专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

1. 发明授权

US08874372B1 Object detection and classification for autonomous vehicles 有权
标题翻译：自主车辆的物体检测和分类
公开(公告)号：US08874372B1
公开(公告)日：2014-10-28
申请号：US13440555
申请日：2012-04-05
申请人： Jiajun Zhu , Michael Steven Montemerlo , Christopher Paul Urmson , Andrew Chatham
发明人： Jiajun Zhu , Michael Steven Montemerlo , Christopher Paul Urmson , Andrew Chatham
IPC分类号： G06K9/00
CPC分类号： G06K9/00805 , G01C21/26 , G08G1/09626 , G08G1/096725 , G08G1/096741 , G08G1/096775
摘要： Aspects of the disclosure relate generally to safe and effective use of autonomous vehicles. More specifically, objects detected in a vehicle's surroundings may be detected by the vehicle's various sensors and identified based on their relative location in a roadgraph. The roadgraph may include a graph network of information such as roads, lanes, intersections, and the connections between these features. The roadgraph may also include the boundaries of areas, including for example, crosswalks or bicycle lanes. In one example, an object detected in a location corresponding to a crosswalk area of the roadgraph may be identified as a person. In another example, an object detected in a location corresponding to a bicycle area of the roadgraph and identified as a bicycle. By identifying the type of object in this way, an autonomous vehicle may be better prepared to react to or simply avoid the object.
摘要翻译：本公开的方面一般涉及安全和有效地使用自主车辆。更具体地，可以由车辆的各种传感器检测在车辆周围检测到的物体，并且基于它们在路标图中的相对位置来识别。道路图可以包括信息的图形网络，例如道路，车道，交叉路口以及这些特征之间的连接。道路图也可以包括区域的边界，包括例如人行横道或自行车道。在一个示例中，在与路灯图的人行横道区域相对应的位置中检测到的对象可以被识别为人。在另一示例中，在与路灯图的自行车区域相对应的位置中检测到的物体，并被识别为自行车。通过以这种方式识别对象的类型，自主车辆可以更好地准备反应或者简单地避开物体。

2. 发明授权

US08825391B1 Building elevation maps from laser data 有权
标题翻译：从激光数据建立高程图
公开(公告)号：US08825391B1
公开(公告)日：2014-09-02
申请号：US13198199
申请日：2011-08-04
申请人： Christopher Paul Urmson , Andrew Chatham , Hendrik Dahlkamp , Michael Steven Montemerlo , Jiajun Zhu
发明人： Christopher Paul Urmson , Andrew Chatham , Hendrik Dahlkamp , Michael Steven Montemerlo , Jiajun Zhu
IPC分类号： G01C21/00
CPC分类号： G01S17/89 , G01C21/32 , G05D1/024 , G05D1/0274 , G05D2201/0213 , G09B29/12
摘要： Aspects of the present disclosure relate generally to generating elevation maps. More specifically, data points may be collected by a laser moving along a roadway and used to generate an elevation map of the roadway. The collected data points may be projected onto a two dimensional or “2D” grid. The grid may include a plurality of cells, each cell of the grid representing a geolocated second of the roadway. The data points of each cell may be evaluated to identify an elevation for the particular cell. For example, the data points in a particular cell may be filtered in various ways including occlusion, interpolation from neighboring cells, etc. The minimum value of the remaining data points within each cell may then be used as the elevation for the particular cell, and the elevation of a plurality of cells may be used to generate an elevation map of the roadway.
摘要翻译：本公开的方面通常涉及产生高程图。更具体地，可以通过沿着道路移动的激光来收集数据点，并且用于产生道路的高程图。所收集的数据点可以投影到二维或“2D”网格上。网格可以包括多个单元，网格的每个单元表示道路的地理位置的第二。可以评估每个单元的数据点以识别特定单元的高程。例如，特定小区中的数据点可以以各种方式被过滤，包括闭塞，来自相邻小区的内插等。然后可以将每个小区内剩余数据点的最小值用作特定小区的高程，以及可以使用多个单元的高程来产生道路的高程图。

3. 发明授权

US08195394B1 Object detection and classification for autonomous vehicles 有权
标题翻译：自主车辆的物体检测和分类
公开(公告)号：US08195394B1
公开(公告)日：2012-06-05
申请号：US13181999
申请日：2011-07-13
申请人： Jiajun Zhu , Michael Steven Montemerlo , Christopher Paul Urmson , Andrew Chatham
发明人： Jiajun Zhu , Michael Steven Montemerlo , Christopher Paul Urmson , Andrew Chatham
IPC分类号： G06K9/00
CPC分类号： G06K9/00805 , G01C21/26 , G08G1/09626 , G08G1/096725 , G08G1/096741 , G08G1/096775
摘要： Aspects of the disclosure relate generally to safe and effective use of autonomous vehicles. More specifically, objects detected in a vehicle's surroundings may be detected by the vehicle's various sensors and identified based on their relative location in a roadgraph. The roadgraph may include a graph network of information such as roads, lanes, intersections, and the connections between these features. The roadgraph may also include the boundaries of areas, including for example, crosswalks or bicycle lanes. In one example, an object detected in a location corresponding to a crosswalk area of the roadgraph may be identified as a person. In another example, an object detected in a location corresponding to a bicycle area of the roadgraph and identified as a bicycle. By identifying the type of object in this way, an autonomous vehicle may be better prepared to react to or simply avoid the object.
摘要翻译：本公开的方面一般涉及安全和有效地使用自主车辆。更具体地，可以由车辆的各种传感器检测在车辆周围检测到的物体，并且基于它们在路标图中的相对位置来识别。道路图可以包括信息的图形网络，例如道路，车道，交叉路口以及这些特征之间的连接。道路图也可以包括区域的边界，包括例如人行横道或自行车道。在一个示例中，在与路灯图的人行横道区域相对应的位置中检测到的对象可以被识别为人。在另一示例中，在与路灯图的自行车区域相对应的位置中检测到的物体，并被识别为自行车。通过以这种方式识别对象的类型，自主车辆可以更好地准备反应或者简单地避开物体。

4. 发明授权

US08718861B1 Determining when to drive autonomously 有权
标题翻译：确定何时自主驾驶
公开(公告)号：US08718861B1
公开(公告)日：2014-05-06
申请号：US13444215
申请日：2012-04-11
申请人： Michael Steven Montemerlo , Hyman Jack Murveit , Christopher Paul Urmson , Dmitri A. Dolgov , Philip Nemec
发明人： Michael Steven Montemerlo , Hyman Jack Murveit , Christopher Paul Urmson , Dmitri A. Dolgov , Philip Nemec
IPC分类号： G05D1/00
CPC分类号： G05D1/0061 , B60W30/00 , G05D2201/0213
摘要： Aspects of the disclosure relate generally to determining whether an autonomous vehicle should be driven in an autonomous or semiautonomous mode (where steering, acceleration, and braking are controlled by the vehicle's computer). For example, a computer may maneuver a vehicle in an autonomous or a semiautonomous mode. The computer may continuously receive data from one or more sensors. This data may be processed to identify objects and the characteristics of the objects. The detected objects and their respective characteristics may be compared to a traffic pattern model and detailed map information. If the characteristics of the objects deviate from the traffic pattern model or detailed map information by more than some acceptable deviation threshold value, the computer may generate an alert to inform the driver of the need to take control of the vehicle or the computer may maneuver the vehicle in order to avoid any problems.
摘要翻译：本公开的方面通常涉及确定自主车辆是否应以自主或半自主模式（其中转向，加速和制动由车辆的计算机控制）驱动。例如，计算机可以以自主或半自主的方式操纵车辆。计算机可以连续地从一个或多个传感器接收数据。可以处理该数据以识别对象和对象的特征。可以将检测到的对象及其各自的特征与交通模式模型和详细地图信息进行比较。如果物体的特征偏离交通模式模型或详细地图信息超过一些可接受的偏差阈值，则计算机可以产生警报以通知驾驶员需要控制车辆，或者计算机可以操纵车辆为了避免任何问题。

5. 发明授权

US09476970B1 Camera based localization 有权
标题翻译：基于摄像头的本地化
公开(公告)号：US09476970B1
公开(公告)日：2016-10-25
申请号：US13423704
申请日：2012-03-19
申请人： Nathaniel Fairfield , Christopher Paul Urmson , Michael Steven Montemerlo
发明人： Nathaniel Fairfield , Christopher Paul Urmson , Michael Steven Montemerlo
IPC分类号： H04N7/18 , G01S11/12 , G01S5/00 , A61B5/18
CPC分类号： G01S11/12 , A61B5/18 , G01S5/0009 , G01S5/16 , G05D1/0246 , G05D2201/0213 , G06T7/74 , G06T2207/30252
摘要： Aspects of the disclosure relate generally to autonomous vehicles. 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. In particular, the disclosure includes a system and method of determining a vehicle's location based on a comparison of images captured from the vehicle with a database of images.
摘要翻译：本公开的方面通常涉及自主车辆。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。具体地，本公开包括基于从车辆捕获的图像与图像数据库的比较来确定车辆位置的系统和方法。

6. 发明授权

US08509982B2 Zone driving 有权
标题翻译：区域驾驶
公开(公告)号：US08509982B2
公开(公告)日：2013-08-13
申请号：US13150589
申请日：2011-06-01
申请人： Michael Steven Montemerlo , Dmitri A. Dolgov , Christopher Paul Urmson
发明人： Michael Steven Montemerlo , Dmitri A. Dolgov , Christopher Paul Urmson
IPC分类号： G05D1/02 , G01C21/36
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 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 associated with particular rules. The zones 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 to alert a driver that the vehicle is approaching a zone. The vehicle may thus require a driver to take control of steering, acceleration, deceleration, etc. In another example, the zones 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 observer 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.
摘要翻译：道路图可以包括信息的图形网络，例如道路，车道，交叉路口以及这些特征之间的连接。道路图也可以包括与特定规则相关联的一个或多个区域。这些区域可以包括驾驶通常是具有挑战性的位置，例如合并，建筑区域或其他障碍物。在一个示例中，规则可能需要自主车辆来警告驾驶员车辆正在接近区域。因此，车辆可能需要驾驶员来控制转向，加速，减速等。在另一个示例中，区域可以由驾驶员指定，并且可以广播到其他附近的车辆，例如使用无线电链路或其他网络其他车辆可能能够在相同的位置观察相同的规则，或者至少通知另一车辆的司机，另一司机认为该位置对于自主驾驶是不安全的。

7. 发明申请

US20120083964A1 ZONE DRIVING 有权
标题翻译：区域驱动
公开(公告)号：US20120083964A1
公开(公告)日：2012-04-05
申请号：US13150589
申请日：2011-06-01
申请人： Michael Steven Montemerlo , Dmitri A. Dolgov , Christopher Paul Urmson
发明人： Michael Steven Montemerlo , Dmitri A. Dolgov , Christopher Paul Urmson
IPC分类号： G05D1/00 , G01C21/36
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 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 associated with particular rules. The zones 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 to alert a driver that the vehicle is approaching a zone. The vehicle may thus require a driver to take control of steering, acceleration, deceleration, etc. In another example, the zones 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 observer 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.
摘要翻译：道路图可以包括信息的图形网络，例如道路，车道，交叉路口以及这些特征之间的连接。道路图也可以包括与特定规则相关联的一个或多个区域。这些区域可以包括驾驶通常是具有挑战性的位置，例如合并，建筑区域或其他障碍物。在一个示例中，规则可能需要自主车辆来警告驾驶员车辆正在接近区域。因此，车辆可能需要驾驶员来控制转向，加速，减速等。在另一个示例中，区域可以由驾驶员指定，并且可以广播到其他附近的车辆，例如使用无线电链路或其他网络其他车辆可能能够在相同的位置观察相同的规则，或者至少通知另一车辆的司机，另一司机认为该位置对于自主驾驶是不安全的。

8. 发明授权

US08565958B1 Removing extraneous objects from maps 有权
标题翻译：从地图中移除无关物品
公开(公告)号：US08565958B1
公开(公告)日：2013-10-22
申请号：US13151461
申请日：2011-06-02
申请人： Michael Steven Montemerlo , Donald Jason Burnette , Andrew Chatham , Daniel Trawick Egnor
发明人： Michael Steven Montemerlo , Donald Jason Burnette , Andrew Chatham , Daniel Trawick Egnor
IPC分类号： G01C21/32 , G09B29/00 , G05D1/02
CPC分类号： G05D1/024 , G05D1/0274 , G05D2201/0213 , G09B29/106
摘要： Aspects of the present disclosure relate generally to safe and effective use of autonomous vehicles. More specifically, laser data including locations, intensities, and elevation data may be collected along a roadway in order to generate a 3D map of the roadway. In order to remove extraneous objects such as moving vehicles from the 3D map, a 2D grid of the roadway may be generated. The grid may include a plurality of cells, each representing an area of the roadway. The collected data may be sorted into the grid based on location and then evaluated to identify the lowest elevation of the cell. All data points above some threshold distance above this lowest elevation may be removed. The resulting data points may be used to generate a 3D map of the roadway which excludes the extraneous objects.
摘要翻译：本公开的方面通常涉及安全和有效地使用自主车辆。更具体地，可以沿着道路收集包括位置，强度和高程数据的激光数据，以便生成道路的3D地图。为了从3D地图移除车辆等外来物体，可能会产生道路的二维网格。网格可以包括多个单元，每个单元表示道路的区域。收集的数据可以基于位置被分类到网格中，然后被评估以识别小区的最低海拔。超过这个最低高度的某个阈值距离以上的所有数据点都可以被去除。所得到的数据点可用于生成排除外来物体的道路的3D地图。

9. 发明授权

US08885151B1 Condensing sensor data for transmission and processing 有权
标题翻译：冷凝传感器数据进行传输和处理
公开(公告)号：US08885151B1
公开(公告)日：2014-11-11
申请号：US13602665
申请日：2012-09-04
申请人： Andrew Hughes Chatham , Michael Steven Montemerlo , Daniel Trawick Egnor
发明人： Andrew Hughes Chatham , Michael Steven Montemerlo , Daniel Trawick Egnor
IPC分类号： G01S17/89
CPC分类号： G01S17/89 , G01S7/4808 , G01S17/42
摘要： Aspects of the disclosure relate generally to condensing sensor data for transmission and processing. For example, laser scan data including location, elevation, and intensity information may be collected along a roadway. This data may be sectioned into quanta representing some period of time during which the laser sweeps through a portion of its field of view. The data may also be filtered spatially to remove data outside of a threshold quality area. The data within the threshold quality area for a particular quantum may be projected onto a two-dimensional grid of cells. For each cell of the two-dimensional grid, a computer evaluates the cells to determine a set of characteristics for the cell. The sets of characteristics for all of the cells of the two-dimensional grid for the particular quantum are then sent to a central computing system for further processing.
摘要翻译：本公开的方面通常涉及冷凝用于传输和处理的传感器数据。例如，可以沿着道路收集包括位置，高程和强度信息的激光扫描数据。该数据可以被分割成表示激光扫描其视场的一部分的一段时间的量子。也可以在空间上对数据进行滤波以去除阈值质量区域之外的数据。用于特定量子的阈值质量区域内的数据可以投影到二维网格格子上。对于二维网格的每个单元，计算机评估单元以确定单元格的一组特性。然后将用于特定量子的二维网格的所有单元的特征集合发送到中央计算系统用于进一步处理。

10. 发明授权

US08612135B1 Method and apparatus to localize an autonomous vehicle using convolution 有权
标题翻译：使用卷积来定位自主车辆的方法和装置
公开(公告)号：US08612135B1
公开(公告)日：2013-12-17
申请号：US13396153
申请日：2012-02-14
申请人： Michael Steven Montemerlo , Sebastian Thrun
发明人： Michael Steven Montemerlo , Sebastian Thrun
IPC分类号： G01C21/00 , G01C21/12 , G01C21/34 , G01C21/36
CPC分类号： G01C21/00 , G01C21/30 , G05D1/0246 , G05D1/0274 , G05D2201/0213
摘要： Aspects of the disclosure relate generally to an autonomous vehicle accessing portions of a map to localize itself within the map. More specifically, one or more convolution scores may be generated between a prior map and a current map. Convolution scores may be generated by applying a fast Fourier transform on both the prior and current maps, multiplying the results of the transforms, and taking the inverse fast Fourier transform of the product. Based on these convolution scores, an autonomous vehicle may determine the offset between the maps and localize itself relative to the prior map.
摘要翻译：本公开的方面通常涉及访问地图的部分以在地图内本地化的自主车辆。更具体地，可以在先前地图和当前地图之间生成一个或多个卷积分数。卷积得分可以通过在先前和当前图上应用快速傅里叶变换，乘以变换结果，并进行乘积的快速傅立叶反变换来产生。基于这些卷积得分，自主车辆可以确定地图之间的偏移量并相对于先前的地图本身化。

你已经成功收藏专利！

检索式保存成功!

IPRDB

热门服务

关于我们

友情链接

联系方式