARKIERUNGEN
公开(公告)号：EP2812222A2
公开(公告)日：2014-12-17
申请号：EP13810454.2
申请日：2013-03-21
申请人： Google Inc.
发明人： BURNETTE, Donald, Jason , FERGUSON, David, I.
IPC分类号： B60W30/10 , B60W30/12
CPC分类号： G06K9/00798 , G06K9/2036
摘要： Aspects of the disclosure relate generally to detecting lane markers. More specifically, laser scan data may be collected by moving a laser (310, 311) along a roadway (500). The laser scan data may include data points (740, 750, 760) describing the intensity and location information of objects within range of the laser. Each beam of the laser may be associated with a respective subset of data points. For a single beam, the subset of data points may be further divided into sections (910, 920, 930). For each section, the average intensity and standard deviation may be used to determine a threshold intensity. A set of lane marker data points may be generated by comparing the intensity of each data point to the threshold intensity for the section in which the data point appears and based on the elevation of the data point. This set may be stored for later use or otherwise made available for further processing.
摘要翻译：本公开的方面通常涉及检测车道标记。更具体地，可以通过沿着道路移动激光来收集激光扫描数据。激光扫描数据可以包括描述激光器范围内物体的强度和位置信息的数据点。激光器的每个光束可以与数据点的相应子集相关联。对于单个波束，数据点的子集可以进一步划分为多个部分。对于每个部分，可以使用平均强度和标准偏差来确定阈值强度。可以通过将每个数据点的强度与数据点出现的部分的阈值强度进行比较，并且基于数据点的高程来生成一组车道标记数据点。该集合可以存储以供以后使用或以其他方式可用于进一步处理。

6. 发明授权

EP2841316B1 SAFELY NAVIGATING ON ROADS THROUGH MAINTAINING SAFE DISTANCE FROM OTHER VEHICLES 有权转让
标题翻译：航行安全道路上通过保持一定的安全距离其他车辆
公开(公告)号：EP2841316B1
公开(公告)日：2017-06-21
申请号：EP13780735.0
申请日：2013-04-04
申请人： Google Inc.
发明人： FERGUSON, David, I. , DOLGOV, Dmitri
IPC分类号： B60W30/10 , B60W30/12 , B60W30/08 , B60W30/00 , B60W50/029 , G05D1/02 , G06K9/00
CPC分类号： G05D1/0212 , B60W30/12 , B60W50/029 , B60W2550/14 , B60W2550/306 , B60W2550/308 , G05D1/0289 , G06K9/00798 , G06K9/00805

7. 发明公开

EP2917082A1 METHODS AND SYSTEMS TO AID AUTONOMOUS DRIVING THROUGH A LANE MERGE 有权转让
标题翻译：方法和系统用于支持独立驱动沿UNITED LANE
公开(公告)号：EP2917082A1
公开(公告)日：2015-09-16
申请号：EP13852521.7
申请日：2013-11-06
申请人： Google Inc.
发明人： FERGUSON, David, I.
IPC分类号： B60W30/10 , B60W30/12 , B60W40/02 , B60W30/14 , B60W30/08
摘要： Methods and devices for controlling a vehicle in an autonomous mode are disclosed. In one aspect, an example method is disclosed that includes obtaining, by a computer system, lane information that provides an estimated location of a lane of a road on which a vehicle is travelling, where the computer system is configured to control the vehicle in an autonomous mode. The example method further includes determining, by the computer system, that the lane information has become unavailable or unreliable and, in response to determining that the lane information has become unavailable or unreliable, the computer system analyzing trajectories of other vehicles to locate a potential merge point on the road and creating a new trajectory that follows the lane at the potential merge point.

8. 发明公开

EP2900531A2 DETERMINING CHANGES IN A DRIVING ENVIRONMENT BASED ON VEHICLE BEHAVIOR 有权转让
标题翻译：测定IN A搭乘区的变化取决于车辆性能
公开(公告)号：EP2900531A2
公开(公告)日：2015-08-05
申请号：EP13864358.0
申请日：2013-09-25
申请人： Google Inc.
发明人： FERGUSON, David, I.
IPC分类号： B60W30/00 , B60W30/10 , B60W40/02
CPC分类号： G08G1/166
摘要： A method and apparatus are provided for determining whether a driving environment has changed relative to previously stored information about the driving environment. The apparatus may include an autonomous driving computer system configured to detect one or more vehicles in the driving environment, and determine corresponding trajectories for those detected vehicles. The autonomous driving computer system may then compare the determined trajectories to an expected trajectory of a hypothetical vehicle in the driving environment. Based on the comparison, the autonomous driving computer system may determine whether the driving environment has changed and/or a probability that the driving environment has changed, relative to the previously stored information about the driving environment.

9. 发明授权

EP2976243B1 USE OF ENVIRONMENTAL INFORMATION TO AID IMAGE PROCESSING FOR AUTONOMOUS VEHICLES 有权转让
标题翻译：环境信息以支持VISION对于自主汽车的使用
公开(公告)号：EP2976243B1
公开(公告)日：2017-03-29
申请号：EP14817319.8
申请日：2014-04-22
申请人： Google Inc.
发明人： FERGUSON, David, I. , LO, Wan-Yen
IPC分类号： G06K9/00
CPC分类号： B60W30/09 , B60W30/12 , B60W30/16 , B60W2420/42 , B60W2550/10 , G01C21/30 , G05D1/0088 , G06K9/00798 , G06K9/00805 , G06K9/3233 , G06K9/6289

10. 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.

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