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  • User interface for displaying internal state of autonomous driving system
    Patent number: 9134729
    Abstract: 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.
    Type: Grant
    Filed: July 29, 2014
    Date of Patent: September 15, 2015
    Assignee: Google Inc.
    Inventors: Andrew Timothy Szybalski, Luis Ricardo Prada Gomez, Christopher Paul Urmson, Sebastian Thrun, Philip Nemec
  • Position and direction determination using multiple single-channel encoders
    Patent number: 8965691
    Abstract: A system for an autonomous vehicle is disclosed that combines information from single-channel encoders serving as wheel speed sensors on multiple wheels of the vehicle. A pattern of the outputs from the single-channel encoders is characterized while the vehicle is traveling in a first direction. A shift in the characterized pattern is associated with a change in direction of the autonomous vehicle. Such detection of changes in direction can be used to determine the position of the vehicle at low speeds or while starting and/or stopping where the vehicle can potentially rock back and forth.
    Type: Grant
    Filed: October 5, 2012
    Date of Patent: February 24, 2015
    Assignee: Google Inc.
    Inventor: Pete Lombrozo
  • Camera based localization
    Patent number: 9476970
    Abstract: Aspects of the disclosure 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. In particular, the disclosure includes a system and method of determining a vehicle's location based on a comparison of images captured from the vehicle with a database of images.
    Type: Grant
    Filed: March 19, 2012
    Date of Patent: October 25, 2016
    Assignee: Google Inc.
    Inventors: Nathaniel Fairfield, Christopher Paul Urmson, Michael Steven Montemerlo
  • User interface for displaying internal state of autonomous driving system
    Patent number: 8825261
    Abstract: 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.
    Type: Grant
    Filed: January 20, 2014
    Date of Patent: September 2, 2014
    Assignee: Google Inc.
    Inventors: Andrew Timothy Szybalski, Luis Ricardo Prada Gomez, Christopher Paul Urmson, Sebastian Thrun, Philip Nemec
  • Detecting and responding to tailgaters
    Patent number: 8818681
    Abstract: An autonomous vehicle detects a tailgating vehicle and uses various response mechanisms. For example, a vehicle is identified as a tailgater based on whether its characteristics meet a variable threshold. For example, when the autonomous vehicle is traveling at slower speeds, the threshold is defined in distance. When the autonomous vehicle is traveling at faster speeds, the threshold is defined in time. The autonomous vehicle may respond to the tailgater by modifying its driving behavior. In one example, the autonomous vehicle adjusts a headway buffer (defined in time) from another vehicle in front of the autonomous vehicle. For example, if the tailgater is T seconds too close to the autonomous vehicle, the autonomous vehicle increases the headway buffer to the vehicle in front of it by some amount relative to T.
    Type: Grant
    Filed: July 24, 2013
    Date of Patent: August 26, 2014
    Assignee: Google Inc.
    Inventors: Dmitri A. Dolgov, Philip Nemec, Anne Aula
  • Systems and Methods for Providing Navigational Assistance to Reserved Parking Locations
    Publication number: 20140350855
    Abstract: A computer-implemented method that includes reserving a first parking location for parking of a first vehicle, determining that the first vehicle is parked in a second parking location that is different from the first parking location reserved for parking of the first vehicle, determining, using a computer, whether the second parking location is available for parking of the first vehicle, and in response to at least determining that the second parking location is not available for parking of the first vehicle, providing for display of a prompt requesting that the first vehicle be moved to a parking location that is available for parking of the first vehicle.
    Type: Application
    Filed: February 28, 2012
    Publication date: November 27, 2014
    Applicant: GOOGLE INC.
    Inventor: Sashanka Vishnuvajhala
  • Spar Buoy Platform
    Publication number: 20150183516
    Abstract: An offshore airborne wind turbine system including an aerial vehicle, an electrically conductive tether having a first end secured to the aerial vehicle and a second end secured to a platform, a rotatable drum positioned on the platform, an aerial vehicle perch extending from the platform, wherein the platform is positioned on a top of a spar buoy.
    Type: Application
    Filed: December 30, 2013
    Publication date: July 2, 2015
    Applicant: Google Inc.
    Inventor: Damon Vander Lind
  • Vision-based indicator signal detection using spatiotemporal filtering
    Patent number: 9305223
    Abstract: An autonomous vehicle is configured to detect an active turn signal indicator on another vehicle. An image-capture device of the autonomous vehicle captures an image of a field of view of the autonomous vehicle. The autonomous vehicle captures the image with a short exposure to emphasize objects having brightness above a threshold. Additionally, a bounding area for a second vehicle located within the image is determined. The autonomous vehicle identifies a group of pixels within the bounding area based on a first color of the group of pixels. The autonomous vehicle also calculates an oscillation of an intensity of the group of pixels. Based on the oscillation of the intensity, the autonomous vehicle determines a likelihood that the second vehicle has a first active turn signal. Additionally, the autonomous vehicle is controlled based at least on the likelihood that the second vehicle has a first active turn signal.
    Type: Grant
    Filed: June 26, 2013
    Date of Patent: April 5, 2016
    Assignee: GOOGLE INC.
    Inventors: Abhijit Ogale, David Ian Franklin Ferguson
  • Vision-based indicator signal detection using spatiotemporal filtering
    Patent number: 9507347
    Abstract: An autonomous vehicle is configured to detect an active turn signal indicator on another vehicle. An image-capture device of the autonomous vehicle captures an image of a field of view of the autonomous vehicle. The autonomous vehicle captures the image with a short exposure to emphasize objects having brightness above a threshold. Additionally, a bounding area for a second vehicle located within the image is determined. The autonomous vehicle identifies a group of pixels within the bounding area based on a first color of the group of pixels. The autonomous vehicle also calculates an oscillation of an intensity of the group of pixels. Based on the oscillation of the intensity, the autonomous vehicle determines a likelihood that the second vehicle has a first active turn signal. Additionally, the autonomous vehicle is controlled based at least on the likelihood that the second vehicle has a first active turn signal.
    Type: Grant
    Filed: February 29, 2016
    Date of Patent: November 29, 2016
    Assignee: Google Inc.
    Inventors: Abhijit Ogale, David Ian Franklin Ferguson
  • Pedestrian notifications
    Patent number: 9196164
    Abstract: 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.
    Type: Grant
    Filed: September 27, 2012
    Date of Patent: November 24, 2015
    Assignee: Google Inc.
    Inventors: Christopher Paul Urmson, Ian James Mahon, Dmitri A. Dolgov, Jiajun Zhu
  • User interface for displaying internal state of autonomous driving system
    Patent number: 8670891
    Abstract: 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.
    Type: Grant
    Filed: March 7, 2013
    Date of Patent: March 11, 2014
    Assignee: Google Inc.
    Inventors: Andrew Szybalski, Luis Ricardo Prada Gomez, Christopher Paul Urmson, Sebastian Thrun, Philip Nemec
  • User interface for displaying internal state of autonomous driving system
    Patent number: 8433470
    Abstract: 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.
    Type: Grant
    Filed: December 7, 2012
    Date of Patent: April 30, 2013
    Assignee: Google Inc.
    Inventors: Andrew Szybalski, Luis Ricardo Prada Gomez, Christopher Paul Urmson, Sebastian Thrun, Philip Nemec
  • User interface for displaying internal state of autonomous driving system
    Patent number: 9519287
    Abstract: 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.
    Type: Grant
    Filed: August 7, 2015
    Date of Patent: December 13, 2016
    Assignee: Google Inc.
    Inventors: Andrew Timothy Szybalski, Luis Ricardo Prada Gomez, Christopher Paul Urmson, Sebastian Thrun, Philip Nemec
  • Methods and systems for performing flocking while executing a long-range fleet plan
    Patent number: 8781727
    Abstract: Methods and systems for performing flocking while executing a fleet plan are provided. An example method includes receiving a sequence of coverage requirements for a region and an associated period of time, and determining a respective sequence of intended destinations for each of one or more vehicles of a fleet of vehicles to travel to over the period of time. Additionally, based on a determined sequence of intended destinations for a vehicle of the one or more vehicles and based on a desired spatial relationship between the vehicle and one or more neighboring vehicles for a given time period, a flocking-based direction of travel for the vehicle may be determined for the given time period.
    Type: Grant
    Filed: January 15, 2013
    Date of Patent: July 15, 2014
    Assignee: Google Inc.
    Inventors: Keith Allen Bonawitz, Dan Piponi
  • Transportation information systems and methods
    Patent number: 9552729
    Abstract: An exemplary method includes determining whether real-time vehicle location information deviates from at least one of historical real-time vehicle location information or scheduled vehicle location information. The exemplary method further includes generating scheduling information for a user based on user data and the public transportation data, determining that the real-time vehicle location information deviates from at least one of the historical real-time vehicle location information or the scheduled vehicle location information by more than a threshold deviation, and updating the scheduling information for the user based on the user data, the public transportation data, and the determined deviation.
    Type: Grant
    Filed: December 31, 2013
    Date of Patent: January 24, 2017
    Assignee: Google Inc.
    Inventors: Alex Gontmakher, Frederick Peter Brewin, Noam Ben Haim
  • Lane selection using machine learning
    Patent number: 12223410
    Abstract: To select a lane in a multi-lane road segment for a vehicle travelling on the road segment, a system identifies, in multiple lanes and in a region ahead of the vehicle, another vehicle defining a target; the system applies an optical flow technique to track the target during a period of time, to generate an estimate of how fast traffic moves; and the system applies the estimate to machine learning (ML) model to generate a recommendation which one of the plurality of lanes the vehicle is to choose.
    Type: Grant
    Filed: February 27, 2024
    Date of Patent: February 11, 2025
    Assignee: GOOGLE LLC
    Inventors: Thomas Deselaers, Victor Carbune
  • Providing information based on context
    Patent number: 8621645
    Abstract: A method, apparatus, and computer readable medium that receives a request to output content with a computing apparatus in a vehicle. Privacy information associated with the content is identified. Environmental data associated with the vehicle is determined, the environmental data including at least a number of occupants present in the vehicle. At least a portion of the content is modified and/or suppressed based on the privacy information and the environmental data. The modified content and/or any portion of the content not suppressed is output by the computing apparatus in the vehicle.
    Type: Grant
    Filed: August 23, 2012
    Date of Patent: December 31, 2013
    Assignee: Google Inc.
    Inventor: Stephen Philip Spackman
  • Compartmented ski carrier
    Patent number: 11207586
    Abstract: A ski carrier is disclosed herein. The ski carrier includes a housing having a cylindrical shape with rounded ends. The housing further includes a latch located along a center portion that opens to reveal a mounting assembly located within the housing. The mounting assembly includes two rotatable cylinders that are connected through a central rod. The cylinders include clips that receive ski poles to be mounted and stored within the housing. The housing further includes a first compartment and a second compartment that is movable to reveal additional storage for skiing accessories such as gloves, boots, and googles. Additionally, the housing may be mounted on to the top of a vehicle for easy transport.
    Type: Grant
    Filed: March 3, 2020
    Date of Patent: December 28, 2021
    Inventor: Mark Croshier
  • TRANSPORTATION INFORMATION SYSTEMS AND METHODS
    Publication number: 20140111358
    Abstract: An exemplary method includes determining whether real-time vehicle location information deviates from at least one of historical real-time vehicle location information or scheduled vehicle location information. The exemplary method further includes generating scheduling information for a user based on user data and the public transportation data, determining that the real-time vehicle location information deviates from at least one of the historical real-time vehicle location information or the scheduled vehicle location information by more than a threshold deviation, and updating the scheduling information for the user based on the user data, the public transportation data, and the determined deviation.
    Type: Application
    Filed: December 31, 2013
    Publication date: April 24, 2014
    Applicant: GOOGLE INC.
    Inventors: Alex GONTMAKHER, Frederick Peter BREWIN, Noam BEN HAIM
  • System and method for determining position and distance of objects using road fiducials
    Patent number: 8880273
    Abstract: Aspects of the invention relate generally to autonomous vehicles. The features described improve the safety, use, driver experience, and performance of these vehicles by using ground markers to determine the position of the surrounding objects. In particular, the autonomous vehicle is capable of detecting nearby objects, such as vehicles and pedestrians, and is able to determine the position of these objects based on whether they have passed over ground markers.
    Type: Grant
    Filed: January 16, 2013
    Date of Patent: November 4, 2014
    Assignee: Google Inc.
    Inventor: Andrew Hughes Chatham
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