EP3468850A4 - Route planning for an autonomous vehicle - Google Patents

Route planning for an autonomous vehicle Download PDF

Info

Publication number
EP3468850A4
EP3468850A4 EP17813951.5A EP17813951A EP3468850A4 EP 3468850 A4 EP3468850 A4 EP 3468850A4 EP 17813951 A EP17813951 A EP 17813951A EP 3468850 A4 EP3468850 A4 EP 3468850A4
Authority
EP
European Patent Office
Prior art keywords
autonomous vehicle
route planning
planning
route
autonomous
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
EP17813951.5A
Other languages
German (de)
French (fr)
Other versions
EP3468850A1 (en
Inventor
Karl Iagnemma
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.)
Motional AD LLC
Original Assignee
Nutonomy 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 US15/182,360 external-priority patent/US10126136B2/en
Priority claimed from US15/182,281 external-priority patent/US11092446B2/en
Priority claimed from US15/182,400 external-priority patent/US10309792B2/en
Priority claimed from US15/182,365 external-priority patent/US20170356748A1/en
Priority claimed from US15/182,313 external-priority patent/US20170356750A1/en
Application filed by Nutonomy Inc filed Critical Nutonomy Inc
Publication of EP3468850A1 publication Critical patent/EP3468850A1/en
Publication of EP3468850A4 publication Critical patent/EP3468850A4/en
Pending legal-status Critical Current

Links

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34Route searching; Route guidance
    • G01C21/3453Special cost functions, i.e. other than distance or default speed limit of road segments
    • G01C21/3461Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types, segments such as motorways, toll roads, ferries
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W50/00Details 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
    • B60W50/0097Predicting future conditions
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W50/00Details 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
    • B60W50/02Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0205Diagnosing or detecting failures; Failure detection models
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W50/00Details 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
    • B60W50/08Interaction between the driver and the control system
    • B60W50/14Means for informing the driver, warning the driver or prompting a driver intervention
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W60/00Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001Planning or execution of driving tasks
    • B60W60/0011Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W50/00Details 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
    • B60W50/02Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0205Diagnosing or detecting failures; Failure detection models
    • B60W2050/0215Sensor drifts or sensor failures
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W50/00Details 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
    • B60W50/08Interaction between the driver and the control system
    • B60W50/14Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143Alarm means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2552/00Input parameters relating to infrastructure
    • B60W2552/05Type of road, e.g. motorways, local streets, paved or unpaved roads
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2552/00Input parameters relating to infrastructure
    • B60W2552/15Road slope, i.e. the inclination of a road segment in the longitudinal direction
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2552/00Input parameters relating to infrastructure
    • B60W2552/30Road curve radius
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2552/00Input parameters relating to infrastructure
    • B60W2552/35Road bumpiness, e.g. potholes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2554/00Input parameters relating to objects
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2554/00Input parameters relating to objects
    • B60W2554/20Static objects
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2554/00Input parameters relating to objects
    • B60W2554/40Dynamic objects, e.g. animals, windblown objects
    • B60W2554/402Type
    • B60W2554/4026Cycles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2554/00Input parameters relating to objects
    • B60W2554/40Dynamic objects, e.g. animals, windblown objects
    • B60W2554/402Type
    • B60W2554/4029Pedestrians
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2554/00Input parameters relating to objects
    • B60W2554/40Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404Characteristics
    • B60W2554/4041Position
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2554/00Input parameters relating to objects
    • B60W2554/60Traversable objects, e.g. speed bumps or curbs
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2555/00Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/20Ambient conditions, e.g. wind or rain
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2556/00Input parameters relating to data
    • B60W2556/45External transmission of data to or from the vehicle
    • B60W2556/50External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
EP17813951.5A 2016-06-14 2017-06-13 Route planning for an autonomous vehicle Pending EP3468850A4 (en)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
US15/182,360 US10126136B2 (en) 2016-06-14 2016-06-14 Route planning for an autonomous vehicle
US15/182,281 US11092446B2 (en) 2016-06-14 2016-06-14 Route planning for an autonomous vehicle
US15/182,400 US10309792B2 (en) 2016-06-14 2016-06-14 Route planning for an autonomous vehicle
US15/182,365 US20170356748A1 (en) 2016-06-14 2016-06-14 Route Planning for an Autonomous Vehicle
US15/182,313 US20170356750A1 (en) 2016-06-14 2016-06-14 Route Planning for an Autonomous Vehicle
PCT/US2017/037294 WO2017218563A1 (en) 2016-06-14 2017-06-13 Route planning for an autonomous vehicle

Publications (2)

Publication Number Publication Date
EP3468850A1 EP3468850A1 (en) 2019-04-17
EP3468850A4 true EP3468850A4 (en) 2019-07-24

Family

ID=60663791

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17813951.5A Pending EP3468850A4 (en) 2016-06-14 2017-06-13 Route planning for an autonomous vehicle

Country Status (3)

Country Link
EP (1) EP3468850A4 (en)
CN (1) CN109641589B (en)
WO (1) WO2017218563A1 (en)

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US10309792B2 (en) 2016-06-14 2019-06-04 nuTonomy Inc. Route planning for an autonomous vehicle
US11092446B2 (en) 2016-06-14 2021-08-17 Motional Ad Llc Route planning for an autonomous vehicle
US10126136B2 (en) 2016-06-14 2018-11-13 nuTonomy Inc. Route planning for an autonomous vehicle
US10829116B2 (en) 2016-07-01 2020-11-10 nuTonomy Inc. Affecting functions of a vehicle based on function-related information about its environment
US10473470B2 (en) 2016-10-20 2019-11-12 nuTonomy Inc. Identifying a stopping place for an autonomous vehicle
US10331129B2 (en) 2016-10-20 2019-06-25 nuTonomy Inc. Identifying a stopping place for an autonomous vehicle
US10681513B2 (en) 2016-10-20 2020-06-09 nuTonomy Inc. Identifying a stopping place for an autonomous vehicle
US10857994B2 (en) 2016-10-20 2020-12-08 Motional Ad Llc Identifying a stopping place for an autonomous vehicle
US11073405B2 (en) 2018-06-29 2021-07-27 International Business Machines Corporation Comparative priority and target destination based lane assignment of autonomous vehicles
US11034361B2 (en) 2018-11-28 2021-06-15 International Business Machines Corporation Route determination for switching between autonomous and manual driving modes
WO2020139327A1 (en) * 2018-12-26 2020-07-02 Didi Research America, Llc Systems and methods for vehicle telemetry
US11287270B2 (en) 2018-12-26 2022-03-29 Beijing Voyager Technology Co., Ltd. Systems and methods for safe route planning for a vehicle
JP2020104547A (en) * 2018-12-26 2020-07-09 株式会社日立製作所 Failure detection device for an external sensor and a failure detection method for an external sensor
US11131554B2 (en) 2018-12-26 2021-09-28 Beijing Voyager Technology Co., Ltd. Systems and methods for vehicle telemetry
GB201912145D0 (en) * 2019-08-23 2019-10-09 Five Ai Ltd Performance testing for robotic systems
CN111337043B (en) * 2020-03-17 2022-08-02 北京嘀嘀无限科技发展有限公司 Path planning method and device, storage medium and electronic equipment
US11702111B2 (en) * 2020-08-19 2023-07-18 Here Global B.V. Method and apparatus for estimating object reliability
CN112598916B (en) * 2020-12-07 2022-03-29 腾讯科技(深圳)有限公司 Navigation reminding method and device, electronic equipment and storage medium

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WO2016031647A1 (en) * 2014-08-25 2016-03-03 クラリオン株式会社 Autonomous driving control device

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US9188985B1 (en) * 2012-09-28 2015-11-17 Google Inc. Suggesting a route based on desired amount of driver interaction
WO2014139821A1 (en) * 2013-03-15 2014-09-18 Volkswagen Aktiengesellschaft Automatic driving route planning application
WO2016031647A1 (en) * 2014-08-25 2016-03-03 クラリオン株式会社 Autonomous driving control device

Also Published As

Publication number Publication date
CN109641589A (en) 2019-04-16
WO2017218563A1 (en) 2017-12-21
EP3468850A1 (en) 2019-04-17
CN109641589B (en) 2023-10-13

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