CN116323353A - 基于相交的概率对安全系统资源的分配 - Google Patents

基于相交的概率对安全系统资源的分配 Download PDF

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Publication number
CN116323353A
CN116323353A CN202180065129.9A CN202180065129A CN116323353A CN 116323353 A CN116323353 A CN 116323353A CN 202180065129 A CN202180065129 A CN 202180065129A CN 116323353 A CN116323353 A CN 116323353A
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China
Prior art keywords
vehicle
intersection
probability
path
determining
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Pending
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CN202180065129.9A
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English (en)
Chinese (zh)
Inventor
L·普贝尔奥伦斯坦
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Zoox Inc
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Zoox Inc
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    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0132—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/90—Single sensor for two or more measurements
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2554/404—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
    • B60W2554/4042—Longitudinal speed
    • 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
    • B60W2554/4045—Intention, e.g. lane change or imminent movement
    • 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
    • B60W2554/80—Spatial relation or speed relative 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
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/806—Relative heading
    • 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
    • B60W30/18154—Approaching an intersection

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
CN202180065129.9A 2020-11-05 2021-10-21 基于相交的概率对安全系统资源的分配 Pending CN116323353A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US17/090,712 2020-11-05
US17/090,712 US11794732B2 (en) 2020-11-05 2020-11-05 Allocation of safety system resources based on probability of intersection
PCT/US2021/056115 WO2022098519A1 (en) 2020-11-05 2021-10-21 Allocation of safety system resources based on probability of intersection

Publications (1)

Publication Number Publication Date
CN116323353A true CN116323353A (zh) 2023-06-23

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202180065129.9A Pending CN116323353A (zh) 2020-11-05 2021-10-21 基于相交的概率对安全系统资源的分配

Country Status (5)

Country Link
US (1) US11794732B2 (https=)
EP (1) EP4240628A4 (https=)
JP (1) JP7817247B2 (https=)
CN (1) CN116323353A (https=)
WO (1) WO2022098519A1 (https=)

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WO2021111164A1 (ja) * 2019-12-02 2021-06-10 日産自動車株式会社 車両制御方法及び車両制御装置
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US11541903B2 (en) * 2020-06-03 2023-01-03 Waymo Llc Autonomous driving with surfel maps
US11904890B2 (en) * 2020-06-17 2024-02-20 Baidu Usa Llc Lane change system for lanes with different speed limits
WO2022102323A1 (ja) * 2020-11-12 2022-05-19 古野電気株式会社 船舶監視システム、船舶監視方法、情報処理装置、及びプログラム
EP4253219A4 (en) * 2020-11-26 2024-10-16 Furuno Electric Co., Ltd. Ship monitoring system, ship monitoring method, information processing device, and program
US11618479B2 (en) * 2020-12-08 2023-04-04 GM Global Technology Operations LLC System, method and controller for graph-based path planning for a host vehicle
DE102020133674A1 (de) * 2020-12-16 2022-06-23 Bayerische Motoren Werke Aktiengesellschaft Verfahren und System zum Koordinieren von fahrerlosen Transportfahrzeugen
US20210101620A1 (en) * 2020-12-17 2021-04-08 Intel Corporation Systems, methods, and devices for generating and using safety threat maps
US12319315B2 (en) * 2020-12-22 2025-06-03 Waymo Llc Autonomous vehicle trajectory computed using box-based probabilistic overlap model
CN116917181A (zh) * 2021-03-05 2023-10-20 株式会社电装 处理方法、处理系统以及处理程序
EP4082853A1 (en) * 2021-04-28 2022-11-02 KNORR-BREMSE Systeme für Nutzfahrzeuge GmbH Evaluation apparatus for evaluating a trajectory hypothesis for a vehicle
US12179795B2 (en) * 2021-05-24 2024-12-31 Nvidia Corporation Using arrival times and safety procedures in motion planning trajectories for autonomous vehicles
US11753045B2 (en) * 2021-06-22 2023-09-12 Waymo Llc Modeling positional uncertainty of moving objects using precomputed polygons
US12116014B2 (en) * 2021-07-29 2024-10-15 Waymo Llc Lateral gap planning for autonomous vehicles
US11955001B2 (en) * 2021-09-27 2024-04-09 GridMatrix, Inc. Traffic near miss collision detection
US20230102443A1 (en) * 2021-09-28 2023-03-30 GM Global Technology Operations LLC Monitoring uncertainty for human-like behavioral modulation of trajectory planning
KR20230149895A (ko) * 2022-04-20 2023-10-30 주식회사 에이치엘클레무브 운전자 보조 시스템 및 운전자 보조 방법
US12528504B2 (en) 2022-06-24 2026-01-20 Motional Ad Llc Trajectory planning based on extracted trajectory features
US11691634B1 (en) * 2022-06-24 2023-07-04 Plus AI, Inc. On-vehicle driving behavior modelling
CN115691217B (zh) * 2022-09-26 2025-06-27 北京北大千方科技有限公司 交通冲突识别方法、装置、存储介质及电子设备
US12559138B2 (en) * 2023-11-21 2026-02-24 Zoox, Inc. Machine-learned model architecture for diverse object path prediction
US12612082B1 (en) * 2023-12-22 2026-04-28 Zoox, Inc. Identifying relevant objects based on artificial paths
US12522207B1 (en) * 2024-05-31 2026-01-13 Zoox, Inc. Determining adversarial cost based on generated deviations

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JP7817247B2 (ja) 2026-02-18
EP4240628A4 (en) 2024-10-30
EP4240628A1 (en) 2023-09-13
US20220135029A1 (en) 2022-05-05
WO2022098519A1 (en) 2022-05-12
JP2023548272A (ja) 2023-11-16
US11794732B2 (en) 2023-10-24

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