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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. 发明授权

US09122948B1 System and method for evaluating the perception system of an autonomous vehicle 有权
标题翻译：用于评估自主车辆感知系统的系统和方法
公开(公告)号：US09122948B1
公开(公告)日：2015-09-01
申请号：US13200958
申请日：2011-10-05
申请人： Jiajun Zhu , Christopher Paul Urmson , Dirk Haehnel , Nathaniel Fairfield , Russell Leigh Smith
发明人： Jiajun Zhu , Christopher Paul Urmson , Dirk Haehnel , Nathaniel Fairfield , Russell Leigh Smith
IPC分类号： G06K9/00 , G06K9/32
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 optimizing one or more object detection parameters used by an autonomous vehicle to detect objects in images. The autonomous vehicle may capture the images using one or more sensors. The autonomous vehicle may then determine object labels and their corresponding object label parameters for the detected objects. The captured images and the object label parameters may be communicated to an object identification server. The object identification server may request that one or more reviewers identify objects in the captured images. The object identification server may then compare the identification of objects by reviewers with the identification of objects by the autonomous vehicle. Depending on the results of the comparison, the object identification server may recommend or perform the optimization of one or more of the object detection parameters.
摘要翻译：提供了一种用于优化由自主车辆使用以检测图像中的物体的一个或多个物体检测参数的方法和装置。自主车辆可以使用一个或多个传感器捕获图像。然后，自主车辆可以确定被检测物体的对象标签及其相应的对象标签参数。捕获的图像和对象标签参数可以被传送到对象识别服务器。对象识别服务器可以请求一个或多个审阅者识别所捕获的图像中的对象。然后，对象识别服务器可以将审查者的对象的识别与自主车辆的对象识别进行比较。取决于比较的结果，对象识别服务器可以推荐或执行一个或多个对象检测参数的优化。

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. 发明申请

US20140067187A1 Construction Zone Detection Using a Plurality of Information Sources 有权
标题翻译：使用多种信息源的建筑区域检测
公开(公告)号：US20140067187A1
公开(公告)日：2014-03-06
申请号：US13603613
申请日：2012-09-05
申请人： David Ian Ferguson , Dirk Haehnel , Nathaniel Fairfield
发明人： David Ian Ferguson , Dirk Haehnel , Nathaniel Fairfield
IPC分类号： G05D1/00
CPC分类号： B60W30/00 , B60W30/12 , B60W30/16 , B60W40/06 , B60W2050/0091 , B60W2420/42 , B60W2420/52 , B60W2550/40 , B60W2550/402
摘要： Methods and systems for detection of a construction zone using information from a plurality of sources are described. In an example, a computing device, configured to control the vehicle, may be configured to receive information, from a plurality of sources, relating to detection of a construction zone on the road on which the vehicle is travelling. Also, the computing device may be configured to determine a likelihood of existence of the construction zone on the road, based on the information. Further the computing device may be configured to modify a control strategy associated with a driving behavior of the vehicle, based on the likelihood; and control the vehicle based on the modified control strategy.
摘要翻译：描述了使用来自多个源的信息来检测构造区域的方法和系统。在一个示例中，被配置为控制车辆的计算设备可以被配置为从多个源接收关于在车辆行驶的道路上的建筑区域的检测的信息。此外，计算设备可以被配置为基于该信息来确定道路上的建筑区域的存在的可能性。此外，计算设备可以被配置为基于可能性修改与车辆的驾驶行为相关联的控制策略; 并根据修改的控制策略控制车辆。

7. 发明授权

US08559673B2 Traffic signal mapping and detection 有权
标题翻译：交通信号映射和检测
公开(公告)号：US08559673B2
公开(公告)日：2013-10-15
申请号：US12819575
申请日：2010-06-21
申请人： Nathaniel Fairfield , Christopher Urmson , Sebastian Thrun
发明人： Nathaniel Fairfield , Christopher Urmson , Sebastian Thrun
IPC分类号： G06K9/00 , G01S19/42
CPC分类号： G06K9/00825 , G05D1/0212 , G08G1/09623
摘要： A system and method provides maps identifying the 3D location of traffic lights. The position, location, and orientation of a traffic light may be automatically extrapolated from two or more images. The maps may then be used to assist robotic vehicles or human drivers to identify the location and status of a traffic signal.
摘要翻译：系统和方法提供了识别交通灯3D位置的地图。交通信号灯的位置，位置和方向可以从两个或更多个图像自动地外推。然后可以使用地图来帮助机器人车辆或人类驾驶员识别交通信号的位置和状态。

8. 发明授权

US08078349B1 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：US08078349B1
公开(公告)日：2011-12-13
申请号：US13105101
申请日：2011-05-11
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 , G01C22/00
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。

9. 发明授权

US09195914B2 Construction zone sign detection 有权
标题翻译：施工区域检测
公开(公告)号：US09195914B2
公开(公告)日：2015-11-24
申请号：US13603615
申请日：2012-09-05
申请人： Nathaniel Fairfield , David Ian Ferguson , Abhijit Ogale , Matthew Wang , Yangli Hector Yee
发明人： Nathaniel Fairfield , David Ian Ferguson , Abhijit Ogale , Matthew Wang , Yangli Hector Yee
IPC分类号： G01C22/00 , G05D1/00 , G06K9/78 , G06K9/00 , B62D6/00 , B60T7/12 , B60W30/10 , B60W30/14 , B60W40/06 , G05D1/02 , B62D15/02 , B60T1/10 , B60T7/18 , B60T7/22 , H04N7/18
CPC分类号： G06K9/78 , B60T1/10 , B60T7/12 , B60T7/18 , B60T7/22 , B60T2201/08 , B60W30/10 , B60W30/143 , B60W40/06 , B60W2420/42 , B60W2550/14 , B60W2550/22 , B62D6/00 , B62D15/025 , B62D15/0255 , B62D15/0265 , G01S7/4802 , G01S7/4808 , G01S13/865 , G01S13/867 , G01S13/931 , G01S17/89 , G01S17/936 , G01S2013/9353 , G01S2013/936 , G05D1/0088 , G05D1/0214 , G05D1/024 , G05D1/0246 , G05D1/0257 , G05D1/027 , G05D1/0278 , G05D2201/0213 , G06K9/00798 , G06K9/00805 , G06K9/00818 , H04N7/18
摘要： Methods and systems for detection of a construction zone sign are described. A computing device, configured to control the vehicle, may be configured to receive, from an image-capture device coupled to the computing device, images of a vicinity of the road on which the vehicle is travelling. Also, the computing device may be configured to determine image portions in the images that may depict sides of the road at a predetermined height range. Further, the computing device may be configured to detect a construction zone sign in the image portions, and determine a type of the construction zone sign. Accordingly, the computing device may be configured to modify a control strategy associated with a driving behavior of the vehicle; and control the vehicle based on the modified control strategy.
摘要翻译：描述了用于检测结构区域符号的方法和系统。被配置为控制车辆的计算设备可以被配置为从耦合到计算设备的图像捕获设备接收车辆行驶的道路附近的图像。此外，计算设备可以被配置为确定可以在预定高度范围处描绘道路的侧面的图像中的图像部分。此外，计算装置可以被配置为检测图像部分中的构造区域标记，并且确定构造区域符号的类型。因此，计算设备可以被配置为修改与车辆的驾驶行为相关联的控制策略; 并根据修改的控制策略控制车辆。

10. 发明授权

US09195236B1 Road flare detection 有权
标题翻译：道路耀斑检测
公开(公告)号：US09195236B1
公开(公告)日：2015-11-24
申请号：US13603609
申请日：2012-09-05
申请人： Nathaniel Fairfield , David Ian Ferguson
发明人： Nathaniel Fairfield , David Ian Ferguson
IPC分类号： G01C22/00 , G05D1/00 , G05D1/02 , B60W30/09
CPC分类号： B60W30/09 , B60W10/06 , B60W10/08 , B60W10/18 , B60W10/20 , B60W2050/146 , B60W2420/42 , B60W2550/10 , G01C22/00 , G05D1/0214 , G05D1/0246 , G05D2201/0213 , G08G1/16 , G08G1/165
摘要： Methods and systems for road flare detection are described. A computing device configured to control the vehicle, may be configured to receive, from an image-capture device, images; image portions of the images may depict an area within a predetermined distance from a surface of a road on which the vehicle is travelling. Also, the computing device may be configured to determine, based on characteristics of an object depicted in the image portions such as color spectrum of the object, brightness of the object, and whether the object is stationary or moving with respect to the road, a likelihood that the object represents a road flare. Based on the likelihood, the computing device may be configured to modify a control strategy associated with a driving behavior of the vehicle; and control the vehicle based on the modified control strategy.
摘要翻译：描述道路耀斑检测的方法和系统。被配置为控制车辆的计算设备可以被配置为从图像捕获设备接收图像; 图像的图像部分可以描绘距车辆行驶的道路的表面预定距离内的区域。此外，计算装置还可以被配置为基于图像部分中描绘的对象的特征，例如对象的颜色，对象的亮度，以及对象是静止的还是相对于道路移动的特征，对象代表道路耀斑的可能性。基于可能性，计算设备可以被配置为修改与车辆的驾驶行为相关联的控制策略; 并根据修改的控制策略控制车辆。

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