| Junior: The stanford entry in the urban challenge M Montemerlo, J Becker, S Bhat, H Dahlkamp, D Dolgov, S Ettinger, ... Journal of field Robotics 25 (9), 569-597, 2008 | 1624 | 2008 |
| System and method for predicting behaviors of detected objects J Zhu, DI Ferguson, DA Dolgov US Patent 8,660,734, 2014 | 1056 | 2014 |
| Path planning for autonomous vehicles in unknown semi-structured environments D Dolgov, S Thrun, M Montemerlo, J Diebel The international journal of robotics research 29 (5), 485-501, 2010 | 949 | 2010 |
| Systems and methods for transitioning control of an autonomous vehicle to a driver D Dolgov, A Schultz, DT Egnor, C Urmson US Patent 9,342,074, 2016 | 526 | 2016 |
| Practical search techniques in path planning for autonomous driving D Dolgov, S Thrun, M Montemerlo, J Diebel Ann Arbor 1001 (48105), 18-80, 2008 | 488 | 2008 |
| Driving pattern recognition and safety control CP Urmson, DA Dolgov, P Nemec US Patent 8,634,980, 2014 | 415 | 2014 |
| Zone driving MS Montemerlo, DA Dolgov, CP Urmson US Patent 8,509,982, 2013 | 403 | 2013 |
| Diagnosis and repair for autonomous vehicles DA Dolgov, CP Urmson US Patent 8,874,305, 2014 | 345 | 2014 |
| Modifying behavior of autonomous vehicle based on predicted behavior of other vehicles DI Ferguson, DA Dolgov US Patent 8,457,827, 2013 | 295 | 2013 |
| Modifying behavior of autonomous vehicles based on sensor blind spots and limitations DA Dolgov, CP Urmson US Patent 9,367,065, 2016 | 265 | 2016 |
| Driving pattern recognition and safety control CP Urmson, DA Dolgov, P Nemec US Patent 8,965,621, 2015 | 243 | 2015 |
| System and method for automatically detecting key behaviors by vehicles J Zhu, DI Ferguson, DA Dolgov US Patent 8,700,251, 2014 | 228 | 2014 |
| Modifying behavior of autonomous vehicle based on predicted behavior of other vehicles DIF Ferguson, DA Dolgov US Patent 9,330,571, 2016 | 223 | 2016 |
| Cross-validating sensors of an autonomous vehicle J Zhu, DA Dolgov, CP Urmson US Patent 9,221,396, 2015 | 223 | 2015 |
| Pedestrian notifications CP Urmson, IJ Mahon, DA Dolgov, J Zhu US Patent 8,954,252, 2015 | 220 | 2015 |
| Determining when to drive autonomously MS Montemerlo, HJ Murveit, CP Urmson, DA Dolgov, P Nemec US Patent 8,954,217, 2015 | 215 | 2015 |
| Determining when to drive autonomously MS Montemerlo, HJ Murveit, CP Urmson, DA Dolgov, P Nemec US Patent 8,718,861, 2014 | 214 | 2014 |
| Methods and systems for smooth trajectory generation for a self-driving vehicle D Dolgov US Patent 9,120,485, 2015 | 213 | 2015 |
| Automated system and method for modeling the behavior of vehicles and other agents J Zhu, DI Ferguson, DA Dolgov US Patent 9,495,874, 2016 | 195 | 2016 |
| Systems and methods for determining whether a driving environment has changed DI Ferguson, DA Dolgov US Patent 8,949,016, 2015 | 182 | 2015 |
