CN112689586B - 远程安全驾驶方法和系统 - Google Patents
远程安全驾驶方法和系统 Download PDFInfo
- Publication number
- CN112689586B CN112689586B CN201980060131.XA CN201980060131A CN112689586B CN 112689586 B CN112689586 B CN 112689586B CN 201980060131 A CN201980060131 A CN 201980060131A CN 112689586 B CN112689586 B CN 112689586B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- emergency
- driving
- remote
- location
- 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 88
- 230000009471 action Effects 0.000 claims abstract description 15
- 230000004044 response Effects 0.000 claims abstract description 11
- 238000004891 communication Methods 0.000 claims description 20
- 230000002159 abnormal effect Effects 0.000 claims description 19
- 238000004422 calculation algorithm Methods 0.000 claims description 16
- 238000012544 monitoring process Methods 0.000 claims description 14
- 238000001514 detection method Methods 0.000 claims description 9
- 230000006399 behavior Effects 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000008447 perception Effects 0.000 claims description 3
- 230000004807 localization Effects 0.000 claims description 2
- 239000003153 chemical reaction reagent Substances 0.000 claims 1
- 230000008569 process Effects 0.000 description 17
- 238000010586 diagram Methods 0.000 description 12
- 238000004590 computer program Methods 0.000 description 11
- 238000012360 testing method Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 4
- 238000007689 inspection Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 2
- 230000000737 periodic effect Effects 0.000 description 2
- 238000013515 script Methods 0.000 description 2
- 230000001953 sensory effect Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 241000238413 Octopus Species 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000009429 distress Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000644 propagated effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
-
- 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
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/181—Preparing for stopping
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/035—Bringing the control units into a predefined state, e.g. giving priority to particular actuators
-
- 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
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
-
- 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
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
- B60W60/0018—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions
- B60W60/00182—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions in response to weather conditions
-
- 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
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
- B60W60/0018—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions
- B60W60/00186—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions related to the vehicle
-
- 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
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
-
- 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
- G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
-
- 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
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0816—Indicating performance data, e.g. occurrence of a malfunction
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
- B60W2050/0292—Fail-safe or redundant systems, e.g. limp-home or backup systems
-
- 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)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Business, Economics & Management (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Game Theory and Decision Science (AREA)
- Medical Informatics (AREA)
- Traffic Control Systems (AREA)
Abstract
公开了用于远程安全驾驶的设备、系统和方法。一种示例性方法包括:检测紧急情形;以及响应于检测到紧急情形,将车辆的操作切换到低功率操作模式,该低功率操作模式包括关闭车辆部件的子集,以及将车辆的位置周期性地传输到远程监测中心。另一示例性方法包括:选择车辆驾驶动作的集合中的至少一个车辆驾驶动作;以及通过安全连接将车辆驾驶动作的集合中的至少一个车辆驾驶动作传输到车辆,其中车辆驾驶动作的集合基于驾驶员行为的分类来生成。
Description
相关申请的交叉引用
本专利文档要求于2018年9月13日提交的题为“远程安全驾驶方法和系统”的美国临时专利申请号62/730,912的优先权和权益。前述专利申请的全部内容作为本专利文档的公开内容的一部分通过引用并入。
技术领域
该文档涉及远程车辆监测和控制。
背景技术
自主车辆导航是一种用于感测车辆的位置和移动并且基于该感测自主控制车辆朝向目的地导航的技术。自主车辆导航在运输人员、货物和服务时可能具有重要应用。
发明内容
公开了用于远程安全驾驶的设备、系统和方法,该设备、系统和方法包括自检查系统、紧急处置系统和远程控制系统。在示例中,这可以通过远程监测中心来实现,该远程监测中心控制车辆上的监测和紧急处置服务的某个部分,并且提供命令以在紧急情况下确保车辆及其乘客的安全。
在一个方面中,所公开的技术可以用于提供用于车辆的远程安全驾驶的方法。该方法可以在车辆上实现。该方法包括:检测紧急情形;以及响应于检测到紧急情形,将车辆的操作切换到低功率操作模式,该低功率操作模式包括:关闭车辆部件的子集,并且将车辆的位置周期性地传输到远程监测中心。
在另一方面中,所公开的技术可以用于提供用于车辆的远程安全驾驶的另一方法。该方法可以在与车辆通信的远程数据中心处实现。该方法包括:选择车辆驾驶动作的集合中的至少一个车辆驾驶动作;以及通过安全连接将该车辆驾驶动作的集合中的至少一个车辆驾驶动作传输到车辆,其中基于多个驾驶员行为的分类来生成该车辆驾驶动作的集合。
在又另一示例方面中,公开了一种计算装置,该计算装置包括处理器,该处理器用于实现本文中所记载的方法中的一个方法。
在又另一示例方面中,公开了一种计算机程序产品,该计算机程序产品包括计算机可读程序介质,其上存储有代码。该代码当由处理器执行时,使得处理器实现所描述的方法。
在附图、说明书和权利要求书中对所公开的技术的上述和其他方面以及特征进行更详细的描述。
附图说明
图1示出了用于远程安全驾驶的示例性系统的框图。
图2示出了实现用于远程安全驾驶的程序的示例状态图。
图3示出了实现用于远程安全驾驶的另一程序的示例状态图。
图4示出了可以支持远程安全驾驶的车辆的示例子部件的框图。
图5示出了用于远程安全驾驶的示例方法的流程图。
图6示出了用于远程安全驾驶的另一示例方法的流程图。
图7示出了可以实现本文档中所描述的一些技术的硬件平台的示例。
具体实施方式
自主车辆使用多种技术来检测其周围环境,诸如雷达、激光、GPS、里程计、以及计算机视觉。控制系统可以解释感观信息以标识适当的导航路径、以及沿着路线的计划内障碍物和计划外障碍物以及相关标志。车辆的远程驾驶还可以依赖于监测和分类系统,该监测和分类系统能够分析感观数据以区分多种因素,例如,不同的天气条件、道路上的不同汽车、以及不同的障碍物。
自主驾驶的另一整体特征应当是车辆及其乘客的安全以及附近人员和财产的安全。因此,自主车辆应当配备紧急处置系统,以确保车辆的安全驾驶,尤其是当远程执行时。由于安全至关重要,所以对紧急情形的响应应当迅速而准确。使得能够广泛使用自主车辆的主要目标中的一个主要目标是实现并超越人类驾驶行为的可靠性,并且远程安全驾驶是该目标不可或缺的组成部分。本文档中所描述的技术可以并入完全自主车辆、半自主车辆和/或控制自主车辆的操作的控制中心的实施例中。特别地,使用所公开的技术,在检测到异常时,自主车辆可以安全停止进一步驾驶并且寻求协助。同样,在一些实施例中,当控制中心意识到自主车辆的遇险条件时,控制中心可以向车辆提供进一步指令以安全中止驾驶并且等待进一步帮助。本文中还对这些和其他特征进行描述。
图1示出了用于远程安全驾驶的示例性系统的框图。如其中所示,用于安全驾驶的系统包括卡车110和远程中心(或远程数据中心或远程监测中心)130,卡车110和远程中心130可以通过通信协议120彼此通信。在一些实施例中,卡车110包括紧急处置系统112、监测系统114、以及电子控制单元(ECU)系统116。
在一些实施例中,紧急处置系统定义几个紧急状态条件以及针对每个状态条件的对应自主车辆动作。例如,紧急状态条件可能包括:
(a)“卡车/车辆异常”状态,其可以包括指示任何异常的CAN(控制器局域网)总线响应信号;
(b)“传感器异常”状态,其可以指示已检测到包括相机、雷达、GPS和惯性测量单元(IMU)在内的传感器中的任一传感器存在异常,例如,缺少来自这些传感器中的一个或多个传感器的信号;
(c)“ECU异常”状态,其是针对车辆的硬件部件的自检测状态检查;
(d)“系统异常”状态,其可以指示中间件存在问题,例如,中间件系统死锁持续了3秒钟以上;
(e)“网络异常”状态,其可以指示网络存在问题,例如,网络已断开连接;
(f)“汽车控制失败”状态,其指示控制模块的至少一个自检测测试中的故障,例如,无输出或异常输出;
(g)“规划失败”状态,其指示规划模块的至少一个自检测测试中的故障,例如,无输出或异常输出;
(h)“感知失败”状态,其指示感知模块的至少一个自检测测试中的故障,例如,无输出或异常输出;以及
(i)“定位失败”状态,其指示定位模块的至少一个自检测测试中的故障,例如,无输出或异常输出。
在一些实施例中,当检测到“卡车(或车辆)异常”状态指示符时,车辆可以停止在紧急车道上,并且当检测到其他状态指示符中的任一状态指示符时,车辆可以停止在其当前正在行驶的车道中。
在一些实施例中,一旦所枚举的紧急状态条件中的一个或多个紧急状态条件被检测为紧急信号的一部分,它们就可以通过安全连接传输到远程数据中心。在其他实施例中,紧急状态条件可以作为周期性地传输的监测信号的一部分来传输。在其他实施例中,可以采用半永久性途径,其中周期性的监测更新从车辆传输到远程数据中心,但是紧急信号传输优先并且在其生成后立即传输。
在一些实施例中,远程数据中心可以通过专用且安全的紧急信道从车辆接收必要紧急信号。在一个示例中,可以根据所接收的紧急信号导出车辆的状态。在另一示例中,远程数据中心可以从车辆本身接收车辆的状态,作为包含必要紧急信号的通信的一部分,或处于单独通信。在又另一示例中,状态条件(其可以是非紧急状态条件或紧急状态条件)可以伴随有对应报告,该对应报告提供与该状态条件有关的附加信息。
在一些实施例中,紧急信号包括位置和车辆状态消息。在示例中,可以在绝对坐标或相对坐标中指定位置。车辆状态消息可以包括状态指示符和特定信息要素。在一些实施例中,状态指示符可以具有级别或等级,如下文的示例表所示:
在一些实施例中,所枚举的状态条件中的每个状态条件可以采用上述示例表所示的值,并且可以与可能需要的任何对应信息要素一起传输到远程数据中心。在一些实施例中,车辆的操作、紧急状态的生成以及解决紧急情形所需的响应可以如图2中的状态图所示来实现。
图2示出了实现用于远程安全驾驶的过程的示例状态图200。状态图200通常且理想地在“运行”状态210下操作,在该状态下,车辆正在按预期操作,其中自检测测试中没有故障并且没有紧急状态指示。除了在“运行”状态下的操作之外,车辆还可以周期性地(或半永久地或非周期性地)执行过程220。在示例中,“检查过程”包括:运行自检测测试。
在检测到紧急条件时,示例性用于远程安全驾驶的程序可以实现至少两个政策策略中的一个政策策略。第一政策230指示车辆应当搜索最近的紧急车道,并且在紧急车道上安全停车。第二政策250指示车辆停止在其当前正在操作的车道(称为“自身车道”)上。例如并且在该政策下,车辆可以确定可能需要立即停止,并且驾驶或紧急条件可以排除花费时间来搜索并且移动到紧急车道。
当车辆已经停止在紧急车道230上时,车辆可以采取适当措施以应对紧急情形,然后从紧急车道240重启(并且被称为过程I)。同样,当车辆已经停止在自身车道250上时,在采取了适当措施之后,车辆可以从自身车道260重启(被称为过程II)。如图2所示,从紧急车道或自身车道重启操作会把车辆的状态返回到“运行”状态210。
图3示出了示例状态图300,其实现用于远程安全驾驶的“过程I”程序和“过程II”程序(如在图2的上下文中所讨论的)。如其中所示,状态图300包括远程数据中心(或简称为“数据中心”)310,该远程数据中心310对车辆中的每个子系统实现同步过程320和自检查程序,以确保可以重启车辆。例如,同步过程320确保子系统自检查以协调方式实现。在一些实施例中,车辆自检查和自启动过程335包括:运行自检查并且将结果报告回到数据中心,该数据中心远程启动车辆。
在一些实施例中,硬件自检查过程345可以包括:自检查以下各项中的一项或多项:ECU模块(例如,CPU、GPU、存储器、主板)、传感器模块(例如,相机、雷达、IMU、GPS传感器)、以及功率模块(例如,转换器系统);以及将每个子系统自检查的结果报告给数据中心310。
在一些实施例中,软件自检查过程355可以包括自检查Octopus平台,该Octopus平台是用于基于图的程序分析的开源平台。软件自检查过程还可以包括自检查算法模块(例如,地图和定位、感知、控制、运动规划)。
在一些实施例中,周围检查过程365可以确保在重启之前,把车辆附近的其他车辆、物体和/或人员考虑在内。
在一些实施例中,自主驾驶过程375包括:使车辆进入半自主驾驶模式或完全自主驾驶模式。
图4示出了可以支持远程安全驾驶的车辆的示例子部件的框图。在一些实施例中,车辆可以包括传感器系统420、中间件系统440、以及算法模块460。在一些实施例中,这些子部件中的一个或多个子部件可以是ECU系统(例如,图1中所示的ECU系统116)的一部分。在其他实施例中,ECU系统可以控制这些系统和模块中的一个或多个。
在示例中,传感器系统420可以包括CAN总线传感器、相机、雷达能力、GPS单元和/或IMU、以及激光雷达(Lidar)能力。在另一示例中,中间件系统440可以包括系统模块,并且算法模块460可以包括定位模块、感知模块、控制模块、以及规划模块。
在一些实施例中,监测系统(例如,图1中所示的监测系统114)可以周期性地(或连续地或非周期性地触发)监测传感器系统420、中间件系统440和算法模块460的每个组件的状态。例如,监测系统接收位置消息和车辆状态消息。在一些实施例中,位置消息可以使用GPS84坐标。
在一些实施例中,车辆状态消息可以被定义为包括以下子字段,每次可以传输其中的一个或多个子字段:
(1)作为1位字段的车辆运行状态,其中“0”指示车辆正在运行,并且“1”指示车辆已经停止;
(2)使用标准帧格式或扩展帧格式(如CAN 2.0A和CAN 2.0B中所描述的)的车辆自身状态;
(3)硬件状态,其被定义如下:
字段名 | 长度(位) | 目的 |
主板状态 | 6 | 指示主板的状态 |
CPU状态 | 6 | 指示CPU的状态 |
存储器状态 | 6 | 指示存储器的状态 |
GPU状态 | 10 | 指示GPU的状态 |
功率状态 | 6 | 指示电源的状态 |
(4)系统状态,其被定义如下:
(5)算法状态,其被定义如下:
上文所示出的消息格式是示例性的,并且把具有不同长度的位字段以及其他位字段和状态指示符的其他格式设想为所公开的技术的一部分。
所公开的技术的各实施例可以有利地以模块化方式实现,以支持全自主车辆和半自主车辆。例如,驾驶员主动且安全控制的半自主车辆可能无需实现自主驾驶(例如,图3中的自主驾驶过程375)、针对控制模块的自检查(例如,作为图4中的算法模块460的一部分的控制模块)、或使用如上文所描述的控制状态位字段。远程中心可以配置本文档中所描述的安全驾驶系统的实现方式,以适合完全自主车辆或半自主车辆的驾驶员和/或乘客的需求。
图5示出了示例方法500的流程图,该示例方法500可以在车辆处实现,以用于远程安全驾驶。该方法500包括:在步骤510处,检测紧急情形。在一些实施例中,紧急情形可以包括异常传感器操作、异常电子控制单元(ECU)操作、异常网络操作、通信故障、规划模块的故障、汽车控制模块的故障、定位模块的故障、或感知模块的故障。在其他实施例中,紧急情形可以包括图4的上下文中所示的子部件中的一个或多个子部件的故障或错误操作。在其他实施例中,紧急情形可以是车辆外部的事件(例如,环境相关事情或交通相关事件)。
该方法包括:在步骤520处,响应于检测,将车辆的操作切换到低功率操作模式,该低功率操作模式包括关闭车辆部件的子集。在一些实施例中,车辆部件的子集包括非必要传感器以及作为非紧急子系统的子系统。由于从紧急情形中恢复是车辆及其乘客安全以及车辆附近人员和财产安全不可或缺的组成部分,所以关闭了无需解决紧急情形的子系统,以确保足够的功率可用于关键子系统。在示例中,非紧急子系统可以包括车辆娱乐子系统,以及用于零售机构和感兴趣点的地图和导航支持。
在一些实施例中,子系统可以与传感器系统、中间件系统和/或算法模块(如图4中所示)相对应。在其他实施例中,子系统可以与各个传感器(例如,雷达、相机、LiDAR等)或各个模块(例如,定位模块、感知模块等)相对应。
如在图2所示的状态图的上下文中所讨论的,对紧急情形的响应可以包括:将车辆停止在自身车道或紧急车道上。在一些实施例中并且一旦车辆已经被安全引导到停止,则关闭并重启对自主驾驶至关重要的子部件的另一集合,并且对部件的其它集合中的至少一个部件执行状态检查。这确保了车辆处于继续在其路线上的条件或转道到服务站以用于进一步检查。在其他实施例中,如果确定车辆的其他操作可能不安全,则紧急处置系统或远程数据中心可以触发其他故障安全或预防性程序(例如,呼叫拖车)。
在一些实施例中,对重启(或启动)的某些部件执行状态检查可以基于正在改变的环境。例如,如果危险灯在车辆停留在路边的同时开始变黑,则可以对该危险灯进行状态检查,然后,可以打开该危险灯以确保车辆的可见性。又例如,如果高峰时间开始并且停放约束被强加于车辆被停放的最右边车道,则可以对自主驾驶系统(ADS)执行状态检查,并且把车辆小心驾驶到备用安全地方。
该方法包括:在步骤530处,响应于检测,将车辆的位置周期性地传输到远程监测中心。在一些实施例中,一旦检测到任何紧急状态条件,车辆就可以周期性地将其GPS坐标(或相对于已知英里标记、其他地标或Wi-Fi传输器的位置)传输到远程数据中心。在示例中,车辆位置的传输时段可以比通常用于传输监测状态更新的时段短得多。
在一些实施例中,车辆所拖拉的货物对于客户而言可能是至关重要的,并且当检测到紧急情况时被视为必要部件。例如,当车辆正在过渡到低功率操作模式,在该低功率操作模式下,关闭非必要部件和非紧急部件,功率可以路由到货柜,以确保该货柜被维持处于预定热分布。车辆位置的周期性传输会有利地使得远程中心(例如,图1中的130)能够确定车辆能够多快地返回到操作状态(例如,通过跟踪车辆,该车辆被发送以协助具有紧急情况的车辆),并且可以明确确保根据客户请求保持货柜的热分布。
图6示出了示例方法600的流程图,该示例方法600可以在远程数据中心处实现,以用于远程安全驾驶。该方法600包括:在步骤610处,选择车辆驾驶动作的集合中的至少一个车辆驾驶动作。在一些实施例中,车辆驾驶动作可以包括:停放车辆,从预定起点移动到预定目的地,以及移动到加油位置。在一些实施例中,可以基于驾驶员行为的分类来生成车辆驾驶动作的枚举。
例如,分类可以是使用驾驶员行为的数据集合的聚类算法,该聚类算法可以用于训练算法以标识前述车辆驾驶动作。聚类算法可以是分层聚类算法、基于质心的聚类算法、基于分布的聚类算法、或其他这样的监督学习算法。
该方法600包括:在步骤620处,通过安全连接将车辆驾驶动作的集合中的至少一个车辆驾驶动作传输到车辆。在一些实施例中,安全连接可以是专门为紧急通信保留的紧急信道(或链路)。在其他实施例中,安全连接可以是通常用于高速数据通信的操作信道(或链路)。
在一些实施例中,可以使用互联网层密码协议来保护操作链路,该互联网层密码协议强制执行真实性、完整性和保密性。在示例中,操作链路可以使用互联网协议安全性(IPsec)协议、预共享密钥(PSK)或公共密钥密码系统,例如,RSA或迪菲-赫尔曼(Diffie-Hellman)密钥交换。由于紧急通信的必要性,所以可以使用低等待时间应用层密码协议来保护紧急信道。在一个示例中,安全套接层(SSL)协议或传输层安全性(TLS)协议可以用于紧急信道,由于消息的时间敏感性,该紧急信道在初始身份验证过程后无需显式客户端身份验证。
所公开的技术的各实施例可以被配置为实现如本文中所讨论的用于远程安全驾驶的解决方案。这些解决方案包括:
1.一种用于车辆的远程安全驾驶的方法,包括:检测紧急情形;以及响应于检测,将车辆的操作切换到低功率操作模式,该低功率操作模式包括关闭车辆部件的子集;以及将车辆的位置周期性地传输到远程监测中心。
2.根据解决方案1所述的方法,其中紧急情形包括异常传感器操作、异常电子控制单元(ECU)操作、异常网络操作、通信故障、规划模块的故障、汽车控制模块的故障、定位模块的故障、或感知模块的故障。
3.根据解决方案1或2所述的方法,其中车辆部件的子集包括非必要传感器和非紧急子系统。
4.根据解决方案1至3中任一项所述的方法,还包括:由于紧急情形而停止车辆;关闭并重启车辆部件的另一子集;以及对车辆部件的另一子集中的至少一个车辆部件执行状态检查。
在一些解决方案中,响应于外部环境的改变,可以选择被重启的车辆部件的其它集合。例如,如果车辆已经停止并且黄昏正在临近,则将打开危险灯以确保其他车辆对该车辆的可见性。
5.根据解决方案4所述的方法,其中车辆停止在车辆正在操作的车道上。
6.根据解决方案4所述的方法,其中停止车辆包括:找到紧急车道;以及将车辆停止在紧急车道上。
7.根据解决方案4至6中任一项所述的方法,还包括:基于状态检查的结果,选择性地重启车辆的操作。
8.根据解决方案1至7中任一项所述的方法,其中车辆的位置包括以下各项中的至少一项:全球定位系统(GPS)坐标、相对于英里标记的位置、或相对于已知Wi-Fi传输器的位置。
9.一种用于车辆的远程安全驾驶的方法,包括:选择车辆驾驶动作的集合中的至少一个车辆驾驶动作;以及通过安全通信信道将车辆驾驶动作的集合中的至少一个车辆驾驶动作传输到车辆,其中车辆驾驶动作的集合基于驾驶员行为的分类来生成。
10.根据解决方案9所述的方法,其中车辆驾驶动作的集合包括以下各项中的一项或多项:停放车辆、从预定起点移动到预定目的地、以及移动到加油位置。
11.根据解决方案9或10所述的方法,其中多个驾驶员行为的分类基于聚类算法。
12.根据解决方案9到11中任一项所述的方法,其中安全通信信道是操作信道,该操作信道使用互联网层密码协议而被保护。
13.根据解决方案9至11中任一项所述的方法,其中安全通信信道是紧急信道,该紧急信道使用低等待时间应用层密码协议而被保护。
图7示出了可以用于实现本文档中所描述的技术中的一些技术的硬件平台700的示例。例如,硬件平台700可以实现方法500和600,或可以实现本文中所描述的各个模块。硬件平台700可以包括处理器702,该处理器702可以执行代码以实现方法。硬件平台700可以包括存储器704,该存储器704可以用于存储处理器可执行代码和/或存储数据。硬件平台700还可以包括通信接口706。例如,通信接口706可以实现一个或多个通信协议(LTE、Wi-Fi等)。
本专利文档中所描述的主题的实现方式和功能操作可以在各种系统、数字电子电路系统中,或以包括本说明书中所公开的结构及其结构等同物在内的计算机软件、固件或硬件,或以它们中的一个或多个的组合来实现。本说明书中所描述的主题的实现方式可以被实现为一个或多个计算机程序产品,例如,在有形计算机可读介质和非暂态计算机可读介质上编码的计算机程序指令的一个或多个模块,以供通过数据处理装置执行或控制该数据处理装置的操作。计算机可读介质可以是机器可读存储设备、机器可读存储基板、存储器设备、影响机器可读传播信号的物质组成、或它们中的一个或多个的组合。术语“数据处理单元”或“数据处理装置”涵盖用于处理数据的所有装置、设备和机器,其例如包括可编程处理器、计算机或多处理器或计算机。除了硬件之外,该装置还可以包括创建用于正被讨论的计算机程序的执行环境的代码,例如,组成处理器固件、协议栈、数据库管理系统、操作系统或它们中的一个或多个的组合的代码。
计算机程序(也称为程序、软件、软件应用、脚本或代码)可以以任何形式的编程语言编写,这些编程语言包括汇编语言或解释语言;并且该计算机程序可以以任何形式进行部署,这些形式包括作为独立程序或作为适合用于计算环境的模块、组件、子例程或其他单元。计算机程序不一定与文件系统中的文件相对应。程序可以存储在保存其他程序或数据的文件的一部分(例如,存储在标记语言文档中的一个或多个脚本)中、专用于正被讨论的程序的单个文件中、或多个协调文件(例如,存储一个或多个模块、子程序或代码的各个部分的文件)。计算机程序可以被部署为在一台计算机上执行,或在多个计算机上执行,该多个计算机位于一个站点上或分布在许多站点上并且通过通信网络互连。
本说明书中所描述的过程和逻辑流程可以由一个或多个可编程处理器来执行,该一个或多个可编程处理器执行一个或多个计算机程序以通过对输入数据进行操作并生成输出来执行功能。过程和逻辑流还可以由专用逻辑电路系统执行,并且装置还可以被实现为专用逻辑电路系统,例如,FPGA(现场可编程门阵列)或ASIC(专用集成电路)。
例如,适合于执行计算机程序的处理器包括通用微处理器和专用微处理器、以及任何种类的数字计算机的任一个或多个处理器。通常,处理器将从只读存储器或随机存取存储器或两者接收指令和数据。计算机的必要元件是用于执行指令的处理器以及用于存储指令和数据的一个或多个存储器设备。通常,计算机还将包括用于存储数据的一个或多个海量存储设备,例如,磁性盘、磁光盘、或光学盘,或可操作地耦合以从该一个或多个海量存储设备接收数据或将数据传送到该一个或多个海量存储设备或两者皆有。然而,计算机不必具有这样的设备。适用于存储计算机程序指令和数据的计算机可读介质包括所有形式的非易失性存储器、介质和存储器设备,其包括例如半导体存储器设备,例如,EPROM、EEPROM、以及闪存设备。处理器和存储器可以由专用逻辑电路系统补充或并入其中。
旨在将说明书与附图一起仅视为示例性的,其中示例性意指示例。如本文中所使用的,“或”旨在包括“和/或”,除非上下文另有明确指示。
虽然本专利文档包含许多特定细节,但是这些细节不应被看作是对任何发明或者所要求保护的范围的限定,而应看作针对特定发明的特定实施例的特征的描述。在本专利文档中在单独实施例的上下文中描述的某些特征还可以以单个实施例的组合实现。相反,单个实施例的上下文中所描述的各个特征还可以在许多实施例中分开实现或以任何合适子组合实现。而且,尽管特征可能在上文被描述为在某些组合中起作用,如此甚至最初要求保护,但是在一些情况下来自所要求保护的组合的一个或多个特征可以从组合中删去,并且所要求保护的组合可以指向子组合或者子组合的变体。
同样,虽然在附图中按特定次序对操作进行了描绘,但是不应理解为这样的操作需要按所示的特定次序被执行或按连续次序被执行、或全部图示的操作要被执行,以实现期望结果。而且,在该专利文档中所描述的实施例中的各个系统部件的分开不应被理解为在全部实施例中都需要这种分开。
仅描述了一些实现方式和示例,并且可以基于本专利文档中所描述并示出的内容做出其他实现方式、增强和变体。
Claims (15)
1.一种用于车辆的远程安全驾驶的方法,包括:
将监测信号周期性地传输给与所述车辆通信的远程监测中心;
检测紧急情形;以及
响应于所述检测,
将所述车辆的操作切换到低功率操作模式,所述低功率操作模式包括关闭车辆部件的子集;以及
向所述远程监测中心周期性地传输已经检测到所述紧急情形的所述车辆的位置,
其中所述车辆的位置的传输的周期短于所述监测信号的传输的周期。
2.根据权利要求1所述的方法,其中所述紧急情形包括异常传感器操作、异常电子控制单元(ECU)操作、异常网络操作、规划模块的故障、汽车控制模块的故障、定位模块的故障、或感知模块的故障。
3.根据权利要求1或2所述的方法,其中所述车辆部件的所述子集包括非必要传感器和非紧急子系统。
4.根据权利要求1至3中任一项所述的方法,还包括:
由于所述紧急情形而停止所述车辆;
关闭并重启车辆部件的另一子集;以及
对所述车辆部件的所述另一子集中的至少一个车辆部件执行状态检查。
5.根据权利要求4所述的方法,其中所述车辆停止在所述车辆正在操作的车道上。
6.根据权利要求4所述的方法,其中停止所述车辆包括:
找到紧急车道;以及
将所述车辆停止在所述紧急车道上。
7.根据权利要求4至6中任一项所述的方法,还包括:
基于所述状态检查的结果,选择性地重启所述车辆的所述操作。
8.根据权利要求1至7中任一项所述的方法,其中所述车辆的所述位置包括以下各项中的至少一项:全球定位系统(GPS)坐标、相对于英里标记的位置、或相对于已知Wi-Fi传输器的位置。
9.一种用于车辆的远程安全驾驶的方法,包括:
由远程监测中心从车辆周期性地接收监测信号;
由所述远程监测中心从已经检测到紧急情形的所述车辆周期性地接收所述车辆的位置,其中所述车辆的位置的接收的周期短于所述监测信号的接收的周期;
选择车辆驾驶动作的集合中的至少一个车辆驾驶动作;以及
通过安全通信信道,将所述车辆驾驶动作的集合中的所述至少一个车辆驾驶动作传输给所述车辆,其中所述车辆驾驶动作的所述集合基于驾驶员行为的分类来生成。
10.根据权利要求9所述的方法,其中所述车辆驾驶动作的所述集合包括以下各项中的一项或多项:停放所述车辆,从预定起点移动到预定目的地,以及移动到加油位置。
11.根据权利要求9或10所述的方法,其中所述多个驾驶员行为的所述分类基于聚类算法。
12.根据权利要求9至11中任一项所述的方法,其中所述安全通信信道是操作信道,所述操作信道使用互联网层密码协议而被保护。
13.根据权利要求9至11中任一项所述的方法,其中所述安全通信信道是紧急信道,所述紧急信道使用低等待时间应用层密码协议而被保护。
14.一种用于车辆的远程安全驾驶的装置,所述装置包括:
至少一个处理器;以及
非暂态存储器,其上存储有指令,所述指令当由所述至少一个处理器执行时,使得所述至少一个处理器实现根据权利要求1至13所述的方法中的任一方法。
15.一种非暂态计算机可读存储介质,其上存储有指令,所述指令当由处理器执行时,使得所述处理器实现根据权利要求1至13所述的方法中的任一方法。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202410377309.6A CN118289018A (zh) | 2018-09-13 | 2019-09-12 | 远程安全驾驶方法和系统 |
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201862730912P | 2018-09-13 | 2018-09-13 | |
US62/730,912 | 2018-09-13 | ||
PCT/US2019/050908 WO2020056203A1 (en) | 2018-09-13 | 2019-09-12 | Remote safe driving methods and systems |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202410377309.6A Division CN118289018A (zh) | 2018-09-13 | 2019-09-12 | 远程安全驾驶方法和系统 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN112689586A CN112689586A (zh) | 2021-04-20 |
CN112689586B true CN112689586B (zh) | 2024-04-16 |
Family
ID=69773621
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201980060131.XA Active CN112689586B (zh) | 2018-09-13 | 2019-09-12 | 远程安全驾驶方法和系统 |
CN202410377309.6A Pending CN118289018A (zh) | 2018-09-13 | 2019-09-12 | 远程安全驾驶方法和系统 |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202410377309.6A Pending CN118289018A (zh) | 2018-09-13 | 2019-09-12 | 远程安全驾驶方法和系统 |
Country Status (5)
Country | Link |
---|---|
US (2) | US11292480B2 (zh) |
EP (1) | EP3849868A4 (zh) |
CN (2) | CN112689586B (zh) |
AU (1) | AU2019339418A1 (zh) |
WO (1) | WO2020056203A1 (zh) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11726124B2 (en) * | 2019-12-26 | 2023-08-15 | Tusimple, Inc. | System-level malfunction indicator in autonomous vehicles |
JP7367723B2 (ja) * | 2021-03-30 | 2023-10-24 | トヨタ自動車株式会社 | 自動運転装置、自動運転方法、及びプログラム |
US20220350327A1 (en) * | 2021-04-30 | 2022-11-03 | Chungan Technology Co., Ltd. | Vehicle intelligent lifting system |
SE2250118A1 (en) * | 2022-02-08 | 2023-08-09 | Einride Ab | Method for controlling a remotely operated vehicle |
JP2023139856A (ja) * | 2022-03-22 | 2023-10-04 | スズキ株式会社 | 車両の走行制御装置 |
CN114670902B (zh) * | 2022-04-28 | 2023-05-26 | 中车青岛四方车辆研究所有限公司 | 远程复位和紧急制动远程缓解的处理方法及系统 |
Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH1170844A (ja) * | 1997-08-29 | 1999-03-16 | Sanyo Electric Works Ltd | 車輌緊急通報装置 |
KR20020092593A (ko) * | 2001-06-05 | 2002-12-12 | 공석태 | 인터넷을통한 자동차 원격제어 운전 비즈니스모델 |
GB0314236D0 (en) * | 2003-06-19 | 2003-07-23 | Ford Global Tech Llc | Improved method of vehicle control |
JP2007060489A (ja) * | 2005-08-26 | 2007-03-08 | Xanavi Informatics Corp | 車載受信装置 |
KR20070050200A (ko) * | 2005-11-10 | 2007-05-15 | 원광대학교산학협력단 | 지피에스를 이용한 차량 응급 구조 송신 장치 |
JP2011240816A (ja) * | 2010-05-18 | 2011-12-01 | Denso Corp | 自律走行制御装置 |
EP2557432A1 (en) * | 2011-08-06 | 2013-02-13 | Honda Motor Co., Ltd. | Position transmission device for vehicle |
DE102015011516A1 (de) * | 2015-09-03 | 2016-05-12 | Daimler Ag | Verfahren zum Betrieb eines Fahrzeuges |
KR20170034542A (ko) * | 2015-09-21 | 2017-03-29 | 권형석 | 긴급차량이 이동할 경로 확보를 위한 시스템 및 제어 방법. |
US9747796B1 (en) * | 2016-07-12 | 2017-08-29 | Alison Collard De Beaufort | Oncoming vehicle alarm technology |
CN108347712A (zh) * | 2018-02-02 | 2018-07-31 | 深圳航天信息有限公司 | 车辆管理终端 |
Family Cites Families (250)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2608513A1 (de) | 1976-03-02 | 1977-09-08 | Standard Elektrik Lorenz Ag | Anordnung zur weichensteuerung fuer ein verkehrssystem |
AU642638B2 (en) | 1989-12-11 | 1993-10-28 | Caterpillar Inc. | Integrated vehicle positioning and navigation system, apparatus and method |
US6822563B2 (en) | 1997-09-22 | 2004-11-23 | Donnelly Corporation | Vehicle imaging system with accessory control |
US5877897A (en) | 1993-02-26 | 1999-03-02 | Donnelly Corporation | Automatic rearview mirror, vehicle lighting control and vehicle interior monitoring system using a photosensor array |
US7103460B1 (en) | 1994-05-09 | 2006-09-05 | Automotive Technologies International, Inc. | System and method for vehicle diagnostics |
US7783403B2 (en) | 1994-05-23 | 2010-08-24 | Automotive Technologies International, Inc. | System and method for preventing vehicular accidents |
US7655894B2 (en) | 1996-03-25 | 2010-02-02 | Donnelly Corporation | Vehicular image sensing system |
US6084870A (en) | 1996-07-22 | 2000-07-04 | Qualcomm Incorporated | Method and apparatus for the remote monitoring and configuration of electronic control systems |
US6263088B1 (en) | 1997-06-19 | 2001-07-17 | Ncr Corporation | System and method for tracking movement of objects in a scene |
JP3183501B2 (ja) | 1997-07-07 | 2001-07-09 | 本田技研工業株式会社 | 車両用走行制御装置 |
US6594821B1 (en) | 2000-03-30 | 2003-07-15 | Transmeta Corporation | Translation consistency checking for modified target instructions by comparing to original copy |
US8711217B2 (en) | 2000-10-24 | 2014-04-29 | Objectvideo, Inc. | Video surveillance system employing video primitives |
US7363149B2 (en) | 2001-12-13 | 2008-04-22 | Robert Bosch Gmbh | Autonomous in-vehicle navigation system and diagnostic system |
US7167519B2 (en) | 2001-12-20 | 2007-01-23 | Siemens Corporate Research, Inc. | Real-time video object generation for smart cameras |
AU2003225228A1 (en) | 2002-05-03 | 2003-11-17 | Donnelly Corporation | Object detection system for vehicle |
US9007197B2 (en) | 2002-05-20 | 2015-04-14 | Intelligent Technologies International, Inc. | Vehicular anticipatory sensor system |
US6975923B2 (en) | 2002-10-01 | 2005-12-13 | Roke Manor Research Limited | Autonomous vehicle guidance on or near airports |
US6777904B1 (en) | 2003-02-25 | 2004-08-17 | Ford Global Technologies, Llc | Method and system for controlling a motor |
US8855405B2 (en) | 2003-04-30 | 2014-10-07 | Deere & Company | System and method for detecting and analyzing features in an agricultural field for vehicle guidance |
JP3963181B2 (ja) * | 2003-12-03 | 2007-08-22 | トヨタ自動車株式会社 | 車両の故障診断システム |
WO2005098782A1 (en) | 2004-04-08 | 2005-10-20 | Mobileye Technologies Limited | Collision warning system |
WO2005098739A1 (en) | 2004-04-08 | 2005-10-20 | Mobileye Technologies Limited | Pedestrian detection |
WO2005098751A1 (en) | 2004-04-08 | 2005-10-20 | Mobileye Technologies Limited | Crowd detection |
US7526103B2 (en) | 2004-04-15 | 2009-04-28 | Donnelly Corporation | Imaging system for vehicle |
US20060008058A1 (en) * | 2004-04-29 | 2006-01-12 | Jui-Lin Dai | Remote wellness monitoring and communication |
US8078338B2 (en) | 2004-10-22 | 2011-12-13 | Irobot Corporation | System and method for behavior based control of an autonomous vehicle |
US7499804B2 (en) * | 2004-10-22 | 2009-03-03 | Irobot Corporation | System and method for multi-modal control of an autonomous vehicle |
KR100954621B1 (ko) | 2005-02-23 | 2010-04-27 | 파나소닉 전공 주식회사 | 자동운전차량 및 평면 장애물인식방법 |
JP2006293837A (ja) * | 2005-04-13 | 2006-10-26 | Toyota Motor Corp | 遠隔操作システム |
KR100802511B1 (ko) | 2005-10-11 | 2008-02-13 | 주식회사 코리아 와이즈넛 | 토픽 기반의 검색 서비스 제공 시스템 및 그 방법 |
EP1790541A2 (en) | 2005-11-23 | 2007-05-30 | MobilEye Technologies, Ltd. | Systems and methods for detecting obstructions in a camera field of view |
US8164628B2 (en) | 2006-01-04 | 2012-04-24 | Mobileye Technologies Ltd. | Estimating distance to an object using a sequence of images recorded by a monocular camera |
US8150155B2 (en) | 2006-02-07 | 2012-04-03 | Qualcomm Incorporated | Multi-mode region-of-interest video object segmentation |
US8265392B2 (en) | 2006-02-07 | 2012-09-11 | Qualcomm Incorporated | Inter-mode region-of-interest video object segmentation |
US7689559B2 (en) | 2006-02-08 | 2010-03-30 | Telenor Asa | Document similarity scoring and ranking method, device and computer program product |
US8050863B2 (en) | 2006-03-16 | 2011-11-01 | Gray & Company, Inc. | Navigation and control system for autonomous vehicles |
US8417060B2 (en) | 2006-03-20 | 2013-04-09 | Arizona Board Of Regents For And On Behalf Of Arizona State University | Methods for multi-point descriptors for image registrations |
US8108092B2 (en) | 2006-07-14 | 2012-01-31 | Irobot Corporation | Autonomous behaviors for a remote vehicle |
US7786898B2 (en) | 2006-05-31 | 2010-08-31 | Mobileye Technologies Ltd. | Fusion of far infrared and visible images in enhanced obstacle detection in automotive applications |
US8064643B2 (en) | 2006-12-06 | 2011-11-22 | Mobileye Technologies Limited | Detecting and recognizing traffic signs |
US20080249667A1 (en) | 2007-04-09 | 2008-10-09 | Microsoft Corporation | Learning and reasoning to enhance energy efficiency in transportation systems |
US7839292B2 (en) | 2007-04-11 | 2010-11-23 | Nec Laboratories America, Inc. | Real-time driving danger level prediction |
US8229163B2 (en) | 2007-08-22 | 2012-07-24 | American Gnc Corporation | 4D GIS based virtual reality for moving target prediction |
US8041111B1 (en) | 2007-10-15 | 2011-10-18 | Adobe Systems Incorporated | Subjective and locatable color theme extraction for images |
US9176006B2 (en) | 2008-01-15 | 2015-11-03 | Mobileye Vision Technologies Ltd. | Detection and classification of light sources using a diffraction grating |
US9117133B2 (en) | 2008-06-18 | 2015-08-25 | Spectral Image, Inc. | Systems and methods for hyperspectral imaging |
US20100049397A1 (en) | 2008-08-22 | 2010-02-25 | Garmin Ltd. | Fuel efficient routing |
US8126642B2 (en) | 2008-10-24 | 2012-02-28 | Gray & Company, Inc. | Control and systems for autonomously driven vehicles |
US8345956B2 (en) | 2008-11-03 | 2013-01-01 | Microsoft Corporation | Converting 2D video into stereo video |
US9459515B2 (en) | 2008-12-05 | 2016-10-04 | Mobileye Vision Technologies Ltd. | Adjustable camera mount for a vehicle windshield |
US8175376B2 (en) | 2009-03-09 | 2012-05-08 | Xerox Corporation | Framework for image thumbnailing based on visual similarity |
US8582881B2 (en) | 2009-03-26 | 2013-11-12 | Tp Vision Holding B.V. | Method and apparatus for modifying an image by using a saliency map based on color frequency |
US8350724B2 (en) * | 2009-04-02 | 2013-01-08 | GM Global Technology Operations LLC | Rear parking assist on full rear-window head-up display |
US8271871B2 (en) | 2009-04-30 | 2012-09-18 | Xerox Corporation | Automated method for alignment of document objects |
US8392117B2 (en) | 2009-05-22 | 2013-03-05 | Toyota Motor Engineering & Manufacturing North America, Inc. | Using topological structure for path planning in semi-structured environments |
US9002632B1 (en) | 2009-07-19 | 2015-04-07 | Aaron T. Emigh | Fuel cost optimized routing |
DE102009046124A1 (de) | 2009-10-28 | 2011-05-05 | Ifm Electronic Gmbh | Verfahren und Vorrichtung zur Kalibrierung eines 3D-TOF-Kamerasystems |
TWI393074B (zh) | 2009-12-10 | 2013-04-11 | Ind Tech Res Inst | 移動物體偵測裝置與方法 |
JP2011176748A (ja) | 2010-02-25 | 2011-09-08 | Sony Corp | 画像処理装置および方法、並びにプログラム |
US8726305B2 (en) | 2010-04-02 | 2014-05-13 | Yahoo! Inc. | Methods and systems for application rendering and management on internet television enabled displays |
KR101145112B1 (ko) | 2010-05-11 | 2012-05-14 | 국방과학연구소 | 자율이동차량의 조향제어장치, 이를 구비하는 자율이동차량 및 자율이동차량의 조향제어방법 |
US9753128B2 (en) | 2010-07-23 | 2017-09-05 | Heptagon Micro Optics Pte. Ltd. | Multi-path compensation using multiple modulation frequencies in time of flight sensor |
US9043078B2 (en) | 2010-08-13 | 2015-05-26 | Deere & Company | Method and system for performing diagnostics or software maintenance for a vehicle |
US9118816B2 (en) | 2011-12-06 | 2015-08-25 | Mobileye Vision Technologies Ltd. | Road vertical contour detection |
US9280711B2 (en) | 2010-09-21 | 2016-03-08 | Mobileye Vision Technologies Ltd. | Barrier and guardrail detection using a single camera |
US8509982B2 (en) | 2010-10-05 | 2013-08-13 | Google Inc. | Zone driving |
EP3588939B1 (en) | 2010-10-31 | 2023-10-18 | Mobileye Vision Technologies Ltd. | Bundling night vision and other driver assistance systems (das) using near infra red (nir) illumination and a rolling shutter |
US9355635B2 (en) | 2010-11-15 | 2016-05-31 | Futurewei Technologies, Inc. | Method and system for video summarization |
EP2463843B1 (en) | 2010-12-07 | 2015-07-29 | Mobileye Vision Technologies Ltd. | Method and system for forward collision warning |
US9823339B2 (en) | 2010-12-21 | 2017-11-21 | Microsoft Technology Licensing, Llc | Plural anode time-of-flight sensor |
WO2012095658A1 (en) | 2011-01-14 | 2012-07-19 | Bae Systems Plc | Data transfer system and method thereof |
US9323250B2 (en) | 2011-01-28 | 2016-04-26 | Intouch Technologies, Inc. | Time-dependent navigation of telepresence robots |
EP2678835B1 (en) | 2011-02-21 | 2017-08-09 | Stratech Systems Limited | A surveillance system and a method for detecting a foreign object, debris, or damage in an airfield |
US8401292B2 (en) | 2011-04-26 | 2013-03-19 | Eastman Kodak Company | Identifying high saliency regions in digital images |
US9233659B2 (en) | 2011-04-27 | 2016-01-12 | Mobileye Vision Technologies Ltd. | Pedestrian collision warning system |
KR101777875B1 (ko) | 2011-04-28 | 2017-09-13 | 엘지디스플레이 주식회사 | 입체 영상 표시장치와 그 입체 영상 조절 방법 |
US9183447B1 (en) | 2011-06-09 | 2015-11-10 | Mobileye Vision Technologies Ltd. | Object detection using candidate object alignment |
US20120314070A1 (en) | 2011-06-09 | 2012-12-13 | GM Global Technology Operations LLC | Lane sensing enhancement through object vehicle information for lane centering/keeping |
GB2492848A (en) | 2011-07-15 | 2013-01-16 | Softkinetic Sensors Nv | Optical distance measurement |
JP5564620B2 (ja) | 2011-07-28 | 2014-07-30 | 本田技研工業株式会社 | ワイヤレス送電方法 |
US8744123B2 (en) | 2011-08-29 | 2014-06-03 | International Business Machines Corporation | Modeling of temporarily static objects in surveillance video data |
US8891820B2 (en) | 2011-09-29 | 2014-11-18 | The Boeing Company | Multi-modal sensor fusion |
DE102011083749B4 (de) | 2011-09-29 | 2015-06-11 | Aktiebolaget Skf | Rotorblatt einer Windkraftanlage mit einer Vorrichtung zum Erfassen eines Abstandswertes und Verfahren zum Erfassen eines Abstandswertes |
US20140143839A1 (en) | 2011-11-16 | 2014-05-22 | Flextronics Ap, Llc. | On board vehicle remote control module |
WO2013084225A1 (en) | 2011-12-05 | 2013-06-13 | Brightway Vision Ltd. | Smart traffic sign system and method |
US9297641B2 (en) | 2011-12-12 | 2016-03-29 | Mobileye Vision Technologies Ltd. | Detection of obstacles at night by analysis of shadows |
FR2984254B1 (fr) | 2011-12-16 | 2016-07-01 | Renault Sa | Controle de vehicules autonomes |
US8810666B2 (en) | 2012-01-16 | 2014-08-19 | Google Inc. | Methods and systems for processing a video for stabilization using dynamic crop |
US9317776B1 (en) | 2013-03-13 | 2016-04-19 | Hrl Laboratories, Llc | Robust static and moving object detection system via attentional mechanisms |
JP5605381B2 (ja) | 2012-02-13 | 2014-10-15 | 株式会社デンソー | クルーズ制御装置 |
US9042648B2 (en) | 2012-02-23 | 2015-05-26 | Microsoft Technology Licensing, Llc | Salient object segmentation |
US8457827B1 (en) | 2012-03-15 | 2013-06-04 | Google Inc. | Modifying behavior of autonomous vehicle based on predicted behavior of other vehicles |
US9476970B1 (en) | 2012-03-19 | 2016-10-25 | Google Inc. | Camera based localization |
US8737690B2 (en) | 2012-04-06 | 2014-05-27 | Xerox Corporation | Video-based method for parking angle violation detection |
US8718861B1 (en) | 2012-04-11 | 2014-05-06 | Google Inc. | Determining when to drive autonomously |
US9549158B2 (en) | 2012-04-18 | 2017-01-17 | Brightway Vision Ltd. | Controllable single pixel sensors |
US9723233B2 (en) | 2012-04-18 | 2017-08-01 | Brightway Vision Ltd. | Controllable gated sensor |
WO2013157001A1 (en) | 2012-04-18 | 2013-10-24 | Brightway Vision Ltd. | Mulitple gated pixel per readout |
KR102144521B1 (ko) | 2012-05-29 | 2020-08-14 | 브라이트웨이 비젼 엘티디. | 적응 피사계심도를 이용한 게이트된 영상 획득 방법 및 영상 시스템 |
US9134402B2 (en) | 2012-08-13 | 2015-09-15 | Digital Signal Corporation | System and method for calibrating video and lidar subsystems |
US9620010B2 (en) | 2012-08-21 | 2017-04-11 | Brightway Vision Ltd. | Simultaneously illuminating traffic light signals at different ranges |
US9025880B2 (en) | 2012-08-29 | 2015-05-05 | Disney Enterprises, Inc. | Visual saliency estimation for images and video |
US9165190B2 (en) | 2012-09-12 | 2015-10-20 | Avigilon Fortress Corporation | 3D human pose and shape modeling |
US9120485B1 (en) | 2012-09-14 | 2015-09-01 | Google Inc. | Methods and systems for smooth trajectory generation for a self-driving vehicle |
US9111444B2 (en) | 2012-10-31 | 2015-08-18 | Raytheon Company | Video and lidar target detection and tracking system and method for segmenting moving targets |
EP2925494B1 (en) | 2012-12-03 | 2020-07-08 | ABB Schweiz AG | Teleoperation of machines having at least one actuated mechanism and one machine controller comprising a program code including instructions for transferring control of the machine from said controller to a remote control station |
US9625569B2 (en) | 2012-12-17 | 2017-04-18 | pmdtechnologies ag | Time-of-flight camera with motion detection |
US9602807B2 (en) | 2012-12-19 | 2017-03-21 | Microsoft Technology Licensing, Llc | Single frequency time of flight de-aliasing |
US9081385B1 (en) | 2012-12-21 | 2015-07-14 | Google Inc. | Lane boundary detection using images |
CN108708636B (zh) * | 2012-12-24 | 2021-05-14 | 麦格纳覆盖件有限公司 | 机动车辆关闭装置的电子闩锁中的碰撞管理系统和方法 |
US9092430B2 (en) | 2013-01-02 | 2015-07-28 | International Business Machines Corporation | Assigning shared catalogs to cache structures in a cluster computing system |
US8788134B1 (en) | 2013-01-04 | 2014-07-22 | GM Global Technology Operations LLC | Autonomous driving merge management system |
US9361409B2 (en) * | 2013-01-10 | 2016-06-07 | International Business Machines Corporation | Automatic driver modeling for integration of human-controlled vehicles into an autonomous vehicle network |
US8908041B2 (en) | 2013-01-15 | 2014-12-09 | Mobileye Vision Technologies Ltd. | Stereo assist with rolling shutters |
US9277132B2 (en) | 2013-02-21 | 2016-03-01 | Mobileye Vision Technologies Ltd. | Image distortion correction of a camera with a rolling shutter |
US9147255B1 (en) | 2013-03-14 | 2015-09-29 | Hrl Laboratories, Llc | Rapid object detection by combining structural information from image segmentation with bio-inspired attentional mechanisms |
US9652860B1 (en) | 2013-03-15 | 2017-05-16 | Puretech Systems, Inc. | System and method for autonomous PTZ tracking of aerial targets |
US9342074B2 (en) | 2013-04-05 | 2016-05-17 | Google Inc. | Systems and methods for transitioning control of an autonomous vehicle to a driver |
CN103198128A (zh) | 2013-04-11 | 2013-07-10 | 苏州阔地网络科技有限公司 | 一种云教育平台的数据搜索方法及系统 |
AU2013205548A1 (en) | 2013-04-30 | 2014-11-13 | Canon Kabushiki Kaisha | Method, system and apparatus for tracking objects of a scene |
US9438878B2 (en) | 2013-05-01 | 2016-09-06 | Legend3D, Inc. | Method of converting 2D video to 3D video using 3D object models |
US9025825B2 (en) | 2013-05-10 | 2015-05-05 | Palo Alto Research Center Incorporated | System and method for visual motion based object segmentation and tracking |
US9729860B2 (en) | 2013-05-24 | 2017-08-08 | Microsoft Technology Licensing, Llc | Indirect reflection suppression in depth imaging |
CN105659304B (zh) | 2013-06-13 | 2020-01-03 | 移动眼视力科技有限公司 | 车辆、导航系统及生成并递送导航信息的方法 |
IL227265A0 (en) | 2013-06-30 | 2013-12-31 | Brightway Vision Ltd | Smart flash for the camera |
KR102111784B1 (ko) | 2013-07-17 | 2020-05-15 | 현대모비스 주식회사 | 차량 위치 인식 장치 및 방법 |
US9315192B1 (en) | 2013-09-30 | 2016-04-19 | Google Inc. | Methods and systems for pedestrian avoidance using LIDAR |
US9122954B2 (en) | 2013-10-01 | 2015-09-01 | Mobileye Vision Technologies Ltd. | Performing a histogram using an array of addressable registers |
US9738280B2 (en) | 2013-10-03 | 2017-08-22 | Robert Bosch Gmbh | Adaptive cruise control with on-ramp detection |
JP2015074322A (ja) * | 2013-10-08 | 2015-04-20 | トヨタ自動車株式会社 | 車両用走行制御装置 |
US9330334B2 (en) | 2013-10-24 | 2016-05-03 | Adobe Systems Incorporated | Iterative saliency map estimation |
US9299004B2 (en) | 2013-10-24 | 2016-03-29 | Adobe Systems Incorporated | Image foreground detection |
EP3742339A1 (en) | 2013-12-04 | 2020-11-25 | Mobileye Vision Technologies Ltd. | System and method for implementing a multi-segment braking profile for a vehicle |
EP2887311B1 (en) | 2013-12-20 | 2016-09-14 | Thomson Licensing | Method and apparatus for performing depth estimation |
WO2015103159A1 (en) | 2013-12-30 | 2015-07-09 | Tieman Craig Arnold | Connected vehicle system with infotainment interface for mobile devices |
EP3100206B1 (en) | 2014-01-30 | 2020-09-09 | Mobileye Vision Technologies Ltd. | Systems and methods for lane end recognition |
CN106461774B (zh) | 2014-02-20 | 2019-04-23 | 御眼视觉技术有限公司 | 基于雷达提示视觉成像的高级驾驶员辅助系统 |
CN103793925B (zh) | 2014-02-24 | 2016-05-18 | 北京工业大学 | 融合时空特征的视频图像视觉显著程度检测方法 |
US9981389B2 (en) | 2014-03-03 | 2018-05-29 | California Institute Of Technology | Robotics platforms incorporating manipulators having common joint designs |
US9476730B2 (en) | 2014-03-18 | 2016-10-25 | Sri International | Real-time system for multi-modal 3D geospatial mapping, object recognition, scene annotation and analytics |
DE102014205170A1 (de) | 2014-03-20 | 2015-11-26 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren und Vorrichtung zum Ermitteln einer Trajektorie für ein Fahrzeug |
US9739609B1 (en) | 2014-03-25 | 2017-08-22 | Amazon Technologies, Inc. | Time-of-flight sensor with configurable phase delay |
US9471889B2 (en) | 2014-04-24 | 2016-10-18 | Xerox Corporation | Video tracking based method for automatic sequencing of vehicles in drive-thru applications |
CN105100134A (zh) | 2014-04-28 | 2015-11-25 | 思科技术公司 | 屏幕共享缓存管理 |
EP4187523A1 (en) | 2014-05-14 | 2023-05-31 | Mobileye Vision Technologies Ltd. | Systems and methods for curb detection and pedestrian hazard assessment |
US9720418B2 (en) | 2014-05-27 | 2017-08-01 | Here Global B.V. | Autonomous vehicle monitoring and control |
EP3152704A2 (en) | 2014-06-03 | 2017-04-12 | Mobileye Vision Technologies Ltd. | Systems and methods for detecting an object |
US9457807B2 (en) | 2014-06-05 | 2016-10-04 | GM Global Technology Operations LLC | Unified motion planning algorithm for autonomous driving vehicle in obstacle avoidance maneuver |
CN110871809A (zh) * | 2014-06-23 | 2020-03-10 | 本田技研工业株式会社 | 控制机动车辆中的车辆系统的方法 |
IL233356A (en) | 2014-06-24 | 2015-10-29 | Brightway Vision Ltd | Sensor-based imaging system with minimum wait time between sensor exposures |
DE102014213245A1 (de) * | 2014-07-08 | 2016-01-14 | Robert Bosch Gmbh | Verfahren zum Verarbeiten von Daten für eine Fahrfunktion eines Fahrzeuges |
US9628565B2 (en) | 2014-07-23 | 2017-04-18 | Here Global B.V. | Highly assisted driving platform |
US20160026787A1 (en) | 2014-07-25 | 2016-01-28 | GM Global Technology Operations LLC | Authenticating messages sent over a vehicle bus that include message authentication codes |
US9766625B2 (en) | 2014-07-25 | 2017-09-19 | Here Global B.V. | Personalized driving of autonomously driven vehicles |
US9189897B1 (en) * | 2014-07-28 | 2015-11-17 | Here Global B.V. | Personalized driving ranking and alerting |
US9997077B2 (en) * | 2014-09-04 | 2018-06-12 | Honda Motor Co., Ltd. | Vehicle operation assistance |
US9554030B2 (en) | 2014-09-29 | 2017-01-24 | Yahoo! Inc. | Mobile device image acquisition using objects of interest recognition |
US9248834B1 (en) | 2014-10-02 | 2016-02-02 | Google Inc. | Predicting trajectories of objects based on contextual information |
US9746550B2 (en) | 2014-10-08 | 2017-08-29 | Ford Global Technologies, Llc | Detecting low-speed close-range vehicle cut-in |
US9779276B2 (en) | 2014-10-10 | 2017-10-03 | Hand Held Products, Inc. | Depth sensor based auto-focus system for an indicia scanner |
US9773155B2 (en) | 2014-10-14 | 2017-09-26 | Microsoft Technology Licensing, Llc | Depth from time of flight camera |
US9959903B2 (en) | 2014-10-23 | 2018-05-01 | Qnap Systems, Inc. | Video playback method |
US9547985B2 (en) | 2014-11-05 | 2017-01-17 | Here Global B.V. | Method and apparatus for providing access to autonomous vehicles based on user context |
KR101664582B1 (ko) | 2014-11-12 | 2016-10-10 | 현대자동차주식회사 | 자율주행차량의 주행경로 생성장치 및 방법 |
US9494935B2 (en) | 2014-11-13 | 2016-11-15 | Toyota Motor Engineering & Manufacturing North America, Inc. | Remote operation of autonomous vehicle in unexpected environment |
KR102312273B1 (ko) | 2014-11-13 | 2021-10-12 | 삼성전자주식회사 | 거리영상 측정용 카메라 및 그 동작방법 |
CN113654561A (zh) | 2014-12-05 | 2021-11-16 | 苹果公司 | 自主导航系统 |
US9347779B1 (en) | 2014-12-10 | 2016-05-24 | Here Global B.V. | Method and apparatus for determining a position of a vehicle based on driving behavior |
US9805294B2 (en) | 2015-02-12 | 2017-10-31 | Mitsubishi Electric Research Laboratories, Inc. | Method for denoising time-of-flight range images |
US10115024B2 (en) | 2015-02-26 | 2018-10-30 | Mobileye Vision Technologies Ltd. | Road vertical contour detection using a stabilized coordinate frame |
JP6421684B2 (ja) | 2015-04-17 | 2018-11-14 | 井関農機株式会社 | 乗用草刈機 |
US9649999B1 (en) | 2015-04-28 | 2017-05-16 | Sprint Communications Company L.P. | Vehicle remote operations control |
US10635761B2 (en) | 2015-04-29 | 2020-04-28 | Energid Technologies Corporation | System and method for evaluation of object autonomy |
US9483839B1 (en) | 2015-05-06 | 2016-11-01 | The Boeing Company | Occlusion-robust visual object fingerprinting using fusion of multiple sub-region signatures |
US10345809B2 (en) | 2015-05-13 | 2019-07-09 | Uber Technologies, Inc. | Providing remote assistance to an autonomous vehicle |
US9613273B2 (en) | 2015-05-19 | 2017-04-04 | Toyota Motor Engineering & Manufacturing North America, Inc. | Apparatus and method for object tracking |
WO2016193884A1 (en) * | 2015-05-29 | 2016-12-08 | Verity Studios Ag | An aerial vehicle |
US9690290B2 (en) | 2015-06-04 | 2017-06-27 | Toyota Motor Engineering & Manufacturing North America, Inc. | Situation-based transfer of vehicle sensor data during remote operation of autonomous vehicles |
DE102015211926A1 (de) | 2015-06-26 | 2016-12-29 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Ermitteln bzw. Bewerten einer Soll-Trajektorie eines Kraftfahrzeugs |
WO2017013875A1 (ja) | 2015-07-23 | 2017-01-26 | 日本電気株式会社 | 経路切替装置、経路切替システムおよび経路切替方法 |
US9989965B2 (en) | 2015-08-20 | 2018-06-05 | Motionloft, Inc. | Object detection and analysis via unmanned aerial vehicle |
US10282591B2 (en) | 2015-08-24 | 2019-05-07 | Qualcomm Incorporated | Systems and methods for depth map sampling |
US9587952B1 (en) | 2015-09-09 | 2017-03-07 | Allstate Insurance Company | Altering autonomous or semi-autonomous vehicle operation based on route traversal values |
WO2017045116A1 (en) | 2015-09-15 | 2017-03-23 | SZ DJI Technology Co., Ltd. | System and method for supporting smooth target following |
US10139828B2 (en) * | 2015-09-24 | 2018-11-27 | Uber Technologies, Inc. | Autonomous vehicle operated with safety augmentation |
WO2017058961A2 (en) * | 2015-09-28 | 2017-04-06 | Uber Technologies, Inc. | Autonomous vehicle with independent auxiliary control units |
US9612123B1 (en) | 2015-11-04 | 2017-04-04 | Zoox, Inc. | Adaptive mapping to navigate autonomous vehicles responsive to physical environment changes |
US9754490B2 (en) | 2015-11-04 | 2017-09-05 | Zoox, Inc. | Software application to request and control an autonomous vehicle service |
WO2017079349A1 (en) | 2015-11-04 | 2017-05-11 | Zoox, Inc. | System for implementing an active safety system in an autonomous vehicle |
US9507346B1 (en) | 2015-11-04 | 2016-11-29 | Zoox, Inc. | Teleoperation system and method for trajectory modification of autonomous vehicles |
US9734455B2 (en) | 2015-11-04 | 2017-08-15 | Zoox, Inc. | Automated extraction of semantic information to enhance incremental mapping modifications for robotic vehicles |
US10127685B2 (en) | 2015-12-16 | 2018-11-13 | Objectvideo Labs, Llc | Profile matching of buildings and urban structures |
US10102434B2 (en) | 2015-12-22 | 2018-10-16 | Omnivision Technologies, Inc. | Lane detection system and method |
US9568915B1 (en) | 2016-02-11 | 2017-02-14 | Mitsubishi Electric Research Laboratories, Inc. | System and method for controlling autonomous or semi-autonomous vehicle |
US9760837B1 (en) | 2016-03-13 | 2017-09-12 | Microsoft Technology Licensing, Llc | Depth from time-of-flight using machine learning |
EP3433131B1 (en) | 2016-03-23 | 2023-07-12 | Netradyne, Inc. | Advanced path prediction |
US10703204B2 (en) * | 2016-03-23 | 2020-07-07 | Magna Electronics Inc. | Vehicle driver monitoring system |
US9535423B1 (en) | 2016-03-29 | 2017-01-03 | Adasworks Kft. | Autonomous vehicle with improved visual detection ability |
US9776638B1 (en) | 2016-04-20 | 2017-10-03 | GM Global Technology Operations LLC | Remote interrogation and override for automated driving system |
US10728249B2 (en) * | 2016-04-26 | 2020-07-28 | Garrett Transporation I Inc. | Approach for securing a vehicle access port |
US10362429B2 (en) | 2016-04-28 | 2019-07-23 | California Institute Of Technology | Systems and methods for generating spatial sound information relevant to real-world environments |
US9672446B1 (en) | 2016-05-06 | 2017-06-06 | Uber Technologies, Inc. | Object detection for an autonomous vehicle |
DE102016209203A1 (de) * | 2016-05-27 | 2017-11-30 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum automatischen Anhalten eines Kraftfahrzeugs, das zumindest zeitweise automatisch auf einer Fahrroute geführt wird |
US10234861B2 (en) * | 2016-07-19 | 2019-03-19 | Ford Global Technologies, Llc | Autonomous vehicle workload allocation |
US10137903B2 (en) * | 2016-08-16 | 2018-11-27 | Uber Technologies, Inc. | Autonomous vehicle diagnostic system |
US10054947B2 (en) | 2016-08-17 | 2018-08-21 | Omnitracs, Llc | Emergency stopping for autonomous commercial vehicles |
CN113140125B (zh) | 2016-08-31 | 2022-06-17 | 北京万集科技股份有限公司 | 车路协同辅助驾驶方法及路侧设备 |
KR101747375B1 (ko) * | 2016-09-12 | 2017-06-15 | 아이피랩 주식회사 | 차량 원격제어 장치 및 방법, 원격 운전 시스템 |
US10539966B2 (en) * | 2016-09-28 | 2020-01-21 | Denso Corporation | Service cooperation system for vehicle |
US10549760B2 (en) * | 2016-10-06 | 2020-02-04 | Red Bend Ltd. | Systems and methods for handling a vehicle ECU malfunction |
US20180113986A1 (en) * | 2016-10-20 | 2018-04-26 | Jiping Zhu | Method and system for quantitative classification of health conditions via a mobile health monitor and application thereof |
CN106354130B (zh) * | 2016-10-31 | 2021-01-22 | 北京新能源汽车股份有限公司 | 无人驾驶汽车及其控制方法和远程监控系统 |
US10261574B2 (en) | 2016-11-30 | 2019-04-16 | University Of Macau | Real-time detection system for parked vehicles |
US11295458B2 (en) | 2016-12-01 | 2022-04-05 | Skydio, Inc. | Object tracking by an unmanned aerial vehicle using visual sensors |
US20180154906A1 (en) * | 2016-12-05 | 2018-06-07 | Ford Global Technologies, Llc | Autonomous vehicle processor self-diagnostic |
CN106781591A (zh) | 2016-12-19 | 2017-05-31 | 吉林大学 | 一种基于车路协同的城市车辆导航系统 |
US10466061B2 (en) * | 2016-12-30 | 2019-11-05 | Nio Usa, Inc. | Autonomous override safety |
US9953236B1 (en) | 2017-03-10 | 2018-04-24 | TuSimple | System and method for semantic segmentation using dense upsampling convolution (DUC) |
US10147193B2 (en) | 2017-03-10 | 2018-12-04 | TuSimple | System and method for semantic segmentation using hybrid dilated convolution (HDC) |
US10209089B2 (en) | 2017-04-03 | 2019-02-19 | Robert Bosch Gmbh | Automated image labeling for vehicles based on maps |
JP6779835B2 (ja) * | 2017-06-15 | 2020-11-04 | 株式会社日立製作所 | 監視制御システム、監視制御装置及び監視制御方法 |
US10599141B2 (en) * | 2017-06-16 | 2020-03-24 | nuTonomy Inc. | Intervention in operation of a vehicle having autonomous driving capabilities |
JP6834805B2 (ja) * | 2017-06-23 | 2021-02-24 | 株式会社デンソー | 電子制御装置 |
US20180373980A1 (en) | 2017-06-27 | 2018-12-27 | drive.ai Inc. | Method for training and refining an artificial intelligence |
DE102017210859A1 (de) * | 2017-06-28 | 2019-01-03 | Robert Bosch Gmbh | Verfahren zur Selbstüberprüfung von Fahrfunktionen eines autonomen oder teilautonomen Fahrzeuges |
US10223806B1 (en) | 2017-08-23 | 2019-03-05 | TuSimple | System and method for centimeter precision localization using camera-based submap and LiDAR-based global map |
US10223807B1 (en) | 2017-08-23 | 2019-03-05 | TuSimple | Feature extraction from 3D submap and global map system and method for centimeter precision localization using camera-based submap and lidar-based global map |
US10565457B2 (en) | 2017-08-23 | 2020-02-18 | Tusimple, Inc. | Feature matching and correspondence refinement and 3D submap position refinement system and method for centimeter precision localization using camera-based submap and LiDAR-based global map |
US10762673B2 (en) | 2017-08-23 | 2020-09-01 | Tusimple, Inc. | 3D submap reconstruction system and method for centimeter precision localization using camera-based submap and LiDAR-based global map |
US11112793B2 (en) * | 2017-08-28 | 2021-09-07 | Motional Ad Llc | Mixed-mode driving of a vehicle having autonomous driving capabilities |
US10410055B2 (en) | 2017-10-05 | 2019-09-10 | TuSimple | System and method for aerial video traffic analysis |
US10666730B2 (en) | 2017-10-28 | 2020-05-26 | Tusimple, Inc. | Storage architecture for heterogeneous multimedia data |
US10812589B2 (en) | 2017-10-28 | 2020-10-20 | Tusimple, Inc. | Storage architecture for heterogeneous multimedia data |
GB201720266D0 (en) * | 2017-12-05 | 2018-01-17 | Trw Ltd | Controlling the operation of a vehicle |
JP7047374B2 (ja) * | 2017-12-25 | 2022-04-05 | トヨタ自動車株式会社 | 情報収集システム |
CN108010360A (zh) | 2017-12-27 | 2018-05-08 | 中电海康集团有限公司 | 一种基于车路协同的自动驾驶环境感知系统 |
WO2019140005A1 (en) | 2018-01-09 | 2019-07-18 | TuSimple | Real-time remote control of vehicles with high redundancy |
US11305782B2 (en) | 2018-01-11 | 2022-04-19 | Tusimple, Inc. | Monitoring system for autonomous vehicle operation |
CN108182817A (zh) | 2018-01-11 | 2018-06-19 | 北京图森未来科技有限公司 | 自动驾驶辅助系统、路侧端辅助系统和车载端辅助系统 |
US10838421B2 (en) * | 2018-02-09 | 2020-11-17 | Denso Corporation | Autonomous drive system |
US10685244B2 (en) | 2018-02-27 | 2020-06-16 | Tusimple, Inc. | System and method for online real-time multi-object tracking |
IL308640A (en) * | 2018-03-18 | 2024-01-01 | Driveu Tech Ltd | Device, system and method for autonomous driving and remotely controlled vehicles |
US10919463B1 (en) * | 2018-06-18 | 2021-02-16 | Hydro-Gear Limited Partnership | Vehicle drive and control system |
KR102529915B1 (ko) * | 2018-07-26 | 2023-05-08 | 현대자동차주식회사 | 차량의 주행 제어 장치 및 방법 |
FR3086054B1 (fr) * | 2018-09-18 | 2020-08-28 | Continental Automotive France | Procede de demande d’arret en zone securisee par simulation de dysfonctionnement d’un vehicule automobile |
US10782685B1 (en) * | 2018-10-10 | 2020-09-22 | Waymo Llc | Planner system recovery for autonomous vehicles |
US11603110B2 (en) * | 2019-04-18 | 2023-03-14 | Kyndryl, Inc. | Addressing vehicle sensor abnormalities |
DE102019214471A1 (de) * | 2019-09-23 | 2021-03-25 | Robert Bosch Gmbh | Verfahren zum Fernsteuern eines Kraftfahrzeugs |
US20210316742A1 (en) * | 2020-04-08 | 2021-10-14 | Ghost Locomotion Inc. | Error handling in an autonomous vehicle |
US20210331686A1 (en) * | 2020-04-22 | 2021-10-28 | Uatc, Llc | Systems and Methods for Handling Autonomous Vehicle Faults |
-
2019
- 2019-09-12 AU AU2019339418A patent/AU2019339418A1/en active Pending
- 2019-09-12 WO PCT/US2019/050908 patent/WO2020056203A1/en unknown
- 2019-09-12 CN CN201980060131.XA patent/CN112689586B/zh active Active
- 2019-09-12 CN CN202410377309.6A patent/CN118289018A/zh active Pending
- 2019-09-12 EP EP19860624.6A patent/EP3849868A4/en active Pending
- 2019-09-12 US US16/569,640 patent/US11292480B2/en active Active
-
2022
- 2022-03-24 US US17/656,412 patent/US20220212680A1/en active Pending
Patent Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH1170844A (ja) * | 1997-08-29 | 1999-03-16 | Sanyo Electric Works Ltd | 車輌緊急通報装置 |
KR20020092593A (ko) * | 2001-06-05 | 2002-12-12 | 공석태 | 인터넷을통한 자동차 원격제어 운전 비즈니스모델 |
GB0314236D0 (en) * | 2003-06-19 | 2003-07-23 | Ford Global Tech Llc | Improved method of vehicle control |
JP2007060489A (ja) * | 2005-08-26 | 2007-03-08 | Xanavi Informatics Corp | 車載受信装置 |
KR20070050200A (ko) * | 2005-11-10 | 2007-05-15 | 원광대학교산학협력단 | 지피에스를 이용한 차량 응급 구조 송신 장치 |
JP2011240816A (ja) * | 2010-05-18 | 2011-12-01 | Denso Corp | 自律走行制御装置 |
EP2557432A1 (en) * | 2011-08-06 | 2013-02-13 | Honda Motor Co., Ltd. | Position transmission device for vehicle |
DE102015011516A1 (de) * | 2015-09-03 | 2016-05-12 | Daimler Ag | Verfahren zum Betrieb eines Fahrzeuges |
KR20170034542A (ko) * | 2015-09-21 | 2017-03-29 | 권형석 | 긴급차량이 이동할 경로 확보를 위한 시스템 및 제어 방법. |
US9747796B1 (en) * | 2016-07-12 | 2017-08-29 | Alison Collard De Beaufort | Oncoming vehicle alarm technology |
CN108347712A (zh) * | 2018-02-02 | 2018-07-31 | 深圳航天信息有限公司 | 车辆管理终端 |
Non-Patent Citations (4)
Title |
---|
卫振林 ; 王喜富 ; .基于全球定位系统(GPS)的电动车辆实时监控系统设计.中国安全科学学报.2006,(04),全文. * |
基于GSM的车辆报警与控制系统的设计;李志伟;;微型电脑应用;20061120(11);全文 * |
基于普适计算的汽车驾驶安全辅助系统研究;修云;;黄石理工学院学报(第04期);1-15 * |
李志伟 ; .基于GSM的车辆报警与控制系统的设计.微计算机信息.2007,(10),全文. * |
Also Published As
Publication number | Publication date |
---|---|
US20220212680A1 (en) | 2022-07-07 |
US20200086884A1 (en) | 2020-03-19 |
US11292480B2 (en) | 2022-04-05 |
CN118289018A (zh) | 2024-07-05 |
EP3849868A1 (en) | 2021-07-21 |
WO2020056203A1 (en) | 2020-03-19 |
EP3849868A4 (en) | 2022-10-12 |
CN112689586A (zh) | 2021-04-20 |
AU2019339418A1 (en) | 2021-05-13 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN112689586B (zh) | 远程安全驾驶方法和系统 | |
US10532740B2 (en) | Method and arrangement for monitoring and adapting the performance of a fusion system of an autonomous vehicle | |
US9981657B2 (en) | Autonomous vehicle parking and transition to manual control | |
CN110758284A (zh) | 用于车辆的驾驶控制装置及方法 | |
US20180039274A1 (en) | Device, method and system for an autonomous vehicle | |
US20220177005A1 (en) | Method for checking a surroundings detection sensor of a vehicle and method for operating a vehicle | |
CN112542055B (zh) | 用于辅助机动车的方法 | |
CN110723151B (zh) | 智能驾驶系统初始化方法和装置 | |
KR20190105150A (ko) | 군집 주행 제어 장치 및 방법 | |
CN111361572A (zh) | 车辆控制设备、车辆控制方法和车辆控制系统 | |
US10025316B1 (en) | Automated vehicle safe stop zone use notification system | |
US20180050694A1 (en) | Method and device for monitoring a setpoint trajectory to be traveled by a vehicle for being collision free | |
US20180267527A1 (en) | Handheld mobile device for adaptive vehicular operations | |
CN107764559A (zh) | 能自主控制的机动车的测试 | |
KR20220026004A (ko) | 자율 주행 제어 장치 및 방법 | |
BR112020001984A2 (pt) | sistema e método de rastreamento para monitorar e garantir a segurança de expedições | |
US11364922B2 (en) | Driving assistance device, driving assistance method, and computer readable medium | |
CN112537311A (zh) | 用于安全可靠地至少部分自动化地引导机动车的方法 | |
KR20200140449A (ko) | 차량 및 그 제어방법 | |
CN116729428A (zh) | 自主驾驶控制装置及其方法 | |
CN114475634A (zh) | 用于通过控制器沿着路段控制车辆的方法及存储介质 | |
US20160169684A1 (en) | Traffic control device detection | |
KR102670950B1 (ko) | C-its 기반 비정형 주행환경에서의 자율주행 운행 시스템 및 방법 | |
US20210150897A1 (en) | Operational design domain validation coverage for adjacent lane relative velocity | |
US20230266759A1 (en) | Sensor layout techniques |
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 |