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1. 发明授权

US09014903B1 Determination of object heading based on point cloud 有权
标题翻译：基于点云的对象标题的确定
公开(公告)号：US09014903B1
公开(公告)日：2015-04-21
申请号：US13477871
申请日：2012-05-22
申请人： Jiajun Zhu , Dmitri A. Dolgov , Nathaniel Fairfield
发明人： Jiajun Zhu , Dmitri A. Dolgov , Nathaniel Fairfield
IPC分类号： G05D1/00 , G05D3/00 , G01C22/00 , G05D1/02 , G06G7/78 , G08G1/16 , G01S13/88 , G06K9/00 , G01C21/34
CPC分类号： G01C21/3446 , G01S13/865 , G01S13/867 , G01S13/931 , G01S17/875 , G01S17/89 , G01S17/936 , G01S2013/9321 , G01S2013/9342 , G01S2013/9346 , G05D1/0238 , G05D2201/0213
摘要： An autonomous vehicle configured to determine the heading of an object-of-interest based on a point cloud. An example computer-implemented method involves: (a) receiving spatial-point data indicating a set of spatial points, each spatial point representing a point in three dimensions, where the set of spatial points corresponds to an object-of-interest; (b) determining, for each spatial point, an associated projected point, each projected point representing a point in two dimensions; (c) determining a set of line segments based on the determined projected points, where each respective line segment connects at least two determined projected points; (d) determining an orientation of at least one determined line segment from the set of line segments; and (e) determining a heading of the object-of-interest based on at least the determined orientation.
摘要翻译：一种被配置为基于点云确定感兴趣对象的标题的自主车辆。计算机实现的示例方法包括：（a）接收指示一组空间点的空间点数据，每个空间点表示三维点，其中该组空间点对应于感兴趣的对象; （b）为每个空间点确定相关联的投影点，每个投影点表示二维中的点; （c）基于所确定的投影点确定一组线段，其中每个相应线段连接至少两个确定的投影点; （d）从所述一组线段确定至少一个确定的线段的取向; 和（e）至少基于确定的方向来确定兴趣对象的标题。

2. 发明授权

US08589014B2 Sensor field selection 有权
标题翻译：传感器场选择
公开(公告)号：US08589014B2
公开(公告)日：2013-11-19
申请号：US13150385
申请日：2011-06-01
申请人： Nathaniel Fairfield , Jiajun Zhu , Dmitri A. Dolgov
发明人： Nathaniel Fairfield , Jiajun Zhu , Dmitri A. Dolgov
IPC分类号： G05D1/02 , G01S7/40
CPC分类号： G05D1/024 , G05D1/0246 , G05D1/0255 , G05D2201/0213
摘要： Aspects of the present disclosure relate generally to safe and effective use of autonomous vehicles. More specifically, an autonomous vehicle is able to detect objects in its surroundings which are within the sensor fields. In response to detecting objects, the computer may adjust the autonomous vehicle's speed or change direction. In some examples, however, the sensor fields may be changed or become less reliable based on objects or other features in the vehicle's surroundings. As a result, the vehicle's computer may calculate the size and shape of the area of sensor diminution and a new sensor field based on this area of diminution. In response to identifying the area of sensor diminution or the new sensor field, the vehicle's computer may change the control strategies of the vehicle.
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，自主车辆能够检测其周围的传感器场内的物体。响应于检测对象，计算机可以调节自主车辆的速度或改变方向。然而，在一些示例中，传感器场可以基于车辆周围的物体或其它特征而改变或变得不可靠。因此，车辆的计算机可以计算出传感器减小面积的大小和形状，以及基于该减小区域的新的传感器场。响应于识别传感器减少的区域或新的传感器场，车辆的计算机可以改变车辆的控制策略。

3. 发明申请

US20120310466A1 SENSOR FIELD SELECTION 有权
标题翻译：传感器场选择
公开(公告)号：US20120310466A1
公开(公告)日：2012-12-06
申请号：US13150385
申请日：2011-06-01
申请人： Nathaniel Fairfield , Jiajun Zhu , Dmitri A. Dolgov
发明人： Nathaniel Fairfield , Jiajun Zhu , Dmitri A. Dolgov
IPC分类号： G05D1/02
CPC分类号： G05D1/024 , G05D1/0246 , G05D1/0255 , G05D2201/0213
摘要： Aspects of the present disclosure relate generally to safe and effective use of autonomous vehicles. More specifically, an autonomous vehicle 301, 501 is able to detect objects in its surroundings which are within the sensor fields 410, 411, 430, 431, 420A-423A, 420B-423B, 570-75, 580. In response to detecting objects, the computer 110 may adjust the autonomous vehicle's speed or change direction. In some examples, however, the sensor fields may be changed or become less reliable based on objects or other features in the vehicle's surroundings. As a result, the vehicle's computer 110 may calculate the size and shape of the area of sensor diminution 620, 720 and a new sensor field based on this area of diminution. In response to identifying the area of sensor diminution or the new sensor field, the vehicle's computer may change the control strategies of the vehicle.
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，自主车辆301,501能够检测其周围的传感器场410,411,430,431,420A-423A，420B-423B，570-75,580内的物体。响应于检测物体计算机110可以调节自主车辆的速度或改变方向。然而，在一些示例中，传感器场可以基于车辆周围的物体或其它特征而改变或变得不可靠。因此，车辆计算机110可以基于该减小区域来计算传感器减小区域620,720的面积和形状以及新的传感器场。响应于识别传感器减少的区域或新的传感器场，车辆的计算机可以改变车辆的控制策略。

4. 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。

5. 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。

6. 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。

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

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。

9. 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。

10. 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。

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