EP3468850A4 - Route planning for an autonomous vehicle - Google Patents
Route planning for an autonomous vehicle Download PDFInfo
- 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
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3461—Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types, segments such as motorways, toll roads, ferries
-
- 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
- B60W50/0097—Predicting future 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
- 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
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
-
- 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- 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
- B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
-
- 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
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
- B60W2050/0215—Sensor drifts or sensor 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/05—Type of road, e.g. motorways, local streets, paved or unpaved roads
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/30—Road curve radius
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/35—Road bumpiness, e.g. potholes
-
- 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
- B60W2554/20—Static objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/402—Type
- B60W2554/4026—Cycles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/402—Type
- B60W2554/4029—Pedestrians
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—Position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/60—Traversable objects, e.g. speed bumps or curbs
-
- 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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/20—Ambient conditions, e.g. wind or rain
-
- 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
- B60W2556/50—External 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)
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) |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
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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 |
Citations (4)
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US20130035849A1 (en) * | 2011-08-01 | 2013-02-07 | Mitac Research (Shanghai) Ltd. | Navigation Apparatus Having Three-Dimensional Gravity Sensor and Navigation Method Thereof |
WO2014139821A1 (en) * | 2013-03-15 | 2014-09-18 | Volkswagen Aktiengesellschaft | Automatic driving route planning application |
US9188985B1 (en) * | 2012-09-28 | 2015-11-17 | Google Inc. | Suggesting a route based on desired amount of driver interaction |
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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KR101664582B1 (en) * | 2014-11-12 | 2016-10-10 | 현대자동차주식회사 | Path Planning Apparatus and Method for Autonomous Vehicle |
KR101877553B1 (en) * | 2014-11-14 | 2018-07-11 | 한국전자통신연구원 | System for autonomous driving, method for driving car using the same |
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-
2017
- 2017-06-13 CN CN201780049995.2A patent/CN109641589B/en active Active
- 2017-06-13 EP EP17813951.5A patent/EP3468850A4/en active Pending
- 2017-06-13 WO PCT/US2017/037294 patent/WO2017218563A1/en unknown
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20130035849A1 (en) * | 2011-08-01 | 2013-02-07 | Mitac Research (Shanghai) Ltd. | Navigation Apparatus Having Three-Dimensional Gravity Sensor and Navigation Method Thereof |
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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Owner name: MOTIONAL AD LLC |