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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

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。

3. 发明授权

US08352110B1 User interface for displaying internal state of autonomous driving system 有权
公开(公告)号：US08352110B1
公开(公告)日：2013-01-08
申请号：US13567428
申请日：2012-08-06
申请人： Andrew Szybalski , Luis Ricardo Prada Gomez , Christopher Paul Urmson , Sebastian Thrun , Philip Nemec
发明人： Andrew Szybalski , Luis Ricardo Prada Gomez , Christopher Paul Urmson , Sebastian Thrun , Philip Nemec
IPC分类号： G05D1/02
CPC分类号： G05D1/0061 , B60W10/04 , B60W10/18 , B60W10/20 , B60W10/30 , B60W50/10 , B62D1/286 , B62D15/025 , G01S19/10 , G05D2201/0213 , G06F3/04842 , G06F3/04847
摘要： A passenger in an automated vehicle may relinquish control of the vehicle to a control computer when the control computer has determined that it may maneuver the vehicle safely to a destination. The passenger may relinquish or regain control of the vehicle by applying different degrees of pressure, for example, on a steering wheel of the vehicle. The control computer may convey status information to a passenger in a variety of ways including by illuminating elements of the vehicle. The color and location of the illumination may indicate the status of the control computer, for example, whether the control computer has been armed, is ready to take control of the vehicle, or is currently controlling the vehicle.

4. 发明授权

US08670891B1 User interface for displaying internal state of autonomous driving system 有权
标题翻译：用于显示自主驾驶系统内部状态的用户界面
公开(公告)号：US08670891B1
公开(公告)日：2014-03-11
申请号：US13788552
申请日：2013-03-07
申请人： Andrew Szybalski , Luis Ricardo Prada Gomez , Christopher Paul Urmson , Sebastian Thrun , Philip Nemec
发明人： Andrew Szybalski , Luis Ricardo Prada Gomez , Christopher Paul Urmson , Sebastian Thrun , Philip Nemec
IPC分类号： G05D1/02
CPC分类号： G05D1/0061 , B60W10/04 , B60W10/18 , B60W10/20 , B60W10/30 , B60W50/10 , B62D1/286 , B62D15/025 , G01S19/10 , G05D2201/0213 , G06F3/04842 , G06F3/04847
摘要： A passenger in an automated vehicle may relinquish control of the vehicle to a control computer when the control computer has determined that it may maneuver the vehicle safely to a destination. The passenger may relinquish or regain control of the vehicle by applying different degrees of pressure, for example, on a steering wheel of the vehicle. The control computer may convey status information to a passenger in a variety of ways including by illuminating elements of the vehicle. The color and location of the illumination may indicate the status of the control computer, for example, whether the control computer has been armed, is ready to take control of the vehicle, or is currently controlling the vehicle.
摘要翻译：当控制计算机已经确定可以将车辆安全地操纵到目的地时，自动车辆中的乘客可放弃对控制计算机的控制。乘客可以通过施加不同程度的压力来放弃或重新获得对车辆的控制，例如在车辆的方向盘上。控制计算机可以以包括车辆的照明元件在内的各种方式将状态信息传送给乘客。照明的颜色和位置可以指示控制计算机的状态，例如，控制计算机是否已布防，准备好控制车辆，或正在控制车辆。

5. 发明授权

US08688306B1 Systems and methods for vehicles with limited destination ability 有权
标题翻译：目的地能力有限的车辆的系统和方法
公开(公告)号：US08688306B1
公开(公告)日：2014-04-01
申请号：US13218756
申请日：2011-08-26
申请人： Philip Nemec , Christopher Paul Urmson , Bradley Templeton , Nathaniel Fairfield , Anthony Scott Levandowski
发明人： Philip Nemec , Christopher Paul Urmson , Bradley Templeton , Nathaniel Fairfield , Anthony Scott Levandowski
IPC分类号： G01C22/00
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： Aspects of the present disclosure relate generally to limiting the use of an autonomous or semi-autonomous vehicle by particular occupants based on permission data. More specifically, permission data may include destinations, routes, and/or other information that is predefined or set by a third party. The vehicle may then access the permission data in order to transport the particular occupant to the predefined destination, for example, without deviation from the predefined route. The vehicle may drop the particular occupant off at the destination and may wait until the passenger is ready to move to another predefined destination. The permission data may be used to limit the ability of the particular occupant to change the route of the vehicle completely or by some maximum deviation value. For example, the vehicle may be able to deviate from the route up to a particular distance from or along the route.
摘要翻译：本公开的方面一般涉及基于许可数据限制特定乘员对自主或半自主车辆的使用。更具体地，许可数据可以包括由第三方预定义或设置的目的地，路线和/或其他信息。车辆然后可以访问许可数据，以便将特定乘客运送到预定目的地，例如，不偏离预定路线。车辆可以将特定的乘客从目的地掉下，并且可以等到乘客准备移动到另一个预定的目的地。许可数据可以用于限制特定乘客完全改变车辆路线或某些最大偏差值的能力。例如，车辆可能能够偏离路线，直到距离或沿着路线的特定距离。

6. 发明授权

US08630897B1 Transportation-aware physical advertising conversions 有权
标题翻译：交通意识实体广告转换
公开(公告)号：US08630897B1
公开(公告)日：2014-01-14
申请号：US13004514
申请日：2011-01-11
申请人： Luis Ricardo Prada Gomez , Andrew Timothy Szybalski , Sebastian Thrun , Philip Nemec , Christopher Paul Urmson
发明人： Luis Ricardo Prada Gomez , Andrew Timothy Szybalski , Sebastian Thrun , Philip Nemec , Christopher Paul Urmson
IPC分类号： G06Q30/00
CPC分类号： G06Q30/02 , G06Q30/0241
摘要： The present invention relates generally to arranging for free or discounted transportation to an advertiser's business location. More specifically, the invention involves automatically comparing the cost of transportation and the potential profit from a completed transaction using a number of real-time calculations. For example, the calculation may consider various factors including a consumer's current location, the consumer's most likely route and form of transportation (such as train, personal car, taxi, rental car, or shared vehicle), the consumer's daily agenda, the price competing advertisers are willing to pay for the customer to be delivered to alternate locations, and other costs. In this regard, the customer's obstacles to entering a business location are reduced while routing and cost calculations are automatically handled based on the demand for the advertiser's goods and potential profit margins.
摘要翻译：本发明一般涉及安排免费或打折的运输到广告商的营业地点。更具体地，本发明涉及使用多个实时计算自动地比较运输成本和完成的交易的潜在利润。例如，计算可以考虑包括消费者当前位置，消费者最有可能的路线和运输形式（如火车，个人车，出租车，租车或共享车辆）的各种因素，消费者的日常议程，价格竞争广告客户愿意为客户支付交付给替代地点和其他费用。在这方面，客户进入业务位置的障碍减少，而路由和成本计算则根据广告客户的商品需求和潜在的利润空间自动处理。

7. 发明授权

US08260482B1 User interface for displaying internal state of autonomous driving system 有权
标题翻译：用于显示自主驾驶系统内部状态的用户界面
公开(公告)号：US08260482B1
公开(公告)日：2012-09-04
申请号：US12832447
申请日：2010-07-08
申请人： Andrew Szybalski , Luis Ricardo Prada Gomez , Philip Nemec , Christopher Urmson , Sebastian Thrun
发明人： Andrew Szybalski , Luis Ricardo Prada Gomez , Philip Nemec , Christopher Urmson , Sebastian Thrun
IPC分类号： G05D1/02 , B62D6/00
CPC分类号： G05D1/0061 , B60W10/04 , B60W10/18 , B60W10/20 , B60W10/30 , B60W50/10 , B62D1/286 , B62D15/025 , G01S19/10 , G05D2201/0213 , G06F3/04842 , G06F3/04847
摘要： A passenger in an automated vehicle may relinquish control of the vehicle to a control computer when the control computer has determined that it may maneuver the vehicle safely to a destination. The passenger may relinquish or regain control of the vehicle by applying different degrees of pressure, for example, on a steering wheel of the vehicle. The control computer may convey status information to a passenger in a variety of ways including by illuminating elements of the vehicle. The color and location of the illumination may indicate the status of the control computer, for example, whether the control computer has been armed, is ready to take control of the vehicle, or is currently controlling the vehicle.
摘要翻译：当控制计算机已经确定可以将车辆安全地操纵到目的地时，自动车辆中的乘客可放弃对控制计算机的控制。乘客可以通过施加不同程度的压力来放弃或重新获得对车辆的控制，例如在车辆的方向盘上。控制计算机可以以包括车辆的照明元件在内的各种方式将状态信息传送给乘客。照明的颜色和位置可以指示控制计算机的状态，例如，控制计算机是否已布防，准备好控制车辆，或正在控制车辆。

8. 发明授权

US07268789B2 Reflection space image based rendering at an interactive frame rate 失效
标题翻译：基于反射空间图像的呈现以交互式帧速率
公开(公告)号：US07268789B2
公开(公告)日：2007-09-11
申请号：US10996751
申请日：2004-11-24
申请人： Brian Keith Cabral , Marc Olano , Philip Nemec
发明人： Brian Keith Cabral , Marc Olano , Philip Nemec
IPC分类号： G09G5/00
CPC分类号： G06T15/506 , G06T15/04 , G06T15/205
摘要： The present invention provides a method, system, and computer program product for reflection space image based rendering of an object at an interactive frame rate. A set of source radiance environment maps associated with a set of source viewing vectors are warped to create a destination radiance environment map associated with a destination viewing vector in a current frame. Blending and weighting operations can also be applied in creating the final destination radiance environment map. An object is then rendered with texture environment mapped from the destination radiance environment map.
摘要翻译：本发明提供了一种用于以交互式帧速率对象进行反射空间图像渲染的方法，系统和计算机程序产品。与一组源视图向量相关联的一组源辐射环境图被扭曲以创建与当前帧中的目的地观看向量相关联的目的地辐射环境地图。混合和加权操作也可以应用于创建最终目的地辐射环境图。然后使用从目的地辐射环境映射映射的纹理环境渲染对象。

9. 发明授权

US07123259B2 Reflection space image based rendering 有权
标题翻译：基于反射空间图像的渲染
公开(公告)号：US07123259B2
公开(公告)日：2006-10-17
申请号：US10694470
申请日：2003-10-27
申请人： Brian Keith Cabral , Marc Olano , Philip Nemec
发明人： Brian Keith Cabral , Marc Olano , Philip Nemec
IPC分类号： G09G5/00 , G06T15/50 , G06T15/60 , G06K9/64
CPC分类号： G06T15/506 , G06T15/04 , G06T15/205
摘要： The present invention provides a method, system, and computer program product for reflection space image based rendering of an object at an interactive frame rate. A set of source radiance environment maps associated with a set of source viewing vectors are warped to create a destination radiance environment map associated with a destination viewing vector in a current frame. Blending and weighting operations can also be applied in creating the final destination radiance environment map. An object is then rendered with texture environment mapped from the destination radiance environment map.
摘要翻译：本发明提供了一种用于以交互式帧速率对象进行反射空间图像渲染的方法，系统和计算机程序产品。与一组源视图向量相关联的一组源辐射环境图被扭曲以创建与当前帧中的目的地观看向量相关联的目的地辐射环境地图。混合和加权操作也可以应用于创建最终目的地辐射环境图。然后使用从目的地辐射环境映射映射的纹理环境渲染对象。

10. 发明授权

US08321067B1 Transitioning a mixed-mode vehicle to autonomous mode 有权
标题翻译：将混合模式车辆转变为自主模式
公开(公告)号：US08321067B1
公开(公告)日：2012-11-27
申请号：US13293905
申请日：2011-11-10
申请人： Luis Ricardo Prada Gomez , Nathaniel Fairfield , Andy Szybalski , Philip Nemec , Christopher Urmson
发明人： Luis Ricardo Prada Gomez , Nathaniel Fairfield , Andy Szybalski , Philip Nemec , Christopher Urmson
IPC分类号： G05D1/00
CPC分类号： G05D1/0022 , B62D15/0285 , G05D1/0061 , G05D2201/02
摘要： Disclosed are methods and devices for transitioning a mixed-mode autonomous vehicle from a human driven mode to an autonomously driven mode. Transitioning may include stopping a vehicle on a predefined landing strip and detecting a reference indicator. Based on the reference indicator, the vehicle may be able to know its exact position. Additionally, the vehicle may use the reference indictor to obtain an autonomous vehicle instruction via a URL. After the vehicle knows its precise location and has an autonomous vehicle instruction, it can operate in autonomous mode.
摘要翻译：公开了用于将混合模式自主车辆从人类驾驶模式转换到自主驾驶模式的方法和装置。过渡可能包括在预定义的着陆带上停止车辆并检测参考指示符。基于参考指示器，车辆可能能够知道其确切的位置。此外，车辆可以使用参考指示器通过URL获得自主车辆指令。在车辆知道其精确位置并具有自主车辆指令之后，它可以在自主模式下操作。

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