JP2015205691A - 自律運転乗物用の制御及びシステム - Google Patents
自律運転乗物用の制御及びシステム Download PDFInfo
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Abstract
Description
本出願は、代理人整理番号284361USの下で2006年3月16日に出願した「NAVIGATION AND CONTROL SYSTEM FOR AUTONOMOUS VEHICLES」と題した米国特許出願第11/376,160号に関連している。本出願の内容全体は、参照により本明細書に組み込まれる。
1)H. Wang、J. Kearney、J. Cremer、及びP. Willemsen、「Steering Autonomous Driving Agents Through Intersections in Virtual Urban Environments」、2004 International Conference on Modeling, Simulation, and Visualization Methods, (2004)
2)R. Frezza、G. Picci、及びS. Soatto、「A Lagrangian Formulation of Nonholonomic Path Following」、The Confluence of Vision and Control、(A. S. Morseら(編)、Springer Verlag、1998)
3)J. Shirazi、Java(登録商標) Performance Tuning、(OReilly & Associates、2000)
4)J. Witt、C. Crane III、及びD. Armstrong、「Autonomous Ground Vehicle Path Tracking」、Journal of Robotic Systems、(21(8), 2004)
5)C. Crane III、D. Armstrong Jr.、M. Torrie、及びS. Gray、「Autonomous Ground Vehicle Technologies Applied to the DARPA Grand Challenge」、International Conference on Control, Automation, and Systems、(2004)
6)T. Berglund、H. Jonsson、及びI. Soderkvist、「An Obstacle-Avoiding Minimum Variation B-spline Problem」、International Conference on Geometric Modeling and Graphics、(July, 2003)
7)D. Coombs、B. Yoshimi、T. Tsai、及びE. Kent、「Visualizing Terrain and Navigation Data」、NISTIR 6720、(2001年3月1日)
8)Jenkinsらの米国特許第5,644,386号
9)Andressenの米国特許第5,870,181号
10)Krasutskyらの米国特許第5,200,606号
11)Ruffらの米国特許第6,844,924号
N=サンプル数
N=1:合計S0
N>1:合計=S0*1/(21)+S1*1/(22)+...+SN-2*1/(2N-1)+SN-1*1(2N)・・・(1)
本発明は、本発明が一次モードまたは二次モードでそれぞれ働く、自律運転乗物と人が運転する乗物との両方に広範囲にわたる応用を有する。
(付記1)
ナビゲーション及び制御システムであって、
乗物の位置及び進行方向を示すポジション信号を生成するように構成される1つまたは複数のポジションセンサと、
入力を有し、前記乗物の動作を制御する出力を生成する1つまたは複数の動作制御機構と、
前記動作制御機構から遠隔配置される内蔵式自律型制御器とを備え、
前記内蔵式自律型制御器が、
前記ポジションセンサから前記ポジション信号を受信し、前記乗物の更新された移動経路を定める動作制御信号を生成するように構成されるプロセッサ、ならびに
前記ポジションセンサ、前記動作制御機構、及び前記プロセッサの間で通信を行い、前記ポジションセンサからの前記プロセッサへの入力を正規化し、前記動作制御機構への前記入力として加えられる適合する動作制御信号を生成するように構成されるプログラマブルインタフェースを備え、
それによって前記内蔵式自律型制御器が、様々な異なるセンサ及び異なる動作制御機構と共に動作するように構成可能である
ことを特徴とするシステム。
(付記2)
前記乗物の移動経路に関して物体を示す物体信号を生成するように構成される1つまたは複数の物体センサをさらに備え、
前記プロセッサが、前記物体センサから前記物体信号を受信し、前記乗物の前記移動経路に関して静止している物体及び移動している物体を、前記物体信号から識別し、識別された前記静止物体及び前記移動物体ならびに前記ポジション信号を考慮して前記更新された移動経路を定める動作制御信号を生成するように構成される
ことを特徴とする付記1に記載のシステム。
(付記3)
前記プログラマブルインタフェースが、前記ポジションセンサ、前記物体センサ、前記動作制御機構、及び前記プロセッサの間で通信を行うように構成され、前記物体センサからの前記プロセッサへの入力を正規化するように構成される
ことを特徴とする付記2に記載のシステム。
(付記4)
前記物体センサが、前記ビームを生成し、前記物体からの前記ビームの反射を検出するように構成される光検出測距装置を備える
ことを特徴とする付記2に記載のシステム。
(付記5)
前記物体センサが、前記ビームを生成し、前記物体からの放出ビームの波長における反射を検出するように構成されるレーザレーダ装置を備えることを特徴とする付記2に記載のシステム。
(付記6)
前記物体センサが、物体が識別される前記移動経路の画像を提供するように構成されるカメラを備えることを特徴とする付記2に記載のシステム。
(付記7)
プログラミング命令を前記プログラマブルインタフェースに入れるように構成されるプログラムインタフェースをさらに備えることを特徴とする付記1に記載のシステム。
(付記8)
前記プロセッサが、方向制御命令及び速度制御命令のうちの少なくとも1つをドライブバイワイヤ形式で前記動作制御機構に供給し、それによって前記プロセッサが、エンジンのスロットリング、乗物のステアリング、及び乗物のブレーキングのうちの少なくとも1つを電気的に制御するように構成されることを特徴とする付記1に記載のシステム。
(付記9)
前記移動経路に沿ったウェイポイントの論理マップを記憶するように構成されるマップ記憶エリアをさらに備え、
前記論理マップが、あるウェイポイントから別のウェイポイントへの方向、前記ウェイポイントの地理空間座標、前記乗物の移動経路に沿った道路の交差点、及び異なるウェイポイントの間の移動に関連した時間のうちの少なくとも1つを含むことを特徴とする付記1に記載のシステム。
(付記10)
前記プロセッサが、物体ポジションと前記ウェイポイントの前記地理空間座標との比較によって前記乗物付近の物体が前記ウェイポイントであるかどうかを判定するための障害物識別アルゴリズムによってプログラムされることを特徴とする付記9に記載のシステム。
(付記11)
前記ポジションセンサが、全地球測位システム装置、または慣性航行システムのうちの少なくとも1つを備えることを特徴とする付記1に記載のシステム。
(付記12)
前記プロセッサが、
前記乗物付近の物体のポジション、速度、及び幾何学的形状を識別し、時間内に前記識別された物体の前記ポジション及び前記速度を予測し、前記識別された物体の将来のポジションを推定するように構成される可変構造オブザーバを備えることを特徴とする付記1に記載のシステム。
(付記13)
前記プロセッサが、
前記移動経路に関して、2つのウェイポイントの間の交通パターンの記録に基づいて、前記2つのウェイポイントの間の前記乗物のルートを決定するように構成されるルート発見アルゴリズムを含むことを特徴とする付記1に記載のシステム。
(付記14)
前記ルート発見アルゴリズムが、前記2つのウェイポイントの間の移動時間の記録、前記2つのウェイポイントの間の渋滞エリアの履歴、及び渋滞のリアルタイム報告のうちの少なくとも1つに基づいて前記ルートを決定するように構成されることを特徴とする付記13に記載のシステム。
(付記15)
前記ルート発見アルゴリズムが、前記2つのウェイポイントの間のいくつかの特定の移動ルートについての各重み付き平均に基づいて前記ルートを決定するように構成され、
各重み付き平均が、前記2つのウェイポイントの間の前記移動時間の記録、前記2つのウェイポイントの間の前記渋滞エリアの履歴、及び前記渋滞のリアルタイム報告のうちの前記少なくとも1つを含むことを特徴とする付記14に記載のシステム。
(付記16)
前記移動経路の画像を提供するように構成されるカメラをさらに備え、
前記画像に基づいて、前記プロセッサが、自律乗物の前記移動経路のための車線を識別することを特徴とする付記1に記載のシステム。
(付記17)
前記プロセッサが、前記識別された車線に障害物があるかどうかを判定するように構成されることを特徴とする付記16に記載のシステム。
(付記18)
前記プロセッサが、静止物体または移動物体のうちの少なくとも1つの周りに回避経路を決定するように構成されることを特徴とする付記1に記載のシステム。
(付記19)
前記プロセッサが、前記静止物体または前記移動物体との衝突の見込みを予測することによって、前記回避経路を決定するように構成され、
第1の行動として、前記回避経路について第1の解決策が存在するかどうかを判定するために、乗物の速度が、前記移動経路に沿って修正され、
第2の行動として、前記第1の解決策が存在しなければ、前記回避経路について第2の解決策が存在するかどうかを判定するために、前記スライディングモードアルゴリズムにおける進路変更操縦が、前記移動経路に沿って実施され、
第3の行動として、前記第1の解決策または前記第2の解決策が存在しなければ、前記乗物が停止させられることを特徴とする付記18に記載のシステム。
(付記20)
前記プロセッサが、前記静止物体及び前記移動物体を回避するために最適軌跡を予測するためのスライディングモードプログラムを利用する仮想経路解析に基づいて前記回避経路を決定するように構成され、
前記スライディングモード解析が、1)前記移動経路からの前記乗物の移動点(x*(s),y*(s))、2)前記移動経路からの前記乗物の距離s(t)、及び3)前記移動点(x*(s(t)),y*(s(t)))からの実際の乗物ポジション(x(t),y(t))の誤差ベクトルE(t)に基づいてステアリングコマンドを生成するようにプログラムされ、
前記誤差ベクトルE(t)が、前記乗物を、前記移動経路から逸脱させるか、または前記移動経路への進入路から逸脱させることができる時間に依存する非線形の要因に対応することを特徴とする付記18に記載のシステム。
(付記21)
乗物をナビゲーション及び制御する方法であって、
乗物の位置及び進行方向を示すポジション信号を生成する段階と、
プログラマブルインタフェースによって前記ポジション信号を正規化して、正規化されたポジション信号を生成する段階と、
前記正規化されたポジション信号から動作制御信号を生成する段階と、
前記プログラマブルインタフェースによって前記動作制御信号を正規化して、前記乗物の更新された移動経路に沿って前記乗物の動作を制御する正規化された動作制御信号を生成する段階とを含むことを特徴とする方法。
(付記22)
乗物を含む運転可能な装置であって、
前記乗物が、
乗物の位置及び進行方向を示すポジション信号を生成するように構成される1つまたは複数のポジションセンサと、
入力を有し、前記乗物の動作を制御する出力を生成する1つまたは複数の動作制御機構と、
少なくとも1つの前記動作制御機構から遠隔配置される内蔵式自律型制御器とを備え、
前記内蔵式自律型制御器が、
前記ポジションセンサから前記ポジション信号を受信し、前記乗物の更新された移動経路を定める動作制御信号を生成するように構成されるプロセッサ、ならびに
前記ポジションセンサ、前記動作制御機構、及び前記プロセッサの間で通信を行い、前記ポジションセンサからの前記プロセッサへの入力を正規化し、前記動作制御機構への前記入力として加えられる適合する動作制御信号を生成するように構成されるプログラマブルインタフェースを備え、
それによって前記内蔵式自律型制御器が、様々な異なるセンサ及び異なる動作制御機構と共に動作するように構成可能であることを特徴とする装置。
(付記23)
前記乗物が、陸上乗物を含むことを特徴とする付記22に記載の装置。
(付記24)
前記陸上乗物が、自動車、トラック、スポーツ汎用車、レスキュー乗物、農業乗物、採鉱乗物、伴走乗物、玩具乗物、偵察乗物、テストトラック乗物、及び装甲乗物のうちの少なくとも1つ含むことを特徴とする付記23に記載の装置。
(付記25)
前記乗物が、船艇を含むことを特徴とする付記22に記載の装置。
(付記26)
前記船艇が、ボート、船、バージ船、タンカ、水陸両用車、ホバークラフト、及び装甲船のうちの少なくとも1つを含むことを特徴とする付記25に記載の装置。
(付記27)
前記乗物が、運転手に支援された制御のない自律乗物を含むことを特徴とする付記22に記載の装置。
(付記28)
前記乗物が、コンピュータ支援制御を用いて運転手により制御された乗物を含むことを特徴とする付記22に記載の装置。
(付記29)
前記プロセッサが、運転手の機能障害を認識するように構成されることを特徴とする付記28に記載の装置。
(付記30)
前記プロセッサが、生体計測センサから、または前記乗物の運転手制御の解析から、運転手の機能障害を認識するように構成されることを特徴とする付記29に記載の装置。
(付記31)
前記プロセッサが、入力コマンドがある場合に、前記乗物を制御するように構成される
ことを特徴とする付記28に記載の装置。
(付記32)
乗物内のプロセッサ上で実行するためのプログラム命令を含むコンピュータ可読媒体であって、前記プログラム命令が、前記プロセッサによって実行されると、前記プロセッサに、
乗物の位置及び進行方向を示すポジション信号を受信し、プログラマブルインタフェースによって前記ポジション信号を正規化して、正規化されたポジション信号を生成し、
前記正規化されたポジション信号から動作制御信号を生成し、
前記動作制御信号を前記プログラマブルインタフェースに出力して、前記乗物の更新された移動経路に沿って前記乗物の動作を制御する正規化された動作制御信号を生成する
という機能を実行させることを特徴とするコンピュータ可読媒体。
(付記33)
ナビゲーション及び制御システムであって、
入力を有し、乗物の動作を制御する出力を生成する1つまたは複数の動作制御機構と、
1)移動経路からの前記乗物の移動点(x*(s),y*(s))、2)前記移動経路からの前記乗物の距離s(t)、及び3)前記移動点(x*(s(t)),y*(s(t)))からの実際の乗物ポジション(x(t),y(t))の誤差ベクトルE(t)に基づいてステアリングコマンドを生成するように構成されるプロセッサとを備え、
前記誤差ベクトルE(t)が、前記乗物を、前記移動経路から逸脱させるか、または前記移動経路への進入路から逸脱させることができる時間に依存する非線形の要因に対応することを特徴とするシステム。
(付記34)
前記プロセッサが、形式“d/dtE(t)=−kE(t)”の微分方程式を満たし、最適移動方向についてゼロに収束する前記誤差ベクトルE(t)に基づいて、前記乗物の移動方向を決定するように構成されることを特徴とする付記33に記載のシステム。
(付記35)
前記移動経路に沿った前記移動点(x*(s),y*(s))の決定における前記プロセッサが、前記決定において、前輪速度、後輪速度、中間の滑り度、及び乗物のスリップのうちの少なくとも1つを含む前記非線形の要因を含むことを特徴とする付記33に記載のシステム。
(付記36)
前記移動経路に沿った前記移動点(x*(s),y*(s))の決定における前記プロセッサが、前記決定において、前記非線形の要因を説明するための前記移動経路に対するs(t)の時間微分を含むことを特徴とする付記33に記載のシステム。
10 乗物、自律乗物
11 平面、垂直スキャン平面
12 エミッタ
13a ビーム拡大器
13b コリメータ
14 レーザパルス(または光)
15a 固定ミラー15a
16 3Dスキャニング体積
18 検出器
20 エコー信号
22 物体
24 プロセッサ
25 リアルタイム測位装置
26 回転ミラー
27a レンズ
27b 望遠鏡
40 レーザスキャナシステム、スキャナシステム
42 光学画像化システム、画像化デバイス
50 AVSプリント配線板
52 ユーザまたはプログラムインタフェース
53 コンピュータ、車載コンピュータ
54 コンピュータ、車載コンピュータ
56 フィールドプログラマブルゲートアレイデバイス、FPGA
58 安全無線
60 ハードウェアウォッチドッグ
62 イーサネット(登録商標)リンク装置
64 配電コンポーネント
66 緊急停止(Eストップ)論理デバイス
68 内部及び外部のコントローラエリアネットワーク(CAN)
70 デジタル及びアナログの入出力装置
80 RS−232ポート及びRS−422ポート
82 一連の移動中の小さい長方形
82 移動障害物
84 トレーラ
1201 コンピュータシステム
1202 バス
1203 内部プロセッサ
1204 メモリ、メインメモリ
1205 リードオンリメモリ(ROM)
1207 ハードディスク、記憶装置
1208 リムーバブルメディアドライブ、記憶装置
1213 通信インタフェース
1214 ネットワークリンク
1215 ローカルエリアネットワーク(LAN)、ネットワーク
1216 通信ネットワーク、ネットワーク
1217 入力装置
Claims (32)
- ナビゲーション及び制御システムであって、
乗物の位置及び進行方向を示すポジション信号を生成するように構成された1つまたは複数のポジションセンサと、
入力を有し、前記乗物の動作を制御する出力を生成する1つまたは複数の動作制御機構と、
前記動作制御機構から遠隔配置された内蔵式自律型制御器と、を備え、
前記内蔵式自律型制御器は、
前記ポジションセンサから前記ポジション信号を受信し、前記乗物の更新された移動経路を定める動作制御信号を生成するように構成されたプロセッサと、
前記ポジションセンサ、前記動作制御機構、及び、前記プロセッサの間の通信を提供するプログラマブルインタフェースであり、前記乗物に搭載可能な種々の異なる乗物センサを調整するためにプログラム可能なように、前記ポジションセンサから前記プロセッサへの入力を正規化する、プログラマブルインタフェースと、を含み、
前記プログラマブルインタフェースは、さらに、種々の運転制御とステアリング制御を調整するためにプログラム可能なように、前記動作制御機構に対して前記入力として適用される互換性のある動作制御信号を生成し、
それにより、前記内蔵式自律型制御器が、種々の異なるセンサ及び異なる動作制御機構を使用して動作するように構成可能である、
システム。 - 前記乗物の移動経路に関して物体を示す物体信号を生成するように構成される1つまたは複数の物体センサをさらに備え、
前記プロセッサが、前記物体センサから前記物体信号を受信し、前記乗物の前記移動経路に関して静止している物体及び移動している物体を、前記物体信号から識別し、識別された静止物体及び移動物体ならびに前記ポジション信号を考慮して前記更新された移動経路を定める動作制御信号を生成するように構成される、
請求項1に記載のシステム。 - 前記プログラマブルインタフェースが、前記ポジションセンサ、前記物体センサ、前記動作制御機構、及び前記プロセッサの間で通信を行うように構成され、前記物体センサからの前記プロセッサへの入力を正規化するように構成される、
請求項2に記載のシステム。 - 前記物体センサが、ビームを生成し、前記物体からの前記ビームの反射を検出するように構成される光検出測距装置を備える、
請求項2に記載のシステム。 - 前記物体センサが、ビームを生成し、前記物体からの放出ビームの波長における反射を検出するように構成されるレーザレーダ装置を備える、
請求項2に記載のシステム。 - 前記物体センサが、物体が識別される前記移動経路の画像を提供するように構成されるカメラを備える、
請求項2に記載のシステム。 - プログラミング命令を前記プログラマブルインタフェースに入れるように構成されるプログラムインタフェースをさらに備える、
請求項1に記載のシステム。 - 前記プロセッサが、方向制御命令及び速度制御命令のうちの少なくとも1つをドライブバイワイヤ形式で前記動作制御機構に供給し、それによって前記プロセッサが、エンジンのスロットリング、乗物のステアリング、及び乗物のブレーキングのうちの少なくとも1つを電気的に制御するように構成される、
請求項1に記載のシステム。 - 前記移動経路に沿ったウェイポイントの論理マップを記憶するように構成されるマップ記憶エリアをさらに備え、
前記論理マップが、あるウェイポイントから別のウェイポイントへの方向、前記ウェイポイントの地理空間座標、前記乗物の移動経路に沿った道路の交差点、及び異なるウェイポイントの間の移動に関連した時間のうちの少なくとも1つを含む、
請求項1に記載のシステム。 - 前記プロセッサが、物体ポジションと前記ウェイポイントの前記地理空間座標との比較によって前記乗物付近の物体が前記ウェイポイントであるかどうかを判定するための障害物識別アルゴリズムによってプログラムされる、
請求項9に記載のシステム。 - 前記ポジションセンサが、全地球測位システム装置、または慣性航行システムのうちの少なくとも1つを備える、
請求項1に記載のシステム。 - 前記プロセッサが、
前記乗物付近の物体のポジション、速度、及び幾何学的形状を識別し、時間内に前記識別された物体の前記ポジション及び前記速度を予測し、前記識別された物体の将来のポジションを推定するように構成される可変構造オブザーバを備える、
請求項1に記載のシステム。 - 前記プロセッサが、
前記移動経路に関して、2つのウェイポイントの間の交通パターンの記録に基づいて、前記2つのウェイポイントの間の前記乗物のルートを決定するように構成されるルート発見アルゴリズムを含む、
請求項1に記載のシステム。 - 前記ルート発見アルゴリズムが、前記2つのウェイポイントの間の移動時間の記録、前記2つのウェイポイントの間の渋滞エリアの履歴、及び渋滞のリアルタイム報告のうちの少なくとも1つに基づいて前記ルートを決定するように構成される、
請求項13に記載のシステム。 - 前記ルート発見アルゴリズムが、前記2つのウェイポイントの間のいくつかの特定の移動ルートについての各重み付き平均に基づいて前記ルートを決定するように構成され、
各重み付き平均が、前記2つのウェイポイントの間の前記移動時間の記録、前記2つのウェイポイントの間の前記渋滞エリアの履歴、及び前記渋滞のリアルタイム報告のうちの前記少なくとも1つを含む、
請求項14に記載のシステム。 - 前記移動経路の画像を提供するように構成されるカメラをさらに備え、
前記画像に基づいて、前記プロセッサが、自律乗物の前記移動経路のための車線を識別する、
請求項1に記載のシステム。 - 前記プロセッサが、前記識別された車線に障害物があるかどうかを判定するように構成される、
請求項16に記載のシステム。 - 前記プロセッサが、静止物体または移動物体のうちの少なくとも1つの周りに回避経路を決定するように構成される、
請求項1に記載のシステム。 - 前記プロセッサが、前記静止物体または前記移動物体との衝突の見込みを予測することによって、前記回避経路を決定するように構成され、
第1の行動として、前記回避経路について第1の解決策が存在するかどうかを判定するために、乗物の速度が、前記移動経路に沿って修正され、
第2の行動として、前記第1の解決策が存在しなければ、前記回避経路について第2の解決策が存在するかどうかを判定するために、スライディングモードアルゴリズムにおける進路変更操縦が、前記移動経路に沿って実施され、
第3の行動として、前記第1の解決策または前記第2の解決策が存在しなければ、前記乗物が停止させられる、
請求項18に記載のシステム。 - 前記プロセッサが、前記静止物体及び前記移動物体を回避するために最適軌跡を予測するためのスライディングモードプログラムを利用する仮想経路解析に基づいて前記回避経路を決定するように構成され、
スライディングモード解析が、1)前記移動経路からの前記乗物の移動点(x*(s),y*(s))、2)前記移動経路からの前記乗物の距離s(t)、及び3)前記移動点(x*(s(t)),y*(s(t)))からの実際の乗物ポジション(x(t),y(t))の誤差ベクトルE(t)に基づいてステアリングコマンドを生成するようにプログラムされ、
前記誤差ベクトルE(t)が、前記乗物を、前記移動経路から逸脱させるか、または前記移動経路への進入路から逸脱させることができる時間に依存する非線形の要因に対応する、
請求項18に記載のシステム。 - 乗物をナビゲーション及び制御する方法であって、
複数のポジションセンサが、乗物の位置及び進行方向を示すポジション信号を生成するステップと、
複数の動作制御機構が、入力を有し、前記乗物の動作を制御する出力を生成するステップと、
を含み、
前記動作制御機構から遠隔配置された内蔵式自律型制御器は、
前記ポジションセンサから前記ポジション信号を受信するステップと、
前記乗物の更新された移動経路を定める動作制御信号を生成するステップと、
プログラマブルインタフェースが、
前記ポジションセンサ、前記動作制御機構、及び、プロセッサの間の通信を提供するステップと、
前記乗物に搭載可能な種々の異なる乗物センサを調整するためにプログラム可能なように、前記ポジションセンサから前記プロセッサへの入力を正規化するステップと、
種々の運転制御とステアリング制御を調整するためにプログラム可能なように、前記動作制御機構に対して前記入力として適用される互換性のある動作制御信号を生成するステップと、
を含み、
それにより、前記内蔵式自律型制御器が、種々の異なるセンサ及び異なる動作制御機構を使用して動作するように構成可能である、
方法。 - 請求項1乃至20いずれか一項に記載のシステムを含む、
運転可能な装置。 - 前記乗物が、陸上乗物を含む、
請求項22に記載の装置。 - 前記陸上乗物が、自動車、トラック、スポーツ汎用車、レスキュー乗物、農業乗物、採鉱乗物、伴走乗物、玩具乗物、偵察乗物、テストトラック乗物、及び装甲乗物のうちの少なくとも1つ含む、
請求項23に記載の装置。 - 前記乗物が、船艇を含む、
請求項22に記載の装置。 - 前記船艇が、ボート、船、バージ船、タンカ、水陸両用車、ホバークラフト、及び装甲船のうちの少なくとも1つを含む、
請求項25に記載の装置。 - 前記乗物が、運転手に支援された制御のない自律乗物を含む、
請求項22に記載の装置。 - 前記乗物が、コンピュータ支援制御を用いて運転手により制御された乗物を含む、
請求項22に記載の装置。 - 前記プロセッサが、運転手の機能障害を認識するように構成される、
請求項28に記載の装置。 - 前記プロセッサが、生体計測センサから、または前記乗物の運転手制御の解析から、運転手の機能障害を認識するように構成される、
請求項29に記載の装置。 - 前記プロセッサが、入力コマンドがある場合に、前記乗物を制御するように構成される、
請求項28に記載の装置。 - 乗物内のプロセッサ上で実行するためのプログラム命令を含むコンピュータ可読媒体であって、前記プログラム命令が、前記プロセッサによって実行されると、前記プロセッサに、
請求項21に記載の方法を実行させる、
ことを特徴とするコンピュータ可読媒体。
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JP2012507088A (ja) | 2012-03-22 |
CN102227612A (zh) | 2011-10-26 |
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CN104133473B (zh) | 2019-01-25 |
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AU2009308192A1 (en) | 2010-04-29 |
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JP2020040659A (ja) | 2020-03-19 |
US8126642B2 (en) | 2012-02-28 |
CA2739989A1 (en) | 2010-04-29 |
KR20110074629A (ko) | 2011-06-30 |
US20130274986A1 (en) | 2013-10-17 |
US20140214259A1 (en) | 2014-07-31 |
JP2018095254A (ja) | 2018-06-21 |
US8706394B2 (en) | 2014-04-22 |
US8280623B2 (en) | 2012-10-02 |
US20150081156A1 (en) | 2015-03-19 |
EP2338029B1 (en) | 2017-05-24 |
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WO2010048611A8 (en) | 2010-07-15 |
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