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1. 发明申请

US20160283804A1 Image and Video Compression for Remote Vehicle Assistance 有权
标题翻译：远程车辆辅助的图像和视频压缩
公开(公告)号：US20160283804A1
公开(公告)日：2016-09-29
申请号：US15173347
申请日：2016-06-03
申请人： Google Inc.
发明人： Vadim Furman , Andrew Hughes Chatham , Abhijit Ogale , Dmitri Dolgov
IPC分类号： G06K9/00 , G06T9/00 , B60R11/04 , G06K9/62
CPC分类号： G06K9/00805 , B60R11/04 , B60R2011/0026 , B60R2011/004 , B60R2011/008 , G01C21/00 , G01C21/30 , G06K9/00791 , G06K9/6202 , G06T9/00 , H04N19/117 , H04N19/136 , H04N19/167 , H04N19/17 , H04N19/85
摘要： A vehicle may receive one or more images of an environment of the vehicle. The vehicle may also receive a map of the environment. The vehicle may also match at least one feature in the one or more images with corresponding one or more features in the map. The vehicle may also identify a given area in the one or more images that corresponds to a a portion of the map that is within a threshold distance to the one or more features. The vehicle may also compress the one or more images to include a lower amount of details in areas of the one or more images other than the given area. The vehicle may also provide the compressed images to a remote system, and responsively receive operation instructions from the remote system.
摘要翻译：车辆可以接收车辆的环境的一个或多个图像。车辆还可以接收环境地图。车辆还可以将一个或多个图像中的至少一个特征与图中的相应的一个或多个特征进行匹配。车辆还可以识别与一个或多个特征的阈值距离内的对应于地图的一部分的一个或多个图像中的给定区域。车辆还可以压缩一个或多个图像以在除了给定区域之外的一个或多个图像的区域中包括较少量的细节。车辆还可以将压缩图像提供给远程系统，并且响应地接收来自远程系统的操作指令。

2. 发明申请

US20140297094A1 Controlling Vehicle Lateral Lane Positioning 有权
标题翻译：控制车辆横向车道定位
公开(公告)号：US20140297094A1
公开(公告)日：2014-10-02
申请号：US14302990
申请日：2014-06-12
申请人： Google Inc.
发明人： Dmitri Dolgov , Christopher Urmson
IPC分类号： B60W30/12
CPC分类号： B60W30/12 , B60W10/20 , B60W30/095 , B60W30/18163 , B60W2550/302 , B60W2550/306 , B60W2750/308 , B62D15/026 , G01C21/3407 , G01C21/3658 , G05D1/0212 , G08G1/167
摘要： Methods and systems for controlling vehicle lateral lane positioning are described. A computing device may be configured to identify an object in a vicinity of a vehicle on a road. The computing device may be configured to estimate, based on characteristics of the vehicle and respective characteristics of the object, an interval of time during which the vehicle will be laterally adjacent to the object. Based on the characteristics of the vehicle, the computing device may be configured to estimate longitudinal positions of the vehicle on the road during the interval of time. Based on the respective characteristics of the object, the computing device may be configured to determine a lateral distance for the vehicle to maintain between the vehicle and the object during the interval of time at the longitudinal positions of the vehicle, and provide instructions to control the vehicle based on the lateral distance.
摘要翻译：描述了用于控制车辆横向车道定位的方法和系统。计算装置可以被配置为识别道路上的车辆附近的物体。计算装置可以被配置为基于车辆的特性和对象的各个特征来估计车辆将横向邻近对象的时间间隔。基于车辆的特征，计算设备可以被配置为在时间间隔期间估计车辆在道路上的纵向位置。基于对象的相应特征，计算设备可以被配置为在车辆的纵向位置的时间间隔期间确定车辆在车辆和物体之间保持的横向距离，并且提供控制指令车辆基于横向距离。

3. 发明授权

US09632210B2 Methods and systems for detecting weather conditions using vehicle onboard sensors 有权
公开(公告)号：US09632210B2
公开(公告)日：2017-04-25
申请号：US13888634
申请日：2013-05-07
申请人： Google Inc.
发明人： Jiajun Zhu , Dmitri Dolgov , Dave Ferguson
IPC分类号： G06F19/00 , G01W1/00 , G01W1/14
CPC分类号： G01W1/00 , G01N21/4738 , G01S17/023 , G01S17/87 , G01W1/14 , G05D1/0088 , G05D1/024 , G05D1/0246 , G05D1/0257 , G05D1/0276 , H04N7/183
摘要： Example methods and systems for detecting weather conditions using vehicle onboard sensors are provided. An example method includes receiving laser data collected for an environment of a vehicle, and the laser data includes a plurality of laser data points. The method also includes associating, by a computing device, laser data points of the plurality of laser data points with one or more objects in the environment, and determining given laser data points of the plurality of laser data points that are unassociated with the one or more objects in the environment as being representative of an untracked object. The method also includes based on one or more untracked objects being determined, identifying by the computing device an indication of a weather condition of the environment.

4. 发明授权

US09384402B1 Image and video compression for remote vehicle assistance 有权
标题翻译：用于远程车辆辅助的图像和视频压缩
公开(公告)号：US09384402B1
公开(公告)日：2016-07-05
申请号：US14249611
申请日：2014-04-10
申请人： Google Inc.
发明人： Vadim Furman , Andrew Hughes Chatham , Abhijit Ogale , Dmitri Dolgov
IPC分类号： G06T9/00 , G06K9/00 , B60R11/04 , G06K9/62 , B60R11/00
CPC分类号： G06K9/00805 , B60R11/04 , B60R2011/0026 , B60R2011/004 , B60R2011/008 , G01C21/00 , G01C21/30 , G06K9/00791 , G06K9/6202 , G06T9/00 , H04N19/117 , H04N19/136 , H04N19/167 , H04N19/17 , H04N19/85
摘要： A vehicle may receive one or more images of an environment of the vehicle. The vehicle may also receive a map of the environment. The vehicle may also match at least one feature in the one or more images with corresponding one or more features in the map. The vehicle may also identify a given area in the one or more images that corresponds to a portion of the map that is within a threshold distance to the one or more features. The vehicle may also compress the one or more images to include a lower amount of details in areas of the one or more images other than the given area. The vehicle may also provide the compressed images to a remote system, and responsively receive operation instructions from the remote system.
摘要翻译：车辆可以接收车辆的环境的一个或多个图像。车辆还可以接收环境地图。车辆还可以将一个或多个图像中的至少一个特征与图中的相应的一个或多个特征进行匹配。车辆还可以识别与一个或多个特征的阈值距离内的对应于地图的一部分的一个或多个图像中的给定区域。车辆还可以压缩一个或多个图像以在除了给定区域之外的一个或多个图像的区域中包括较少量的细节。车辆还可以将压缩图像提供给远程系统，并且响应地接收来自远程系统的操作指令。

5. 发明授权

US09381917B1 Predictive reasoning for controlling speed of a vehicle 有权
公开(公告)号：US09381917B1
公开(公告)日：2016-07-05
申请号：US14827578
申请日：2015-08-17
申请人： Google Inc.
发明人： Dmitri Dolgov , Dave Ferguson
IPC分类号： B60W30/14 , G05D1/00 , G01S13/86
CPC分类号： B60W30/16 , B60W30/143 , B60W30/17 , B60W2420/42 , B60W2550/22 , B60W2550/30 , B60W2550/302 , B60W2550/308 , B60W2750/308 , G01S13/865 , G01S13/867 , G01S13/931 , G01S17/89 , G01S17/936 , G01S2013/9325 , G05D1/0088 , G08G1/167 , G08G1/22
摘要： Methods and systems for predictive reasoning for controlling speed of a vehicle are described. A computing device may be configured to identify a first and second vehicle travelling ahead of an autonomous vehicle and in a same lane as the autonomous vehicle. The computing device may also be configured to determine a first buffer distance behind the first vehicle at which the autonomous vehicle will substantially reach a speed of the first vehicle and a second buffer distance behind the second vehicle at which the first vehicle will substantially reach a speed of the second vehicle. The computing device may further be configured to determine a distance at which to adjust a speed of the autonomous vehicle based on the first and second buffer distances and the speed of the autonomous vehicle, and then provide instructions to adjust the speed of the autonomous vehicle based on the distance.

6. 发明授权

US09342074B2 Systems and methods for transitioning control of an autonomous vehicle to a driver 有权
标题翻译：将自动车辆的控制转变为驾驶员的系统和方法
公开(公告)号：US09342074B2
公开(公告)日：2016-05-17
申请号：US13857240
申请日：2013-04-05
申请人： Google Inc.
发明人： Dmitri Dolgov , Andrew Schultz , Daniel Trawick Egnor , Christopher Urmson
IPC分类号： G01C22/00 , G05D1/00 , B60W30/00
CPC分类号： G05D1/0061 , B60W30/00 , B60W50/10 , B60W2050/0096 , G05D2201/0213
摘要： Methods and systems for adaptive methods for transitioning control to the driver are described. A computing device controlling a vehicle autonomously may be configured to receive a request for a transition of the vehicle from autonomous mode to manual mode through an indication by the driver. The computing device may determine the state of the vehicle based on parameters related to the autonomous operation of the vehicle. Based on the state of the vehicle and the indication, the computing device may determine instructions corresponding to the transition of control, which may include a strategy for the transition and duration of time corresponding to the transition of control. The computing device may provide the instructions to perform the transition of control of the vehicle from autonomous mode to manual mode.
摘要翻译：描述了用于将控制转换到驱动器的自适应方法的方法和系统。可以自动地控制车辆的计算设备可以被配置为通过驾驶员的指示来接收从自主模式转换到手动模式的请求。计算装置可以基于与车辆的自主操作相关的参数来确定车辆的状态。基于车辆的状态和指示，计算设备可以确定对应于控制转换的指令，其可以包括用于转换的策略和对应于控制转换的时间持续时间。计算设备可以提供执行从自主模式到手动模式的车辆控制转换的指令。

7. 发明授权

US09254846B2 Predictive reasoning for controlling speed of a vehicle 有权
标题翻译：控制车辆速度的预测推理
公开(公告)号：US09254846B2
公开(公告)日：2016-02-09
申请号：US13886563
申请日：2013-05-03
申请人： Google Inc.
发明人： Dmitri Dolgov , Dave Ferguson
IPC分类号： B60W30/16 , B60W30/17 , G01S13/93 , G08G1/16 , G08G1/00
CPC分类号： B60W30/16 , B60W30/143 , B60W30/17 , B60W2420/42 , B60W2550/22 , B60W2550/30 , B60W2550/302 , B60W2550/308 , B60W2750/308 , G01S13/865 , G01S13/867 , G01S13/931 , G01S17/89 , G01S17/936 , G01S2013/9325 , G05D1/0088 , G08G1/167 , G08G1/22
摘要： Methods and systems for predictive reasoning for controlling speed of a vehicle are described. A computing device may be configured to identify a first and second vehicle travelling ahead of an autonomous vehicle and in a same lane as the autonomous vehicle. The computing device may also be configured to determine a first buffer distance behind the first vehicle at which the autonomous vehicle will substantially reach a speed of the first vehicle and a second buffer distance behind the second vehicle at which the first vehicle will substantially reach a speed of the second vehicle. The computing device may further be configured to determine a distance at which to adjust a speed of the autonomous vehicle based on the first and second buffer distances and the speed of the autonomous vehicle, and then provide instructions to adjust the speed of the autonomous vehicle based on the distance.
摘要翻译：描述用于控制车辆速度的预测推理的方法和系统。计算设备可以被配置为识别在自主车辆之前行驶的第一和第二车辆，并且与自主车辆在同一车道中。计算设备还可以被配置为确定第一车辆后面的第一缓冲距离，自动车辆将基本达到第一车辆的速度，第二车辆后面的第二缓冲距离将在第一车辆基本达到速度的第二辆车。计算装置还可以被配置为基于第一和第二缓冲器距离和自主车辆的速度来确定用于调整自主车辆的速度的距离，然后提供基于自主车辆的速度来调整自主车辆的速度的指令在距离。

8. 发明授权

US09008890B1 Augmented trajectories for autonomous vehicles 有权
标题翻译：自动车辆增强轨迹
公开(公告)号：US09008890B1
公开(公告)日：2015-04-14
申请号：US13837573
申请日：2013-03-15
申请人： Google Inc.
发明人： Joshua Seth Herbach , Nathaniel Fairfield , Dmitri Dolgov , Peter Colijn , Andrew Chatham
IPC分类号： G06F19/00 , G05D1/02 , G05D1/00
CPC分类号： G05D1/0212 , B60W30/00 , G01C21/34 , G05D1/0214 , G05D1/0231 , G05D1/0297 , G05D2201/0213 , G07C5/008
摘要： An autonomous vehicle may include a stuck condition detection component and a communications component. The stuck-detection component may be configured to detect a condition in which the autonomous vehicle is impeded from navigating according to a first trajectory. The communications component may send an assistance signal to an assistance center and receive a response to the assistance signal. The assistance signal may include sensor information from the autonomous vehicle. The assistance center may include a communications component and a trajectory specification component. The communications component may receive the assistance signal and send a corresponding response. The trajectory specification component may specify a second trajectory for the autonomous vehicle and generate the corresponding response that includes a representation of the second trajectory. The second trajectory may be based on the first trajectory and may ignore an object that obstructs the first trajectory.
摘要翻译：自主车辆可以包括卡住状态检测部件和通信部件。卡住检测部件可以被配置为根据第一轨迹来检测自主车辆被阻止导航的状态。通信部件可以向辅助中心发送辅助信号并且接收对辅助信号的响应。辅助信号可以包括来自自主车辆的传感器信息。辅助中心可以包括通信组件和轨迹规范组件。通信部件可以接收辅助信号并发送相应的响应。轨迹规范组件可以为自主车辆指定第二轨迹，并产生包括第二轨迹表示的对应响应。第二轨迹可以基于第一轨迹，并且可以忽略妨碍第一轨迹的物体。

9. 发明申请

US20140336935A1 Methods and Systems for Detecting Weather Conditions Using Vehicle Onboard Sensors 有权
标题翻译：使用车载传感器检测天气状况的方法和系统
公开(公告)号：US20140336935A1
公开(公告)日：2014-11-13
申请号：US13888634
申请日：2013-05-07
申请人： Google Inc.
发明人： Jiajun Zhu , Dmitri Dolgov , Dave Ferguson
IPC分类号： G01W1/00
CPC分类号： G01W1/00 , G01N21/4738 , G01S17/023 , G01S17/87 , G01W1/14 , G05D1/0088 , G05D1/024 , G05D1/0246 , G05D1/0257 , G05D1/0276 , H04N7/183
摘要： Example methods and systems for detecting weather conditions using vehicle onboard sensors are provided. An example method includes receiving laser data collected for an environment of a vehicle, and the laser data includes a plurality of laser data points. The method also includes associating, by a computing device, laser data points of the plurality of laser data points with one or more objects in the environment, and determining given laser data points of the plurality of laser data points that are unassociated with the one or more objects in the environment as being representative of an untracked object. The method also includes based on one or more untracked objects being determined, identifying by the computing device an indication of a weather condition of the environment.
摘要翻译：提供了使用车载传感器检测天气状况的示例方法和系统。示例性方法包括接收针对车辆的环境收集的激光数据，并且激光数据包括多个激光数据点。该方法还包括通过计算设备将多个激光数据点中的激光数据点与环境中的一个或多个对象相关联，并且确定与该一个或多个激光数据点不相关的多个激光数据点的给定激光数据点，更多的对象在环境中代表未被追踪的对象。该方法还包括基于确定的一个或多个未跟踪对象，由计算设备识别环境的天气状况的指示。

10. 发明申请

US20140330479A1 Predictive Reasoning for Controlling Speed of a Vehicle 有权
标题翻译：控制车辆速度的预测推理
公开(公告)号：US20140330479A1
公开(公告)日：2014-11-06
申请号：US13886563
申请日：2013-05-03
申请人： Google Inc.
发明人： Dmitri Dolgov , Dave Ferguson
IPC分类号： B60W30/16
CPC分类号： B60W30/16 , B60W30/143 , B60W30/17 , B60W2420/42 , B60W2550/22 , B60W2550/30 , B60W2550/302 , B60W2550/308 , B60W2750/308 , G01S13/865 , G01S13/867 , G01S13/931 , G01S17/89 , G01S17/936 , G01S2013/9325 , G05D1/0088 , G08G1/167 , G08G1/22
摘要： Methods and systems for predictive reasoning for controlling speed of a vehicle are described. A computing device may be configured to identify a first and second vehicle travelling ahead of an autonomous vehicle and in a same lane as the autonomous vehicle. The computing device may also be configured to determine a first buffer distance behind the first vehicle at which the autonomous vehicle will substantially reach a speed of the first vehicle and a second buffer distance behind the second vehicle at which the first vehicle will substantially reach a speed of the second vehicle. The computing device may further be configured to determine a distance at which to adjust a speed of the autonomous vehicle based on the first and second buffer distances and the speed of the autonomous vehicle, and then provide instructions to adjust the speed of the autonomous vehicle based on the distance.
摘要翻译：描述用于控制车辆速度的预测推理的方法和系统。计算设备可以被配置为识别在自主车辆之前行驶的第一和第二车辆，并且与自主车辆在同一车道中。计算设备还可以被配置为确定第一车辆后面的第一缓冲距离，自动车辆将基本达到第一车辆的速度，第二车辆后面的第二缓冲距离将在第一车辆基本达到速度的第二辆车。计算装置还可以被配置为基于第一和第二缓冲器距离和自主车辆的速度来确定用于调整自主车辆的速度的距离，然后提供基于自主车辆的速度来调整自主车辆的速度的指令在距离。

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