EP4059003A4 - Collision monitoring using statistic models - Google Patents

Collision monitoring using statistic models Download PDF

Info

Publication number
EP4059003A4
EP4059003A4 EP20887777.9A EP20887777A EP4059003A4 EP 4059003 A4 EP4059003 A4 EP 4059003A4 EP 20887777 A EP20887777 A EP 20887777A EP 4059003 A4 EP4059003 A4 EP 4059003A4
Authority
EP
European Patent Office
Prior art keywords
statistical models
collision monitoring
collision
monitoring
statistical
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
EP20887777.9A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP4059003A1 (en
Inventor
Andrew Scott CREGO
Ali Ghasemzadehkhoshgroudi
Sai Anurag MODALAVALASA
Andreas Christian Reschka
Siavosh Rezvan Behbahani
Lingqiao Qin
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 EP4059003A1 publication Critical patent/EP4059003A1/en
Publication of EP4059003A4 publication Critical patent/EP4059003A4/en
Pending legal-status Critical Current

Links

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)
EP20887777.9A 2019-11-13 2020-11-12 Collision monitoring using statistic models Pending EP4059003A4 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
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
PCT/US2020/060197 WO2021097070A1 (en) 2019-11-13 2020-11-12 Collision monitoring using statistic models

Publications (2)

Publication Number Publication Date
EP4059003A1 EP4059003A1 (en) 2022-09-21
EP4059003A4 true EP4059003A4 (en) 2023-11-22

Family

ID=75912837

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20887777.9A Pending EP4059003A4 (en) 2019-11-13 2020-11-12 Collision monitoring using statistic models

Country Status (4)

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

Families Citing this family (4)

* 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
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
US20230316821A1 (en) * 2022-03-29 2023-10-05 Populus Technologies, Inc. Fleet tracking and behavior modification in geographic areas of interest

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150210280A1 (en) * 2014-01-29 2015-07-30 Continental Automotive Systems, Inc. Method for minimizing automatic braking intrusion based on collision confidence
US20160355181A1 (en) * 2015-06-05 2016-12-08 Toyota Jidosha Kabushiki Kaisha Collision avoidance assistance device for a vehicle
US20170039865A1 (en) * 2014-04-10 2017-02-09 Mitsubishi Electric Corporation Route prediction device
US20170210379A1 (en) * 2014-04-08 2017-07-27 Mitsubishi Electric Corporation Collision avoidance device
US20180141544A1 (en) * 2016-11-21 2018-05-24 Nio Usa, Inc. Vehicle autonomous collision prediction and escaping system (ace)
US20180336297A1 (en) * 2017-05-18 2018-11-22 TuSimple Perception simulation for improved autonomous vehicle control
US20180354506A1 (en) * 2015-05-29 2018-12-13 Denso Corporation Driving assistance device and driving assistance method

Family Cites Families (8)

* 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
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
JP6447962B2 (ja) * 2016-12-05 2019-01-09 マツダ株式会社 車両制御装置

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150210280A1 (en) * 2014-01-29 2015-07-30 Continental Automotive Systems, Inc. Method for minimizing automatic braking intrusion based on collision confidence
US20170210379A1 (en) * 2014-04-08 2017-07-27 Mitsubishi Electric Corporation Collision avoidance device
US20170039865A1 (en) * 2014-04-10 2017-02-09 Mitsubishi Electric Corporation Route prediction device
US20180354506A1 (en) * 2015-05-29 2018-12-13 Denso Corporation Driving assistance device and driving assistance method
US20160355181A1 (en) * 2015-06-05 2016-12-08 Toyota Jidosha Kabushiki Kaisha Collision avoidance assistance device for a vehicle
US20180141544A1 (en) * 2016-11-21 2018-05-24 Nio Usa, Inc. Vehicle autonomous collision prediction and escaping system (ace)
US20180336297A1 (en) * 2017-05-18 2018-11-22 TuSimple Perception simulation for improved autonomous vehicle control

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2021097070A1 *

Also Published As

Publication number Publication date
WO2021097070A1 (en) 2021-05-20
CN114730521A (zh) 2022-07-08
JP2023502598A (ja) 2023-01-25
JP7597808B2 (ja) 2024-12-10
EP4059003A1 (en) 2022-09-21

Similar Documents

Publication Publication Date Title
EP4059003A4 (en) Collision monitoring using statistic models
EP4026067A4 (en) Software-defined pulse orchestration platform
EP3866587A4 (en) SUPERVISION OF LIVESTOCK
EP4009660A4 (en) AUDIBLE OUTPUT DEVICE
EP3952331A4 (en) AUDIBLE OUTPUT DEVICE
EP3595501A4 (en) CLEANING DEVICE
DE112019005858A5 (de) Gerüstknoten
EP3741281A4 (en) CLEANSER
EP3682417A4 (en) VEHICLE MONITORING DEVICE
EP3618708A4 (en) DEVICE THAT CAN BE INSTALLED ON THE HEAD
EP3975830A4 (en) ANTENATAL MONITORING DEVICE
EP3510572A4 (en) MONITORING DEVICE
EP3993174A4 (en) GATEWAY DEVICE
DK3649857T3 (da) Landbrugssprøjteapparat
EP3678291A4 (en) WIPER DEVICE
EP3755193A4 (en) CLEANSER
EP3950090A4 (en) DEVICE FOR CAPTURE OF MICROPARTICLES
EP3600705A4 (en) CLEANING DEVICE
EP4003122A4 (en) CLEANSER
DK3953780T3 (da) Overvågningsmodul
EP3747331A4 (en) CLEANSER
EP3635560A4 (en) COMMUNICATION OF AN ALARM TRIGGER STATUS
EP3830662A4 (en) PLANT MONITOR
ITUB20161233A1 (it) Irroratrice per frutteto.
EP3603837A4 (en) MOLDING DEVICE

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20220420

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
A4 Supplementary search report drawn up and despatched

Effective date: 20231025

RIC1 Information provided on ipc code assigned before grant

Ipc: B60W 30/095 20120101ALI20231019BHEP

Ipc: G08G 1/16 20060101ALI20231019BHEP

Ipc: G08G 1/00 20060101AFI20231019BHEP

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

17Q First examination report despatched

Effective date: 20250219