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1. 发明授权

US08855849B1 Object detection based on known structures of an environment of an autonomous vehicle 有权
标题翻译：基于自主车辆的环境的已知结构的对象检测
公开(公告)号：US08855849B1
公开(公告)日：2014-10-07
申请号：US13775554
申请日：2013-02-25
申请人： David I. Ferguson , Abhijit Ogale
发明人： David I. Ferguson , Abhijit Ogale
IPC分类号： G05D1/00
CPC分类号： G05D1/00 , G05D1/0214 , G05D1/0246 , G05D2201/0213 , G06K9/00805
摘要： An autonomous vehicle may be configured to detect objects based on known structures of an environment. The vehicle may be configured to obtain image data from a sensor and be configured to operate in an autonomous mode. The image data may include data indicative of a known structure in the environment. The vehicle may include a computer system. The computer system may determine, based on a first portion of the image data, information indicative of an appearance of the known structure. The computer system may determine, based on a second portion of the image data, information indicative of an appearance of an unknown object in the environment. The computer system may also compare the information indicative of the appearance of the known structure with the information indicative of the appearance of the unknown object and provide instructions to control the vehicle in the autonomous mode based on the comparison.
摘要翻译：自主车辆可以被配置为基于环境的已知结构来检测对象。车辆可以被配置为从传感器获得图像数据并且被配置为以自主模式操作。图像数据可以包括指示环境中的已知结构的数据。车辆可以包括计算机系统。计算机系统可以基于图像数据的第一部分来确定指示已知结构的外观的信息。计算机系统可以基于图像数据的第二部分来确定指示环境中的未知对象的外观的信息。计算机系统还可以将表示已知结构的外观的信息与指示未知对象的外观的信息进行比较，并且基于比较提供以自主模式控制车辆的指令。

2. 发明授权

US09760092B2 Actively modifying a field of view of an autonomous vehicle in view of constraints 有权
公开(公告)号：US09760092B2
公开(公告)日：2017-09-12
申请号：US13423143
申请日：2012-03-16
申请人： David I. Ferguson , Jiajun Zhu
发明人： David I. Ferguson , Jiajun Zhu
IPC分类号： G05D1/02 , G08G1/16 , B60R1/00
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 disclosed. In one embodiment, an example method is disclosed 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.

3. 发明授权

US09495874B1 Automated system and method for modeling the behavior of vehicles and other agents 有权
标题翻译：用于建模车辆和其他代理行为的自动化系统和方法
公开(公告)号：US09495874B1
公开(公告)日：2016-11-15
申请号：US13446494
申请日：2012-04-13
申请人： Jiajun Zhu , David I. Ferguson , Dmitri A. Dolgov
发明人： Jiajun Zhu , David I. Ferguson , Dmitri A. Dolgov
IPC分类号： G05D1/02 , G08G1/16 , G06K9/00 , B60W30/09 , B60W30/095 , B60W30/08 , G01R19/25 , G05D1/00 , G06K9/32
CPC分类号： B60W30/09 , B60W30/08 , B60W30/095 , B60W30/0956 , B60W50/0097 , G01R19/25 , G05D1/0088 , G05D1/0212 , G05D1/0214 , G05D1/0289 , G06K9/00791 , G06K9/00798 , G06K9/00805 , G06K9/00818 , G06K9/00825 , G06K9/3241 , G06N3/00 , G08G1/09623 , G08G1/09626 , G08G1/096725 , G08G1/096741 , G08G1/096775 , G08G1/164 , G08G1/165 , G08G1/166
摘要： A method and apparatus are provided for determining one or more behavior models used by an autonomous vehicle to predict the behavior of detected objects. The autonomous vehicle may collect and record object behavior using one or more sensors. The autonomous vehicle may then communicate the recorded object behavior to a server operative to determine the behavior models. The server may determine the behavior models according to a given object classification, actions of interest performed by the object, and the object's perceived surroundings.
摘要翻译：提供了一种用于确定由自主车辆使用以预测检测到的对象的行为的一个或多个行为模型的方法和装置。自主车辆可以使用一个或多个传感器来收集和记录对象行为。然后，自主车辆可以将记录的对象行为传达给可操作以确定行为模型的服务器。服务器可以根据给定的对象分类，由对象执行的感兴趣的动作以及对象的感知环境来确定行为模型。

4. 发明授权

US09355562B1 Using other vehicle trajectories to aid autonomous vehicles driving through partially known areas 有权
标题翻译：使用其他车辆轨迹来帮助自主车辆通过部分已知的区域行驶
公开(公告)号：US09355562B1
公开(公告)日：2016-05-31
申请号：US13585344
申请日：2012-08-14
申请人： David I. Ferguson
发明人： David I. Ferguson
IPC分类号： G08G1/16 , B60W30/12 , G08G1/0962
CPC分类号： G08G1/167 , B62D15/025 , G05D1/0214 , G05D2201/0213 , G08G1/0112 , G08G1/0129 , G08G1/0145 , G08G1/096816 , G08G1/096844 , G08G1/20
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 selecting a predetermined trajectory from a plurality of predetermined trajectories and controlling the vehicle to travel along the selected predetermined trajectory.
摘要翻译：公开了以自主模式控制车辆的方法和装置。一方面，公开了一种示例性方法，其包括通过计算机系统获得提供车辆行驶的道路的车道的估计位置的车道信息，其中所述计算机系统被配置为以自主模式。该示例方法还包括由计算机系统确定车道信息变得不可用或不可靠，并且响应于确定车道信息变得不可用或不可靠，计算机系统从多个预定轨迹中选择预定轨迹并且控制车辆沿所选择的预定轨迹行进。

5. 发明授权

US09145140B2 Robust method for detecting traffic signals and their associated states 有权
标题翻译：用于检测交通信号及其相关状态的鲁棒方法
公开(公告)号：US09145140B2
公开(公告)日：2015-09-29
申请号：US13430150
申请日：2012-03-26
申请人： David I. Ferguson , Nathaniel Fairfield , Anthony Levandowski
发明人： David I. Ferguson , Nathaniel Fairfield , Anthony Levandowski
IPC分类号： G05D1/00 , B60W30/18 , G06K9/00 , G05D1/02
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。

6. 发明授权

US08838322B1 System to automatically measure perception sensor latency in an autonomous vehicle 有权
标题翻译：自动测量自主车辆感知传感器延迟的系统
公开(公告)号：US08838322B1
公开(公告)日：2014-09-16
申请号：US13585486
申请日：2012-08-14
申请人： Jiajun Zhu , David I. Ferguson
发明人： Jiajun Zhu , David I. Ferguson
IPC分类号： G01C22/00
CPC分类号： G01C22/00 , B60W30/00 , G01S7/4004 , G01S7/497 , G01S13/86 , G01S13/931 , G01S17/023 , G01S17/936 , G05D1/024 , G05D1/0248 , G05D1/0257 , G05D2201/0213
摘要： A vehicle may operate in an autonomous mode in an environment during a test period. The vehicle may include at least one sensor coupled to the vehicle, configured to acquire sensor data during the test period. The sensor data may include data representative of a target object in the environment. The vehicle may operate the sensor to obtain the sensor data. The vehicle may define a movement of the vehicle, determine a predicted movement of the target object in the sensor data based on the defined movement, initiate the defined movement of the vehicle at an initiation time during the test period, complete the defined movement of the vehicle at a completion time during the test period, analyze the sensor data obtained during the test period, and determine a latency of the at least one sensor based on the analyzed data.
摘要翻译：在测试期间，车辆可以在环境中以自主模式操作。车辆可以包括耦合到车辆的至少一个传感器，被配置为在测试期间获取传感器数据。传感器数据可以包括表示环境中的目标对象的数据。车辆可以操作传感器以获得传感器数据。车辆可以定义车辆的运动，基于所确定的运动来确定传感器数据中的目标物体的预测运动，在测试期间的起始时间开始定义的车辆运动，完成定义的运动在测试期间的完成时间，分析在测试期间获得的传感器数据，并且基于分析的数据确定至少一个传感器的等待时间。

7. 发明授权

US08761991B1 Use of uncertainty regarding observations of traffic intersections to modify behavior of a vehicle 有权
标题翻译：使用交通十字路口观测的不确定性来修改车辆的行为
公开(公告)号：US08761991B1
公开(公告)日：2014-06-24
申请号：US13441996
申请日：2012-04-09
申请人： David I. Ferguson , Nathaniel Fairfield
发明人： David I. Ferguson , Nathaniel Fairfield
IPC分类号： G01C22/00
CPC分类号： G05D1/0088 , B60W30/18154 , B60W2550/22 , G08G1/09623 , G08G1/096725 , G08G1/096758 , G08G1/096783
摘要： Methods and devices for using uncertainty regarding observations of traffic intersections to modify behavior of a vehicle are disclosed. In one embodiment, an example method includes determining a state of a traffic intersection using information from one or more sensors of a vehicle. The vehicle may be configured to operate in an autonomous mode. The method may also include determining an uncertainty associated with the determined state of the traffic intersection. The method may further include controlling the vehicle in the autonomous mode based on the determined state of the traffic intersection and the determined uncertainty.
摘要翻译：公开了用于对交通交叉点观测的不确定性以修改车辆行为的方法和装置。在一个实施例中，示例性方法包括使用来自车辆的一个或多个传感器的信息确定交通路口的状态。车辆可以被配置为以自主模式操作。该方法还可以包括确定与确定的交通路口的状态相关联的不确定性。该方法还可以包括基于确定的交通路口的状态和所确定的不确定性来控制在自主模式中的车辆。

8. 发明授权

US08521352B1 Controlling a vehicle having inadequate map data 有权
标题翻译：控制地图数据不足的车辆
公开(公告)号：US08521352B1
公开(公告)日：2013-08-27
申请号：US13465348
申请日：2012-05-07
申请人： David I. Ferguson , Dmitri A. Dolgov
发明人： David I. Ferguson , Dmitri A. Dolgov
IPC分类号： G01C22/00
CPC分类号： G05D1/0212 , B62D15/0285 , G05D1/0274 , G05D2201/0213
摘要： A vehicle can be controlled in a first autonomous mode of operation by at least navigating the vehicle based on map data. Sensor data can be obtained using one or more sensors of the vehicle. The sensor data can be indicative of an environment of the vehicle. An inadequacy in the map data can be detected by at least comparing the map data to the sensor data. In response to detecting the inadequacy in the map data, the vehicle can be controlled in a second autonomous mode of operation and a user can be prompted to switch to a manual mode of operation. The vehicle can be controlled in the second autonomous mode of operation by at least obtaining additional sensor data using the one or more sensors of the vehicle and navigating the vehicle based on the additional sensor data.
摘要翻译：通过至少基于地图数据导航车辆，可以在第一自主操作模式下控制车辆。可以使用车辆的一个或多个传感器来获得传感器数据。传感器数据可以指示车辆的环境。可以通过至少将地图数据与传感器数据进行比较来检测地图数据的不足。响应于检测到地图数据的不足，可以将车辆控制在第二自主操作模式中，并且可以提示用户切换到手动操作模式。可以通过至少使用车辆的一个或多个传感器获得额外的传感器数据并基于附加的传感器数据导航车辆来将车辆控制在第二自主操作模式中。

9. 发明授权

US09120484B1 Modeling behavior based on observations of objects observed in a driving environment 有权
标题翻译：基于在驾驶环境中观察到的物体观测的建模行为
公开(公告)号：US09120484B1
公开(公告)日：2015-09-01
申请号：US13253429
申请日：2011-10-05
申请人： David I. Ferguson , Jiajun Zhu , Dmitri A. Dolgov
发明人： David I. Ferguson , Jiajun Zhu , Dmitri A. Dolgov
IPC分类号： B60W30/08 , G06K9/00
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 method and apparatus are provided for determining one or more object models used by an autonomous vehicle to predict the behavior of detected objects. The autonomous vehicle may collect and record object behavior using one or more sensors. The autonomous vehicle may then communicate the recorded object behavior to a server operative to determine the object models. The server may determine the object models according to a given object classification, a particular driving environment, or a combination thereof. The server may then communicate the object models to the autonomous vehicle for use in predicting the actions of detected objects and for responding accordingly.
摘要翻译：提供了一种用于确定由自主车辆使用以预测检测到的物体的行为的一个或多个对象模型的方法和装置。自主车辆可以使用一个或多个传感器来收集和记录对象行为。然后，自主车辆可以将记录的对象行为传达给可操作以确定对象模型的服务器。服务器可以根据给定的对象分类，特定的驾驶环境或其组合来确定对象模型。然后，服务器可以将对象模型传送到自主车辆，以用于预测检测到的对象的动作并相应地进行响应。

10. 发明授权

US08880272B1 Approach for estimating the geometry of roads and lanes by using vehicle trajectories 有权
标题翻译：通过使用车辆轨迹估算道路和车道几何的方法
公开(公告)号：US08880272B1
公开(公告)日：2014-11-04
申请号：US13422676
申请日：2012-03-16
申请人： David I. Ferguson , Dmitri A. Dolgov
发明人： David I. Ferguson , Dmitri A. Dolgov
IPC分类号： G05D1/02
CPC分类号： G08G1/096725 , B60W10/04 , B60W10/18 , B60W10/184 , B60W10/20 , B60W30/0956 , B60W30/10 , B60W30/16 , B60W30/18163 , B60W40/072 , B60W2050/0077 , B60W2550/143 , B60W2550/306 , B60W2550/308 , B60W2550/402 , B60W2710/18 , B60W2710/20 , G01C21/32 , G05D1/0088 , G05D1/0212 , G05D1/0246 , G05D1/0257 , G05D1/0287 , G08G1/20 , G08G1/22
摘要： A method and apparatus is provided for controlling the operation of an autonomous vehicle. According to one aspect, the autonomous vehicle may track the trajectories of other vehicles on a road. Based on the other vehicle's trajectories, the autonomous vehicle may generate a representative trajectory. Afterwards, the autonomous vehicle may change at least one of its speed or direction based on the representative trajectory.
摘要翻译：提供了一种用于控制自主车辆的操作的方法和装置。根据一个方面，自主车辆可以跟踪道路上的其他车辆的轨迹。基于其他车辆的轨迹，自主车辆可以产生代表性轨迹。之后，自主车辆可以基于代表性轨迹改变其速度或方向中的至少一个。

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