CN111052022B - 自主交通工具碰撞缓解系统及方法 - Google Patents
自主交通工具碰撞缓解系统及方法 Download PDFInfo
- Publication number
- CN111052022B CN111052022B CN201880049195.5A CN201880049195A CN111052022B CN 111052022 B CN111052022 B CN 111052022B CN 201880049195 A CN201880049195 A CN 201880049195A CN 111052022 B CN111052022 B CN 111052022B
- Authority
- CN
- China
- Prior art keywords
- interest
- sensors
- autonomous vehicle
- region
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 44
- 230000000116 mitigating effect Effects 0.000 title description 106
- 230000033001 locomotion Effects 0.000 claims description 68
- 238000001514 detection method Methods 0.000 claims description 32
- 238000004891 communication Methods 0.000 claims description 24
- 230000002567 autonomic effect Effects 0.000 description 17
- 230000008447 perception Effects 0.000 description 12
- 230000009471 action Effects 0.000 description 6
- 230000006870 function Effects 0.000 description 6
- 230000001133 acceleration Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 238000001914 filtration Methods 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 238000001429 visible spectrum Methods 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
- B62D15/0265—Automatic obstacle avoidance by steering
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0297—Fleet control by controlling means in a control room
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
- B60W60/00276—Planning or execution of driving tasks using trajectory prediction for other traffic participants for two or more other traffic participants
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/402—Type
- B60W2554/4026—Cycles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/402—Type
- B60W2554/4029—Pedestrians
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—Position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4044—Direction of movement, e.g. backwards
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Electromagnetism (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Acoustics & Sound (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
Claims (20)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US15/637,539 | 2017-06-29 | ||
US15/637,539 US10386856B2 (en) | 2017-06-29 | 2017-06-29 | Autonomous vehicle collision mitigation systems and methods |
PCT/US2018/038996 WO2019005610A1 (en) | 2017-06-29 | 2018-06-22 | ANTI-COLLISION SYSTEMS AND METHODS FOR AUTONOMOUS VEHICLE |
Publications (2)
Publication Number | Publication Date |
---|---|
CN111052022A CN111052022A (zh) | 2020-04-21 |
CN111052022B true CN111052022B (zh) | 2021-09-07 |
Family
ID=63015019
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201880049195.5A Active CN111052022B (zh) | 2017-06-29 | 2018-06-22 | 自主交通工具碰撞缓解系统及方法 |
Country Status (8)
Country | Link |
---|---|
US (4) | US10386856B2 (zh) |
EP (1) | EP3625633B1 (zh) |
JP (1) | JP6843277B2 (zh) |
CN (1) | CN111052022B (zh) |
AU (1) | AU2018295099B2 (zh) |
CA (1) | CA3068317A1 (zh) |
SG (1) | SG11201912884UA (zh) |
WO (1) | WO2019005610A1 (zh) |
Families Citing this family (35)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2018170444A1 (en) | 2017-03-17 | 2018-09-20 | The Regents Of The University Of Michigan | Method and apparatus for constructing informative outcomes to guide multi-policy decision making |
JP6806242B2 (ja) * | 2017-04-20 | 2021-01-06 | 富士通株式会社 | 衝突リスク算出プログラム、衝突リスク算出方法および衝突リスク算出装置 |
US10386856B2 (en) | 2017-06-29 | 2019-08-20 | Uber Technologies, Inc. | Autonomous vehicle collision mitigation systems and methods |
US10065638B1 (en) * | 2017-08-03 | 2018-09-04 | Uber Technologies, Inc. | Multi-model switching on a collision mitigation system |
US11100729B2 (en) * | 2017-08-08 | 2021-08-24 | Panasonic Intellectual Property Corporation Of America | Information processing method, information processing system, and program |
US11430071B2 (en) * | 2017-08-16 | 2022-08-30 | Mobileye Vision Technologies Ltd. | Navigation based on liability constraints |
EP3707526A2 (en) * | 2017-11-06 | 2020-09-16 | Echodyne Corp | Intelligent sensor and intelligent feedback-based dynamic control of a parameter of a field of regard to which the sensor is directed |
CN109927721B (zh) * | 2017-12-18 | 2020-10-27 | 华创车电技术中心股份有限公司 | 车道维持追随系统 |
US20190367019A1 (en) * | 2018-05-31 | 2019-12-05 | TuSimple | System and method for proximate vehicle intention prediction for autonomous vehicles |
US11104334B2 (en) | 2018-05-31 | 2021-08-31 | Tusimple, Inc. | System and method for proximate vehicle intention prediction for autonomous vehicles |
EP3824404A4 (en) | 2018-07-20 | 2022-04-27 | May Mobility, Inc. | MULTI-PERSPECTIVE SYSTEM AND BEHAVIORAL POLICY SELECTION PROCESS BY AN AUTONOMOUS AGENT |
US11353872B2 (en) * | 2018-07-30 | 2022-06-07 | Pony Ai Inc. | Systems and methods for selectively capturing and filtering sensor data of an autonomous vehicle |
US10782689B2 (en) * | 2018-08-10 | 2020-09-22 | Pony Ai Inc. | Systems and methods for selectively capturing sensor data of an autonomous vehicle using a sensor guide rail |
CN111538322B (zh) * | 2019-01-18 | 2023-09-15 | 驭势科技(北京)有限公司 | 自动驾驶车辆的传感器数据选择方法、装置及车载设备 |
US10969470B2 (en) | 2019-02-15 | 2021-04-06 | May Mobility, Inc. | Systems and methods for intelligently calibrating infrastructure devices using onboard sensors of an autonomous agent |
EP3709208A1 (en) * | 2019-03-14 | 2020-09-16 | Visteon Global Technologies, Inc. | Method and control unit for detecting a region of interest |
US11351991B2 (en) * | 2019-03-25 | 2022-06-07 | Zoox, Inc. | Prediction based on attributes |
US11370424B1 (en) * | 2019-08-02 | 2022-06-28 | Zoox, Inc. | Relevant object detection |
CN110962847B (zh) * | 2019-11-26 | 2021-10-08 | 清华大学苏州汽车研究院(吴江) | 车道居中辅助自适应巡航的轨迹规划方法和系统 |
DE102019133172A1 (de) * | 2019-12-05 | 2021-06-10 | Saf-Holland Gmbh | System und Erfassungseinrichtung zum Überprüfen eines Zustands mindestens einer Komponente eines Fahrzeugs und Verfahren zum Überprüfen eines Zustands |
US11385642B2 (en) | 2020-02-27 | 2022-07-12 | Zoox, Inc. | Perpendicular cut-in training |
US11702105B2 (en) * | 2020-06-27 | 2023-07-18 | Intel Corporation | Technology to generalize safe driving experiences for automated vehicle behavior prediction |
EP4165476A4 (en) | 2020-07-01 | 2024-07-03 | May Mobility Inc | METHOD AND SYSTEM FOR DYNAMIC MANAGEMENT OF AUTONOMOUS VEHICLE INTERVENTIONS |
JP7276280B2 (ja) * | 2020-08-18 | 2023-05-18 | トヨタ自動車株式会社 | 車両用画像記録装置及び車両用画像記録方法 |
EP4260009A1 (en) | 2020-12-14 | 2023-10-18 | May Mobility, Inc. | Autonomous vehicle safety platform system and method |
EP4264181A1 (en) | 2020-12-17 | 2023-10-25 | May Mobility, Inc. | Method and system for dynamically updating an environmental representation of an autonomous agent |
US11472436B1 (en) | 2021-04-02 | 2022-10-18 | May Mobility, Inc | Method and system for operating an autonomous agent with incomplete environmental information |
JP2024526037A (ja) | 2021-06-02 | 2024-07-17 | メイ モビリティー,インコーポレイテッド | 自律エージェントの遠隔支援のための方法及びシステム |
JP7476144B2 (ja) * | 2021-07-19 | 2024-04-30 | ダイハツ工業株式会社 | 衝突回避制御装置 |
US11794766B2 (en) * | 2021-10-14 | 2023-10-24 | Huawei Technologies Co., Ltd. | Systems and methods for prediction-based driver assistance |
WO2023102098A1 (en) | 2021-12-01 | 2023-06-08 | May Mobility, Inc. | Method and system for impact-based operation of an autonomous agent |
US20230213633A1 (en) * | 2022-01-06 | 2023-07-06 | GM Global Technology Operations LLC | Aggregation-based lidar data alignment |
WO2023154568A1 (en) | 2022-02-14 | 2023-08-17 | May Mobility, Inc. | Method and system for conditional operation of an autonomous agent |
US20230304800A1 (en) * | 2022-03-28 | 2023-09-28 | Arm Limited | Method of augmenting human perception of the surroundings |
US12027053B1 (en) | 2022-12-13 | 2024-07-02 | May Mobility, Inc. | Method and system for assessing and mitigating risks encounterable by an autonomous vehicle |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20030083818A1 (en) * | 2001-10-31 | 2003-05-01 | Masanori Tojima | Obstacle detecting apparatus of vehicle |
US20070219720A1 (en) * | 2006-03-16 | 2007-09-20 | The Gray Insurance Company | Navigation and control system for autonomous vehicles |
US8855849B1 (en) * | 2013-02-25 | 2014-10-07 | Google Inc. | Object detection based on known structures of an environment of an autonomous vehicle |
CN104787045A (zh) * | 2014-01-16 | 2015-07-22 | 丰田自动车工程及制造北美公司 | 用于自动驾驶系统的横向操纵规划器 |
CN104859649A (zh) * | 2014-02-25 | 2015-08-26 | 福特全球技术公司 | 自主驾驶传感系统和方法 |
CN105358399A (zh) * | 2013-06-24 | 2016-02-24 | 谷歌公司 | 使用环境信息辅助用于自主车辆的图像处理 |
CN105835878A (zh) * | 2015-01-29 | 2016-08-10 | 丰田自动车工程及制造北美公司 | 在乘员视野和传感器检测受阻环境中的自主车辆操作 |
US9558584B1 (en) * | 2013-07-29 | 2017-01-31 | Google Inc. | 3D position estimation of objects from a monocular camera using a set of known 3D points on an underlying surface |
Family Cites Families (75)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US1006563A (en) | 1911-04-24 | 1911-10-24 | Crompton & Knowles Loom Works | Doup-heddle for leno-weaving. |
US5956250A (en) | 1990-02-05 | 1999-09-21 | Caterpillar Inc. | Apparatus and method for autonomous vehicle navigation using absolute data |
JP2580483B2 (ja) | 1994-02-18 | 1997-02-12 | 株式会社小松製作所 | 静油圧−機械式変速機の制御装置 |
JP3866328B2 (ja) * | 1996-06-06 | 2007-01-10 | 富士重工業株式会社 | 車両周辺立体物認識装置 |
EP0913751B1 (de) * | 1997-11-03 | 2003-09-03 | Volkswagen Aktiengesellschaft | Autonomes Fahrzeug und Verfahren zur Steuerung eines autonomen Fahrzeuges |
US6055042A (en) * | 1997-12-16 | 2000-04-25 | Caterpillar Inc. | Method and apparatus for detecting obstacles using multiple sensors for range selective detection |
AUPQ181699A0 (en) | 1999-07-23 | 1999-08-19 | Cmte Development Limited | A system for relative vehicle navigation |
US20070078600A1 (en) | 2005-09-20 | 2007-04-05 | Honeywell International Inc. | System and method of collision avoidance using an invarient set based on vehicle states and dynamic characteristics |
DE102007013303A1 (de) | 2007-03-16 | 2008-09-18 | Robert Bosch Gmbh | Verfahren zur Berechnung einer kollisionsvermeidenden Trajektorie für ein Fahrmanöver eines Fahrzeugs |
US8060306B2 (en) | 2007-10-04 | 2011-11-15 | Deere & Company | Method and system for obstacle avoidance for a vehicle |
US20090292468A1 (en) * | 2008-03-25 | 2009-11-26 | Shunguang Wu | Collision avoidance method and system using stereo vision and radar sensor fusion |
JP5167016B2 (ja) * | 2008-07-30 | 2013-03-21 | 富士重工業株式会社 | 車両の運転支援装置 |
US8175796B1 (en) | 2008-09-25 | 2012-05-08 | The United States Of America As Represented By The Secretary Of The Navy | Method for vehicle collision avoidance |
US8126642B2 (en) * | 2008-10-24 | 2012-02-28 | Gray & Company, Inc. | Control and systems for autonomously driven vehicles |
US20100228427A1 (en) | 2009-03-05 | 2010-09-09 | Massachusetts Institute Of Technology | Predictive semi-autonomous vehicle navigation system |
CN201511700U (zh) | 2009-09-11 | 2010-06-23 | 张新星 | 黑板 |
JP5499854B2 (ja) | 2010-04-08 | 2014-05-21 | ソニー株式会社 | 頭部装着型ディスプレイにおける光学的位置調整方法 |
US8589014B2 (en) * | 2011-06-01 | 2013-11-19 | Google Inc. | Sensor field selection |
US8195394B1 (en) | 2011-07-13 | 2012-06-05 | Google Inc. | Object detection and classification for autonomous vehicles |
DE102011116169A1 (de) * | 2011-10-14 | 2013-04-18 | Continental Teves Ag & Co. Ohg | Vorrichtung zur Unterstützung eines Fahrers beim Fahren eines Fahrzeugs oder zum autonomen Fahren eines Fahrzeugs |
CN104105981B (zh) * | 2011-10-19 | 2016-04-20 | B·苏博拉曼亚 | 定向速度和距离传感器 |
US8700251B1 (en) | 2012-04-13 | 2014-04-15 | Google Inc. | System and method for automatically detecting key behaviors by vehicles |
US8849515B2 (en) | 2012-07-24 | 2014-09-30 | GM Global Technology Operations LLC | Steering assist in driver initiated collision avoidance maneuver |
US9720412B1 (en) * | 2012-09-27 | 2017-08-01 | Waymo Llc | Modifying the behavior of an autonomous vehicle using context based parameter switching |
US8880273B1 (en) | 2013-01-16 | 2014-11-04 | Google Inc. | System and method for determining position and distance of objects using road fiducials |
KR101883475B1 (ko) * | 2013-02-28 | 2018-07-31 | 한화지상방산 주식회사 | 소형통합제어장치 |
US8849494B1 (en) | 2013-03-15 | 2014-09-30 | Google Inc. | Data selection by an autonomous vehicle for trajectory modification |
DE102013012448A1 (de) | 2013-07-26 | 2015-01-29 | Kuka Laboratories Gmbh | Verfahren und Vorrichtung zum Bremsen einer Roboterachsanordnung |
US9201424B1 (en) * | 2013-08-27 | 2015-12-01 | Google Inc. | Camera calibration using structure from motion techniques |
JP6032163B2 (ja) * | 2013-09-11 | 2016-11-24 | トヨタ自動車株式会社 | 三次元物体認識装置、三次元物体認識方法、及び移動体 |
US9880560B2 (en) * | 2013-09-16 | 2018-01-30 | Deere & Company | Vehicle auto-motion control system |
JP2015072611A (ja) | 2013-10-03 | 2015-04-16 | トヨタ自動車株式会社 | 運転支援装置 |
CN104590250B (zh) | 2013-10-31 | 2017-11-10 | 财团法人车辆研究测试中心 | 车辆自主辅助驾驶系统与方法 |
CN106462727B (zh) * | 2014-01-30 | 2020-02-11 | 移动眼视力科技有限公司 | 车辆、车道终止检测系统和方法 |
US9514366B2 (en) * | 2014-02-03 | 2016-12-06 | Xerox Corporation | Vehicle detection method and system including irrelevant window elimination and/or window score degradation |
US10380693B2 (en) | 2014-02-25 | 2019-08-13 | State Farm Mutual Automobile Insurance Company | Systems and methods for generating data that is representative of an insurance policy for an autonomous vehicle |
KR102339667B1 (ko) * | 2014-03-26 | 2021-12-14 | 얀마 파워 테크놀로지 가부시키가이샤 | 자율 주행 작업 차량 |
KR20160138542A (ko) * | 2014-03-28 | 2016-12-05 | 얀마 가부시키가이샤 | 자율 주행 작업 차량 |
US9365213B2 (en) | 2014-04-30 | 2016-06-14 | Here Global B.V. | Mode transition for an autonomous vehicle |
JP6383566B2 (ja) | 2014-05-16 | 2018-08-29 | クラリオン株式会社 | 疲労度推定装置 |
US9365218B2 (en) | 2014-07-14 | 2016-06-14 | Ford Global Technologies, Llc | Selectable autonomous driving modes |
US9187088B1 (en) | 2014-08-15 | 2015-11-17 | Google Inc. | Distribution decision trees |
WO2016122744A2 (en) * | 2014-11-11 | 2016-08-04 | Sikorsky Aircraft Corporation | Trajectory-based sensor planning |
US9886856B2 (en) | 2014-12-04 | 2018-02-06 | Here Global B.V. | Near miss system |
JP5979259B2 (ja) | 2015-01-20 | 2016-08-24 | トヨタ自動車株式会社 | 衝突回避制御装置 |
JP6477158B2 (ja) | 2015-03-31 | 2019-03-06 | ブラザー工業株式会社 | 表示制御装置、表示制御方法及び記憶媒体 |
DE102015113561A1 (de) | 2015-08-17 | 2017-02-23 | Endress + Hauser Flowtec Ag | Ultraschallwandler zum Einsatz in Ultraschall- Durchflussmessgeräten zur Messung der Durchflussgeschwindigkeit oder dem Volumendurchfluss von Medien in einer Rohrleitung sowie ein Verfahren zur Herstellung eines solchen Ultraschallwandlers |
US9805601B1 (en) * | 2015-08-28 | 2017-10-31 | State Farm Mutual Automobile Insurance Company | Vehicular traffic alerts for avoidance of abnormal traffic conditions |
US9606539B1 (en) * | 2015-11-04 | 2017-03-28 | Zoox, Inc. | Autonomous vehicle fleet service and system |
CN105235681B (zh) | 2015-11-11 | 2018-06-08 | 吉林大学 | 一种基于路面条件的车辆追尾防碰撞系统与方法 |
US9704403B2 (en) | 2015-12-03 | 2017-07-11 | Institute For Information Industry | System and method for collision avoidance for vehicle |
KR101788183B1 (ko) * | 2015-12-28 | 2017-10-20 | 현대자동차주식회사 | 차량 및 그 제어방법 |
US10295363B1 (en) * | 2016-01-22 | 2019-05-21 | State Farm Mutual Automobile Insurance Company | Autonomous operation suitability assessment and mapping |
US9711851B1 (en) * | 2016-02-04 | 2017-07-18 | Proxy Technologies, Inc. | Unmanned vehicle, system and method for transmitting signals |
US20170248953A1 (en) | 2016-02-25 | 2017-08-31 | Ford Global Technologies, Llc | Autonomous peril control |
US10191144B2 (en) * | 2016-02-26 | 2019-01-29 | Waymo Llc | Radar mounting estimation with unstructured data |
US9817403B2 (en) * | 2016-03-31 | 2017-11-14 | Intel Corporation | Enabling dynamic sensor discovery in autonomous devices |
US20170291544A1 (en) | 2016-04-12 | 2017-10-12 | Toyota Motor Engineering & Manufacturing North America, Inc. | Adaptive alert system for autonomous vehicle |
CN109416873B (zh) | 2016-06-24 | 2022-02-15 | 瑞士再保险有限公司 | 具有自动化风险控制系统的自主或部分自主机动车辆及其相应方法 |
US10509407B2 (en) * | 2016-07-01 | 2019-12-17 | Samsung Electronics Co., Ltd. | Apparatus and method for a vehicle platform |
US9988046B2 (en) | 2016-07-26 | 2018-06-05 | Ford Global Technologies, Llc | Enhanced collision avoidance |
US10471904B2 (en) * | 2016-08-08 | 2019-11-12 | Toyota Motor Engineering & Manufacturing North America, Inc. | Systems and methods for adjusting the position of sensors of an automated vehicle |
US11067996B2 (en) * | 2016-09-08 | 2021-07-20 | Siemens Industry Software Inc. | Event-driven region of interest management |
US10520904B2 (en) | 2016-09-08 | 2019-12-31 | Mentor Graphics Corporation | Event classification and object tracking |
US10202115B2 (en) | 2016-09-13 | 2019-02-12 | Here Global B.V. | Method and apparatus for triggering vehicle sensors based on human accessory detection |
US10025311B2 (en) * | 2016-10-28 | 2018-07-17 | Delphi Technologies, Inc. | Automated vehicle sensor control system |
US10515390B2 (en) | 2016-11-21 | 2019-12-24 | Nio Usa, Inc. | Method and system for data optimization |
US10315649B2 (en) | 2016-11-29 | 2019-06-11 | Ford Global Technologies, Llc | Multi-sensor probabilistic object detection and automated braking |
KR102656372B1 (ko) * | 2016-12-30 | 2024-04-12 | 세욘드, 인크. | 다중파장 라이다 설계 |
US10796204B2 (en) * | 2017-02-27 | 2020-10-06 | Huawei Technologies Co., Ltd. | Planning system and method for controlling operation of an autonomous vehicle to navigate a planned path |
JP6885754B2 (ja) | 2017-03-09 | 2021-06-16 | 株式会社Screenホールディングス | 基板処理方法および基板処理装置 |
US20180262739A1 (en) * | 2017-03-10 | 2018-09-13 | Denso International America, Inc. | Object detection system |
US10386856B2 (en) | 2017-06-29 | 2019-08-20 | Uber Technologies, Inc. | Autonomous vehicle collision mitigation systems and methods |
US10065638B1 (en) | 2017-08-03 | 2018-09-04 | Uber Technologies, Inc. | Multi-model switching on a collision mitigation system |
KR20220122012A (ko) | 2021-02-26 | 2022-09-02 | 현대자동차주식회사 | 자동차용 폴더블 스티어링 시스템 |
-
2017
- 2017-06-29 US US15/637,539 patent/US10386856B2/en active Active
-
2018
- 2018-06-22 WO PCT/US2018/038996 patent/WO2019005610A1/en unknown
- 2018-06-22 SG SG11201912884UA patent/SG11201912884UA/en unknown
- 2018-06-22 JP JP2019572474A patent/JP6843277B2/ja active Active
- 2018-06-22 EP EP18746049.8A patent/EP3625633B1/en active Active
- 2018-06-22 CN CN201880049195.5A patent/CN111052022B/zh active Active
- 2018-06-22 AU AU2018295099A patent/AU2018295099B2/en active Active
- 2018-06-22 CA CA3068317A patent/CA3068317A1/en active Pending
-
2019
- 2019-06-03 US US16/429,437 patent/US11048272B2/en active Active
-
2021
- 2021-06-28 US US17/360,599 patent/US11789461B2/en active Active
-
2023
- 2023-09-11 US US18/464,822 patent/US20230418307A1/en active Pending
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20030083818A1 (en) * | 2001-10-31 | 2003-05-01 | Masanori Tojima | Obstacle detecting apparatus of vehicle |
US20070219720A1 (en) * | 2006-03-16 | 2007-09-20 | The Gray Insurance Company | Navigation and control system for autonomous vehicles |
US8855849B1 (en) * | 2013-02-25 | 2014-10-07 | Google Inc. | Object detection based on known structures of an environment of an autonomous vehicle |
CN105358399A (zh) * | 2013-06-24 | 2016-02-24 | 谷歌公司 | 使用环境信息辅助用于自主车辆的图像处理 |
US9558584B1 (en) * | 2013-07-29 | 2017-01-31 | Google Inc. | 3D position estimation of objects from a monocular camera using a set of known 3D points on an underlying surface |
CN104787045A (zh) * | 2014-01-16 | 2015-07-22 | 丰田自动车工程及制造北美公司 | 用于自动驾驶系统的横向操纵规划器 |
CN104859649A (zh) * | 2014-02-25 | 2015-08-26 | 福特全球技术公司 | 自主驾驶传感系统和方法 |
CN105835878A (zh) * | 2015-01-29 | 2016-08-10 | 丰田自动车工程及制造北美公司 | 在乘员视野和传感器检测受阻环境中的自主车辆操作 |
Also Published As
Publication number | Publication date |
---|---|
CA3068317A1 (en) | 2019-01-03 |
US10386856B2 (en) | 2019-08-20 |
SG11201912884UA (en) | 2020-01-30 |
US20210325902A1 (en) | 2021-10-21 |
CN111052022A (zh) | 2020-04-21 |
US20190004538A1 (en) | 2019-01-03 |
US11048272B2 (en) | 2021-06-29 |
EP3625633A1 (en) | 2020-03-25 |
AU2018295099A1 (en) | 2020-01-23 |
EP3625633B1 (en) | 2022-11-23 |
US20230418307A1 (en) | 2023-12-28 |
WO2019005610A1 (en) | 2019-01-03 |
US20190286165A1 (en) | 2019-09-19 |
JP2020525948A (ja) | 2020-08-27 |
US11789461B2 (en) | 2023-10-17 |
JP6843277B2 (ja) | 2021-03-17 |
AU2018295099B2 (en) | 2020-05-21 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN111052022B (zh) | 自主交通工具碰撞缓解系统及方法 | |
US11702067B2 (en) | Multi-model switching on a collision mitigation system | |
US12055945B2 (en) | Systems and methods for controlling an autonomous vehicle with occluded sensor zones | |
EP3704684B1 (en) | Object motion prediction and vehicle control for autonomous vehicles | |
US10365654B2 (en) | System for safe passenger departure from autonomous vehicle | |
EP3421316B1 (en) | Disabling onboard input devices in an autonomous vehicle | |
US10493622B2 (en) | Systems and methods for communicating future vehicle actions to be performed by an autonomous vehicle | |
US20210302983A1 (en) | Adaptive Vehicle Motion Control System | |
US10843722B2 (en) | Systems and methods for controlling an input device of an autonomous vehicle | |
US9964952B1 (en) | Adaptive vehicle motion control system |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
CP03 | Change of name, title or address | ||
CP03 | Change of name, title or address |
Address after: Pennsylvania, USA Patentee after: Uatc Co.,Ltd. Country or region after: U.S.A. Address before: California, USA Patentee before: Uatc Co.,Ltd. Country or region before: U.S.A. |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20240419 Address after: Pennsylvania, USA Patentee after: Aurora operations Country or region after: U.S.A. Address before: Pennsylvania, USA Patentee before: Uatc Co.,Ltd. Country or region before: U.S.A. |