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1. 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。

2. 发明申请

US20130197736A1 VEHICLE CONTROL BASED ON PERCEPTION UNCERTAINTY 审中-公开
标题翻译：基于情感不确定性的车辆控制
公开(公告)号：US20130197736A1
公开(公告)日：2013-08-01
申请号：US13361083
申请日：2012-01-30
申请人： Jiajun Zhu , Dmitri A. Dolgov , David I. Ferguson
发明人： Jiajun Zhu , Dmitri A. Dolgov , David I. Ferguson
IPC分类号： G05D1/00
CPC分类号： G05D1/0088 , G05D2201/0213
摘要： Aspects of the disclosure relate generally to maneuvering autonomous vehicles. Specifically, the vehicle may determine the uncertainty in its perception system and use this uncertainty value to make decisions about how to maneuver the vehicle. For example, the perception system may include sensors, object type models, and object motion models, each associated with uncertainties. The sensors may be associated with uncertainties based on the sensor's range, speed, and /or shape of the sensor field. The object type models may be associated with uncertainties, for example, in whether a perceived object is of one type (such as a small car) or another type (such as a bicycle). The object motion models may also be associated with uncertainties, for example, not all objects will move exactly as they are predicted to move. These uncertainties may be used to maneuver the vehicle.
摘要翻译：本公开的方面通常涉及操纵自主车辆。具体来说，车辆可以确定其感知系统的不确定性，并使用该不确定性值来决定如何操纵车辆。例如，感知系统可以包括传感器，对象类型模型和对象运动模型，每个与不确定性相关联。传感器可能会根据传感器范围，速度和/或传感器场的形状与不确定性相关联。对象类型模型可能与不确定性相关联，例如，感知对象是否是一种类型（例如小型轿厢）或另一类型（例如自行车）。对象运动模型也可能与不确定性相关联，例如，并不是所有的对象将按照预测的移动精确地移动。这些不确定性可用于操纵车辆。

3. 发明申请

US20120083960A1 SYSTEM AND METHOD FOR PREDICTING BEHAVIORS OF DETECTED OBJECTS 有权
标题翻译：用于预测检测对象行为的系统和方法
公开(公告)号：US20120083960A1
公开(公告)日：2012-04-05
申请号：US13251705
申请日：2011-10-03
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： G05D1/00
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 invention 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.
摘要翻译：本发明的方面一般涉及自主车辆。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。

4. 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。

5. 发明授权

US08660734B2 System and method for predicting behaviors of detected objects 有权
标题翻译：用于预测检测到的物体的行为的系统和方法
公开(公告)号：US08660734B2
公开(公告)日：2014-02-25
申请号：US13251705
申请日：2011-10-03
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： G05D1/00
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 invention 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.
摘要翻译：本发明的方面一般涉及自主车辆。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。

6. 发明授权

US08700251B1 System and method for automatically detecting key behaviors by vehicles 有权
标题翻译：自动检测车辆关键行为的系统和方法
公开(公告)号：US08700251B1
公开(公告)日：2014-04-15
申请号：US13446518
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
CPC分类号： B60W30/00 , B60W30/12 , B60W30/16 , B60W2050/0095 , B60W2550/30 , B60W2550/402 , G01C21/34 , G05D1/02
摘要： Aspects of the disclosure relate generally to detecting discrete actions by traveling vehicles. The features described improve the safety, use, driver experience, and performance of autonomously controlled vehicles by performing a behavior analysis on mobile objects in the vicinity of an autonomous vehicle. Specifically, an autonomous vehicle is capable of detecting and tracking nearby vehicles and is able to determine when these nearby vehicles have performed actions of interest by comparing their tracked movements with map data.
摘要翻译：本公开的方面通常涉及通过行驶车辆检测离散动作。所描述的特征通过对自主车辆附近的移动物体进行行为分析来改善自主驾驶车辆的安全性，驾驶经验和性能。具体来说，自主车辆能够检测和跟踪附近的车辆，并且能够通过将其跟踪的运动与地图数据进行比较来确定这些附近车辆何时已经执行感兴趣的动作。

7. 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。

8. 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。

9. 发明授权

US09315178B1 Model checking for autonomous vehicles 有权
标题翻译：模型检查自主车辆
公开(公告)号：US09315178B1
公开(公告)日：2016-04-19
申请号：US13446025
申请日：2012-04-13
申请人： David I. Ferguson , Dmitri A. Dolgov , Christopher Urmson
发明人： David I. Ferguson , Dmitri A. Dolgov , Christopher Urmson
IPC分类号： B60W50/02 , B60W50/04 , B60T8/171 , B60T8/172 , B60T17/22
CPC分类号： B60T8/172 , B60T8/171 , B60T8/885 , B60T17/22 , B60T17/221 , B60T2270/40 , B60T2270/406 , B60W30/12 , B60W30/16 , B60W50/0097 , B60W50/0205 , B60W50/04 , B60W2050/021 , B60W2050/0292 , B60W2050/143 , B60W2420/42 , B60W2510/18 , B60W2520/10 , B60W2540/18 , B60W2550/142 , B60W2550/402 , B60W2750/40
摘要： In an example method, a vehicle configured to operate in an autonomous mode could predict an output of the vehicle based on an input provided to control the vehicle and a state of the vehicle. The method could include receiving an indication of an input from at least one input-indication sensor and an indication of an output from at least one output-indication sensor. A predicted output value could be calculated based on the indication of the input and a state of the vehicle. The predicted output value could be compared with the indication of the output. If the comparison is not within a threshold range, an alert indicator could be created. Upon creating the alert indicator, an alert action could be activated.
摘要翻译：在示例性方法中，被配置为以自主模式操作的车辆可以基于为控制车辆和车辆的状态提供的输入来预测车辆的输出。该方法可以包括从至少一个输入指示传感器接收输入的指示和来自至少一个输出指示传感器的输出的指示。可以基于输入的指示和车辆的状态来计算预测的输出值。可以将预测的输出值与输出的指示进行比较。如果比较不在阈值范围内，则可以创建警报指示符。创建警报指示器后，可以激活警报操作。

10. 发明授权

US08457827B1 Modifying behavior of autonomous vehicle based on predicted behavior of other vehicles 有权
标题翻译：基于其他车辆的预测行为改变自主车辆的行为
公开(公告)号：US08457827B1
公开(公告)日：2013-06-04
申请号：US13420820
申请日：2012-03-15
申请人： David I. Ferguson , Dmitri A. Dolgov
发明人： David I. Ferguson , Dmitri A. Dolgov
IPC分类号： G01C22/00 , G05D1/00
CPC分类号： G08G1/166 , B60W30/095 , B60W30/12 , B60W30/16 , B60W30/18163 , B60W50/0097 , B60W2050/143 , B60W2520/10 , B60W2550/402 , B60W2750/40 , G05D1/00 , G05D1/0088 , G05D2201/0213 , Y02T10/84
摘要： A vehicle configured to operate in an autonomous mode could determine a current state of the vehicle and the current state of the environment of the vehicle. The environment of the vehicle includes at least one other vehicle. A predicted behavior of the at least one other vehicle could be determined based on the current state of the vehicle and the current state of the environment of the vehicle. A confidence level could also be determined based on the predicted behavior, the current state of the vehicle, and the current state of the environment of the vehicle. In some embodiments, the confidence level may be related to the likelihood of the at least one other vehicle to perform the predicted behavior. The vehicle in the autonomous mode could be controlled based on the predicted behavior, the confidence level, and the current state of the vehicle and its environment.
摘要翻译：配置为以自主模式操作的车辆可以确定车辆的当前状态和车辆的当前状态。车辆的环境包括至少一个其他车辆。可以基于车辆的当前状态和车辆的环境的当前状态来确定至少一个其他车辆的预测行为。还可以基于预测的行为，车辆的当前状态和车辆的当前状态来确定置信水平。在一些实施例中，置信水平可以与至少一个其他车辆执行预测行为的可能性有关。可以根据车辆的预测行为，置信水平和当前状态及其环境来控制自主模式下的车辆。

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