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1. 发明授权

US09561797B2 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：US09561797B2
公开(公告)日：2017-02-07
申请号：US15170211
申请日：2016-06-01
申请人： Google Inc.
发明人： Dmitri Dolgov , Dave Ferguson
IPC分类号： B60W30/16 , B60W30/17 , G01S13/93 , G01S19/40 , G08G1/00 , G08G1/16 , B60W30/14 , G01S13/86 , G05D1/00
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。

2. 发明申请

US20140307247A1 Methods and Systems for Detecting Weather Conditions Including Wet Surfaces Using Vehicle Onboard Sensors 有权
标题翻译：使用车载传感器检测包括湿表面的天气条件的方法和系统
公开(公告)号：US20140307247A1
公开(公告)日：2014-10-16
申请号：US13860664
申请日：2013-04-11
申请人： Google Inc.
发明人： Jiajun Zhu , Dmitri Dolgov , Dave Ferguson
IPC分类号： G01S17/02
CPC分类号： G01S17/023 , B60W40/064 , G01S13/66 , G01S13/865 , G01S13/867 , G01S13/931 , G01S17/66 , G01S17/936 , G01S17/95 , Y02A90/19
摘要： Example methods and systems for detecting weather conditions including wet surfaces using vehicle onboard sensors are provided. An example method includes receiving laser data collected for an environment of a vehicle. The method also includes determining laser data points that are associated with one or more objects in the environment, and based on laser data points being unassociated with the one or more objects in the environment, identifying an indication that a surface on which the vehicle travels is wet. The method may further include receiving radar data collected for the environment of the vehicle that is indicative of a presence of the one or more objects in the environment of the vehicle, and identifying the indication that the surface on which the vehicle travels is wet further based on laser data points being unassociated with the one or more objects in the environment indicated by the radar data.
摘要翻译：提供了使用车载传感器来检测包括湿表面在内的天气条件的示例性方法和系统。示例性方法包括接收针对车辆的环境收集的激光数据。该方法还包括确定与环境中的一个或多个对象相关联的激光数据点，并且基于与环境中的一个或多个对象不相关的激光数据点，识别车辆行驶的表面是湿。该方法还可以包括接收针对车辆的环境而收集的指示车辆环境中的一个或多个物体的存在的雷达数据，并且识别车辆行驶的表面进一步被湿润的指示激光数据点与雷达数据所指示的环境中的一个或多个物体无关。

3. 发明申请

US20170176641A1 Methods and Systems for Detecting Weather Conditions Using Vehicle Onboard Sensors 审中-公开
公开(公告)号：US20170176641A1
公开(公告)日：2017-06-22
申请号：US15449097
申请日：2017-03-03
申请人： Google Inc.
发明人： Jiajun Zhu , Dmitri Dolgov , Dave Ferguson
IPC分类号： G01W1/14 , G01S17/87 , H04N7/18 , G05D1/02 , G05D1/00 , G01S17/02 , G01N21/47
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

US09360556B2 Methods and systems for detecting weather conditions including fog using vehicle onboard sensors 有权
公开(公告)号：US09360556B2
公开(公告)日：2016-06-07
申请号：US14614853
申请日：2015-02-05
申请人： Google Inc.
发明人： Jiajun Zhu , Dmitri Dolgov , Dave Ferguson
IPC分类号： G01S17/95 , G01W1/00 , B60W30/00 , B60W50/14 , G01S17/06 , G01W1/02
CPC分类号： G01S17/95 , B60W30/00 , B60W50/14 , B60W2550/12 , G01S17/06 , G01W1/00 , G01W1/02
摘要： Methods and systems for detecting weather conditions including fog using vehicle onboard sensors are provided. An example method includes receiving laser data collected from scans of an environment of a vehicle, and associating, by a computing device, laser data points of with one or more objects in the environment. The method also includes comparing laser data points that are unassociated with the one or more objects in the environment with stored laser data points representative of a pattern due to fog, and based on the comparison, identifying by the computing device an indication that a weather condition of the environment of the vehicle includes fog.

5. 发明授权

US09393961B1 Verifying a target object with reverse-parallax analysis 有权
标题翻译：使用反向视差分析验证目标对象
公开(公告)号：US09393961B1
公开(公告)日：2016-07-19
申请号：US13622915
申请日：2012-09-19
申请人： Google Inc.
发明人： Bradley Templeton , Nathaniel Fairfield , Dave Ferguson
IPC分类号： H04N7/18 , G06T7/00 , B60W30/14 , G06K9/00
CPC分类号： G06K9/00805 , B60W30/14 , G05D1/0246 , G06K9/00825 , G06T7/00 , G06T7/292 , G06T7/73 , G06T7/77 , G06T2207/10016 , G06T2207/30236 , G06T2207/30241 , G06T2207/30244 , G06T2207/30252 , G06T2207/30261 , H04N5/2253 , H04N5/247
摘要： A vehicle configured to operate in an autonomous mode may engage in a reverse-parallax analysis that includes a vehicle system detecting an object, capturing via a camera located at a first location a first image of the detected object, retrieving location data specifying (i) a location of a target object, (ii) the first location, and (iii) a direction of the camera, and based on the location data and the position of the detected object in the first image, predicting where in a second image captured from a second location the detected object would appear if the detected object is the target object.
摘要翻译：被配置为以自主模式操作的车辆可以进行反向视差分析，其包括检测对象的车辆系统，经由位于第一位置处的摄像机拍摄检测到的对象的第一图像，检索位置数据，指定（i）目标对象的位置，（ii）第一位置和（iii）相机的方向，并且基于位置数据和第一图像中检测到的对象的位置，预测从第二图像中捕获的第二图像中的哪个位置如果检测到的对象是目标对象，则检测到的对象将显示第二个位置。

6. 发明授权

US09164511B1 Use of detected objects for image processing 有权
标题翻译：使用检测到的对象进行图像处理
公开(公告)号：US09164511B1
公开(公告)日：2015-10-20
申请号：US13864336
申请日：2013-04-17
申请人： Google Inc.
发明人： Dave Ferguson , Abhijit Ogale
IPC分类号： G05D1/02
CPC分类号： G05D1/0088 , B60W30/00 , G01S13/02 , G01S17/02 , G01S19/13 , G05D1/0231 , G05D1/0246 , G05D2201/0213 , G06K9/00805 , G06K9/00825
摘要： Methods and systems for the use of detected objects for image processing are described. A computing device autonomously controlling a vehicle may receive images of the environment surrounding the vehicle from an image-capture device coupled to the vehicle. In order to process the images, the computing device may receive information indicating characteristics of objects in the images from one or more sources coupled to the vehicle. Examples of sources may include RADAR, LIDAR, a map, sensors, a global positioning system (GPS), or other cameras. The computing device may use the information indicating characteristics of the objects to process received images, including determining the approximate locations of objects within the images. Further, while processing the image, the computing device may use information from sources to determine portions of the image to focus upon that may allow the computing device to determine a control strategy based on portions of the image.
摘要翻译：描述了使用检测对象进行图像处理的方法和系统。自动控制车辆的计算设备可以从耦合到车辆的图像捕获设备接收车辆周围环境的图像。为了处理图像，计算设备可以接收指示来自耦合到车辆的一个或多个源的图像中的对象的特征的信息。源的示例可以包括RADAR，LIDAR，地图，传感器，全球定位系统（GPS）或其他相机。计算设备可以使用指示对象的特征的信息来处理接收到的图像，包括确定图像内的对象的大致位置。此外，在处理图像的同时，计算设备可以使用来自源的信息来确定图像焦点的部分，从而允许计算设备基于图像的部分来确定控制策略。

7. 发明授权

US08880270B1 Location-aware notifications and applications for autonomous vehicles 有权
标题翻译：自动车辆的位置感知通知和应用
公开(公告)号：US08880270B1
公开(公告)日：2014-11-04
申请号：US13736937
申请日：2013-01-08
申请人： Google Inc.
发明人： Dave Ferguson , Jiajun Zhu , Manuel Christian Clement
IPC分类号： G01C21/00 , G05D1/02
CPC分类号： G05D1/021 , G05D2201/0213
摘要： Methods and apparatus are disclosed related to autonomous vehicle applications for selecting destinations. A control system of an autonomous vehicle can determine a status of the autonomous vehicle. The control system can determine a possible destination of the autonomous vehicle. The control system can generate and provide a hint related to the possible destination based on the status of the autonomous vehicle. The control system can receive input related to the hint. Based on the input, the control system can determine whether to navigate the autonomous vehicle to the possible destination. After determining to navigate the autonomous vehicle to the possible destination, the control system can direct the autonomous vehicle to travel to the possible destination.
摘要翻译：公开了与用于选择目的地的自主车辆应用相关的方法和装置。自主车辆的控制系统可以确定自主车辆的状态。控制系统可以确定自主车辆的可能目的地。控制系统可以基于自主车辆的状态生成并提供与可能目的地相关的提示。控制系统可以接收与提示有关的输入。基于输入，控制系统可以确定是否将自主车辆导航到可能的目的地。在确定将自主车辆导航到可能的目的地之后，控制系统可以引导自主车辆行驶到可能的目的地。

8. 发明申请

US20160272207A1 Predictive Reasoning For Controlling Speed Of A Vehicle 有权
标题翻译：用于控制车辆速度的预测推理
公开(公告)号：US20160272207A1
公开(公告)日：2016-09-22
申请号：US15170211
申请日：2016-06-01
申请人： Google Inc.
发明人： Dmitri Dolgov , Dave Ferguson
IPC分类号： B60W30/16 , G05D1/00
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。

9. 发明申请

US20160214607A1 PREDICTIVE REASONING FOR CONTROLLING SPEED OF A VEHICLE 有权
标题翻译：用于控制车辆速度的预测理由
公开(公告)号：US20160214607A1
公开(公告)日：2016-07-28
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 , G01S13/86 , G05D1/00
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。

10. 发明授权

US09207323B2 Methods and systems for detecting weather conditions including wet surfaces using vehicle onboard sensors 有权
标题翻译：使用车载传感器检测天气条件（包括湿表面）的方法和系统
公开(公告)号：US09207323B2
公开(公告)日：2015-12-08
申请号：US13860664
申请日：2013-04-11
申请人： Google Inc.
发明人： Jiajun Zhu , Dmitri Dolgov , Dave Ferguson
IPC分类号： G01C3/08 , G01S17/02 , G01S17/66 , G01S17/93 , G01S17/95 , G01S13/86 , G01S13/93 , B60W40/064 , G01S13/66
CPC分类号： G01S17/023 , B60W40/064 , G01S13/66 , G01S13/865 , G01S13/867 , G01S13/931 , G01S17/66 , G01S17/936 , G01S17/95 , Y02A90/19
摘要： Example methods and systems for detecting weather conditions including wet surfaces using vehicle onboard sensors are provided. An example method includes receiving laser data collected for an environment of a vehicle. The method also includes determining laser data points that are associated with one or more objects in the environment, and based on laser data points being unassociated with the one or more objects in the environment, identifying an indication that a surface on which the vehicle travels is wet. The method may further include receiving radar data collected for the environment of the vehicle that is indicative of a presence of the one or more objects in the environment of the vehicle, and identifying the indication that the surface on which the vehicle travels is wet further based on laser data points being unassociated with the one or more objects in the environment indicated by the radar data.
摘要翻译：提供了使用车载传感器来检测包括湿表面在内的天气条件的示例性方法和系统。示例性方法包括接收针对车辆的环境收集的激光数据。该方法还包括确定与环境中的一个或多个物体相关联的激光数据点，并且基于与环境中的一个或多个物体不相关的激光数据点，识别车辆行驶的表面是湿。该方法还可以包括接收针对车辆的环境而收集的指示车辆环境中的一个或多个物体的存在的雷达数据，并且识别车辆行驶的表面进一步被湿润的指示激光数据点与雷达数据所指示的环境中的一个或多个物体无关。

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