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1. 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。

2. 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。

3. 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。

4. 发明申请

US20120083959A1 DIAGNOSIS AND REPAIR FOR AUTONOMOUS VEHICLES 有权
标题翻译：自动车辆诊断和维修
公开(公告)号：US20120083959A1
公开(公告)日：2012-04-05
申请号：US13248674
申请日：2011-09-29
申请人： Dmitri A. Dolgov , Christopher Paul Urmson
发明人： Dmitri A. Dolgov , Christopher Paul Urmson
IPC分类号： G05D1/00
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 is provided. In one aspect, the system and method determines the amount of wear on a component of the vehicle and, based on the amount of wear and information derived from the environment surrounding the vehicle (e.g., another vehicle in the path of the vehicle or a requirement to stop at a particular location), maneuvers the vehicle to mitigate further wear on the component.
摘要翻译：提供一种控制车辆的系统和方法。一方面，系统和方法确定车辆部件上的磨损量，并且基于从车辆周围的环境（例如，车辆的路径中的另一车辆或要求）导致的磨损量和信息量在特定位置停止），操纵车辆以减轻部件上的进一步磨损。

5. 发明授权

US08634980B1 Driving pattern recognition and safety control 有权
标题翻译：驾驶模式识别和安全控制
公开(公告)号：US08634980B1
公开(公告)日：2014-01-21
申请号：US13248582
申请日：2011-09-29
申请人： Christopher Paul Urmson , Dmitri A. Dolgov , Philip Nemec
发明人： Christopher Paul Urmson , Dmitri A. Dolgov , Philip Nemec
IPC分类号： G05D1/00
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： Systems and methods are provided for controlling a vehicle. A safe envelope driving pattern is determined to control the vehicle in an autonomous mode. User identification data and sensor data are received from one or more sensors associated with the vehicle. A driver-specific driving pattern is determined based on the received sensor data and the user identification data. Operation of the vehicle is controlled in the autonomous mode based on the identification of the user in the driver's seat, the safe envelope driving pattern, and the user-specific driving pattern.
摘要翻译：提供了用于控制车辆的系统和方法。确定安全信封驱动模式以在自主模式下控制车辆。从与车辆相关联的一个或多个传感器接收用户识别数据和传感器数据。基于所接收的传感器数据和用户识别数据来确定驾驶员特定的驾驶模式。基于驾驶员座椅中的用户识别，安全信封驾驶模式和用户特定驾驶模式，以自主模式控制车辆的操作。

6. 发明授权

US08874305B2 Diagnosis and repair for autonomous vehicles 有权
标题翻译：自主车辆的诊断和修理
公开(公告)号：US08874305B2
公开(公告)日：2014-10-28
申请号：US13248674
申请日：2011-09-29
申请人： Dmitri A. Dolgov , Christopher Paul Urmson
发明人： Dmitri A. Dolgov , Christopher Paul Urmson
IPC分类号： B60T7/12 , G05D1/02 , B60W30/186
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 is provided. In one aspect, the system and method determines the amount of wear on a component of the vehicle and, based on the amount of wear and information derived from the environment surrounding the vehicle (e.g., another vehicle in the path of the vehicle or a requirement to stop at a particular location), maneuvers the vehicle to mitigate further wear on the component.
摘要翻译：提供一种控制车辆的系统和方法。一方面，系统和方法确定车辆部件上的磨损量，并且基于从车辆周围的环境（例如，车辆的路径中的另一车辆或要求）导致的磨损量和信息量在特定位置停止），操纵车辆以减轻部件上的进一步磨损。

7. 发明授权

US09196164B1 Pedestrian notifications 有权
标题翻译：行人通知
公开(公告)号：US09196164B1
公开(公告)日：2015-11-24
申请号：US13628290
申请日：2012-09-27
申请人： Christopher Paul Urmson , Ian James Mahon , Dmitri A. Dolgov , Jiajun Zhu
发明人： Christopher Paul Urmson , Ian James Mahon , Dmitri A. Dolgov , Jiajun Zhu
IPC分类号： G08G1/16 , B60T8/1755
CPC分类号： G08G1/167 , B60Q1/50 , B60Q5/005 , B60T8/17558 , B60T2201/022 , G08G1/165 , G08G1/166
摘要： Aspects of the disclosure relate generally to notifying a pedestrian of the intent of a self-driving vehicle. For example, the vehicle may include sensors which detect an object such as a pedestrian attempting or about to cross the roadway in front of the vehicle. The vehicle's computer may then determine the correct way to respond to the pedestrian. For example, the computer may determine that the vehicle should stop or slow down, yield, or stop if it is safe to do so. The vehicle may then provide a notification to the pedestrian of what the vehicle is going to or is currently doing. For example, the vehicle may include a physical signaling device, an electronic sign or lights, a speaker for providing audible notifications, etc.
摘要翻译：本公开的方面通常涉及向行人通知自驾驶车辆的意图。例如，车辆可以包括传感器，该传感器检测在车辆前方尝试或即将穿过道路的行人等物体。车辆的电脑然后可以确定正确的方式来响应行人。例如，如果安全可行，则计算机可能会确定车辆应该停止或减速，屈服或停止。车辆然后可以向行人提供车辆将要去或正在做什么的通知。例如，车辆可以包括物理信号装置，电子标志或灯，用于提供可听通知的扬声器等。

8. 发明授权

US09180882B1 Avoiding blind spots of other vehicles 有权
标题翻译：避免其他车辆的盲点
公开(公告)号：US09180882B1
公开(公告)日：2015-11-10
申请号：US13528122
申请日：2012-06-20
申请人： Dmitri A. Dolgov , Christopher Paul Urmson
发明人： Dmitri A. Dolgov , Christopher Paul Urmson
IPC分类号： G08G1/16 , B60W30/095 , B60W30/08 , B60W30/09
CPC分类号： G05D1/0214 , B60W30/08 , B60W30/09 , B60W30/095 , B60W30/0956 , B60W30/12 , B60W30/16 , B60W50/0097 , B60W2550/20 , B60W2720/10 , G01C21/26 , G05D1/0061 , G05D1/0088 , G08G1/16 , G08G1/166 , G08G1/167
摘要： Aspects of the disclosure relate generally to detecting and avoiding blind spots of other vehicles when maneuvering an autonomous vehicle. Blind spots may include both areas adjacent to another vehicle in which the driver of that vehicle would be unable to identify another object as well as areas that a second driver in a second vehicle may be uncomfortable driving. In one example, a computer of the autonomous vehicle may identify objects that may be relevant for blind spot detecting and may determine the blind spots for these other vehicles. The computer may predict the future locations of the autonomous vehicle and the identified vehicles to determine whether the autonomous vehicle would drive in any of the determined blind spots. If so, the autonomous driving system may adjust its speed to avoid or limit the autonomous vehicle's time in any of the blind spots.
摘要翻译：本公开的方面通常涉及在操纵自主车辆时检测和避免其他车辆的盲点。盲点可以包括与另一车辆相邻的两个区域，其中该车辆的驾驶员将不能识别另一个物体，以及第二车辆中的第二驾驶员可能不舒适驾驶的区域。在一个示例中，自主车辆的计算机可以识别可能与盲点检测相关的对象，并且可以确定这些其他车辆的盲点。计算机可以预测自主车辆和所识别的车辆的未来位置，以确定自主车辆是否将在任何确定的盲点中行驶。如果是这样，自主驾驶系统可以调整其速度以避免或限制自动车辆在任何盲区的时间。

9. 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。

10. 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。

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