CN114730521A - 使用统计模型的碰撞监测 - Google Patents

使用统计模型的碰撞监测 Download PDF

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Publication number
CN114730521A
CN114730521A CN202080078816.XA CN202080078816A CN114730521A CN 114730521 A CN114730521 A CN 114730521A CN 202080078816 A CN202080078816 A CN 202080078816A CN 114730521 A CN114730521 A CN 114730521A
Authority
CN
China
Prior art keywords
vehicle
determining
estimated location
probability
additional
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.)
Pending
Application number
CN202080078816.XA
Other languages
English (en)
Chinese (zh)
Inventor
A·S·克雷戈
A·加塞姆扎德霍什格鲁迪
S·A·莫达拉瓦拉萨
A·C·雷什卡
S·雷兹万贝巴哈尼
L·秦
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zoox Inc
Original Assignee
Zoox Inc
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from US16/682,971 external-priority patent/US11697412B2/en
Priority claimed from US16/683,005 external-priority patent/US11648939B2/en
Application filed by Zoox Inc filed Critical Zoox Inc
Publication of CN114730521A publication Critical patent/CN114730521A/zh
Pending legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • 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
    • B60W30/095—Predicting travel path or likelihood of collision
    • 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
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
    • 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
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/04—Traffic 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
    • 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
    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Human Computer Interaction (AREA)
  • General Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
CN202080078816.XA 2019-11-13 2020-11-12 使用统计模型的碰撞监测 Pending CN114730521A (zh)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US16/683,005 2019-11-13
US16/682,971 US11697412B2 (en) 2019-11-13 2019-11-13 Collision monitoring using statistic models
US16/683,005 US11648939B2 (en) 2019-11-13 2019-11-13 Collision monitoring using system data
US16/682,971 2019-11-13
PCT/US2020/060197 WO2021097070A1 (en) 2019-11-13 2020-11-12 Collision monitoring using statistic models

Publications (1)

Publication Number Publication Date
CN114730521A true CN114730521A (zh) 2022-07-08

Family

ID=75912837

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202080078816.XA Pending CN114730521A (zh) 2019-11-13 2020-11-12 使用统计模型的碰撞监测

Country Status (4)

Country Link
EP (1) EP4059003A4 (https=)
JP (1) JP7597808B2 (https=)
CN (1) CN114730521A (https=)
WO (1) WO2021097070A1 (https=)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12187287B1 (en) 2022-03-23 2025-01-07 Zoox, Inc. Autonomous vehicle interaction memory
US12187288B1 (en) * 2022-03-23 2025-01-07 Zoox, Inc. Autonomous vehicle interaction and profile sharing

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2612632B (en) * 2021-11-08 2024-04-03 Jaguar Land Rover Ltd Control system for a vehicle and method thereof
US20230316821A1 (en) * 2022-03-29 2023-10-05 Populus Technologies, Inc. Fleet tracking and behavior modification in geographic areas of interest

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5076592B2 (ja) * 2007-03-29 2012-11-21 トヨタ自動車株式会社 運転者危険度取得装置
JP5267517B2 (ja) * 2010-07-14 2013-08-21 株式会社デンソー 車両位置推定装置、および車両位置推定プログラム
US8509982B2 (en) * 2010-10-05 2013-08-13 Google Inc. Zone driving
US8457827B1 (en) * 2012-03-15 2013-06-04 Google Inc. Modifying behavior of autonomous vehicle based on predicted behavior of other vehicles
US9656667B2 (en) * 2014-01-29 2017-05-23 Continental Automotive Systems, Inc. Method for minimizing automatic braking intrusion based on collision confidence
WO2015155833A1 (ja) * 2014-04-08 2015-10-15 三菱電機株式会社 衝突防止装置
DE112014006561T5 (de) * 2014-04-10 2017-02-16 Mitsubishi Electric Corporation Routenvorausberechunungseinrichtung
JP6409680B2 (ja) * 2015-05-29 2018-10-24 株式会社デンソー 運転支援装置、運転支援方法
JP6481520B2 (ja) * 2015-06-05 2019-03-13 トヨタ自動車株式会社 車両の衝突回避支援装置
US10496766B2 (en) * 2015-11-05 2019-12-03 Zoox, Inc. Simulation system and methods for autonomous vehicles
US10029682B2 (en) * 2016-01-22 2018-07-24 Toyota Motor Engineering & Manufacturing North America, Inc. Surrounding vehicle classification and path prediction
JP6688655B2 (ja) * 2016-03-31 2020-04-28 株式会社Ｓｕｂａｒｕ 車両状態監視装置
US10699305B2 (en) * 2016-11-21 2020-06-30 Nio Usa, Inc. Smart refill assistant for electric vehicles
JP6447962B2 (ja) * 2016-12-05 2019-01-09 マツダ株式会社 車両制御装置
US10481044B2 (en) * 2017-05-18 2019-11-19 TuSimple Perception simulation for improved autonomous vehicle control

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12187287B1 (en) 2022-03-23 2025-01-07 Zoox, Inc. Autonomous vehicle interaction memory
US12187288B1 (en) * 2022-03-23 2025-01-07 Zoox, Inc. Autonomous vehicle interaction and profile sharing
US20250108811A1 (en) * 2022-03-23 2025-04-03 Zoox, Inc. Autonomous vehicle interaction and profile sharing

Also Published As

Publication number Publication date
WO2021097070A1 (en) 2021-05-20
JP2023502598A (ja) 2023-01-25
JP7597808B2 (ja) 2024-12-10
EP4059003A4 (en) 2023-11-22
EP4059003A1 (en) 2022-09-21

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