JP2016509971A - 運転モード調整 - Google Patents
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Abstract
Description
自律性乗物は、ある位置から他の位置に乗員を輸送することにおいて補助するさまざまなコンピューティングシステムを用いる。いくつかの自律性乗物は、パイロット、運転者または乗員などのようなオペレータからなんらかの初期入力または連続的入力を必要とし得る。他のシステム、たとえばオートパイロットシステムは、そのシステムが係合されたときに限り用いられてもよく、それは、オペレータが、手動モード(オペレータは、乗物の移動に対して高度の制御を行使する)から自律モード(乗物が本質的にそれ自体を運転する)に、それらの間のどこかにあるモードに切換えることを許す。
この出願は、付近の強引な運転者の検出および運転モードの調整に関する実施の形態を開示する。1つの局面では、この出願は方法を記載する。この方法は、コンピューティング装置によって、第1の乗物の走行の道路上における乗物の1つ以上のそれぞれの特性を示すセンサ情報を受取ることを含んでもよい。この方法は、さらに、乗物から、1つ以上のそれぞれの特性に基づいて、安全でないかまたは違法な運転行為として現れる強引な運転挙動を示す第2の乗物を識別することを含んでもよい。この方法は、さらに、1つ以上のそれぞれの特性に基づいて、第2の乗物のタイプを判断することを含んでもよい。この方法は、さらに、第1の乗物と第2の乗物との間の距離を推定することを含んでもよい。この方法は、さらに、コンピューティング装置を用いて、第2の乗物の強引な運転挙動、第2の乗物のタイプ、および第1の乗物と第2の乗物との間の距離に基づいて、第1の乗物の運転挙動と関連付けられる制御戦略を修正することと、コンピューティング装置を用いて、修正された制御戦略に基づいて、第1の乗物を制御することとを含んでもよい。
以下の詳細な記載は、添付の図を参照して、開示されるシステムおよび方法のさまざまな特徴および機能を記載する。図では、文脈が他の態様で指示しなければ、同様の記号は同様の構成要素を識別する。ここに記載される例示的システムおよび方法の実施の形態は、制限するのが目的ではない。開示されたシステムおよび方法のある局面はさまざまな異なる構成で配し組合せることができ、 それらのすべてはここに企図されることが、容易に理解され得る。
Claims (20)
- コンピューティング装置によって、第1の乗物の走行の道路上における乗物の1つ以上のそれぞれの特性を示すセンサ情報を受取ることを含み、前記コンピューティング装置は前記第1の乗物を自立動作モードで制御するように構成され、さらに、
前記乗物から、前記1つ以上のそれぞれの特性に基づいて、安全でないかまたは違法な運転行為として現れた強引な運転挙動を示す第2の乗物を識別することと、
前記1つ以上のそれぞれの特性に基づいて、前記第2の乗物のタイプを判断することと、
前記第1の乗物と前記第2の乗物との間の距離を推定することと、
前記コンピューティング装置を用いて、前記第2の乗物の前記強引な運転挙動、前記第2の乗物のタイプ、および前記第1の乗物と前記第2の乗物との間の距離に基づいて、前記第1の乗物の運転挙動と関連付けられる制御戦略を修正することと、
前記コンピューティング装置を用いて、修正された制御戦略に基づいて、前記第1の乗物を制御することとを含む、方法。 - 前記安全でないかまたは違法な運転行為は、速度制限を超えること、所与の道路状態に対して高速で運転すること、理由なく過度に車線変更すること、他の乗物を追い越す意図の合図をしないこと、他の乗物に対して威嚇的運転を行なうこと、警笛を過度に用いること、および対向交通でヘッドライトを過度に閃かすこと、の中の1つを含む、請求項1に記載の方法。
- 前記センサ情報を受取ることは、前記第1の乗物に結合される画像捕捉装置から画像を受取ることを含み、
前記第2の乗物を識別することは前記画像において物体を識別することを含み、前記画像捕捉装置は、カメラまたは光検知測距(LIDAR)装置の1つである、請求項1に記載の方法。 - 前記第2の乗物のそれぞれの特性は、前記第2の乗物の長手方向速度、前記第2の乗物の横方向速度、前記第2の乗物の動きの方向、前記第2の乗物のサイズ、道路上の前記第2の乗物のそれぞれの位置、前記第2の乗物の軌道、および前記第2の乗物の加速または減速を含む、請求項1に記載の方法。
- 前記方法はさらに、前記第1の乗物に結合されるLIDAR装置からの光検知測距に基づく情報または前記第1の乗物に結合されるカメラによって捕捉される前記第2の乗物の画像の1つ以上を受取ることを含み、
前記光検知測距に基づく情報は、前記LIDAR装置から発し、前記第2の乗物から反射された光に基づく点の集合を含む三次元(3D)の点群を含み、前記方法はさらに、
前記第1の乗物に結合されるレーダ(RADAR)装置から、前記第2の乗物の1つ以上のそれぞれの動き特性に関係する、レーダに基づく情報を受取ることと、
前記光検知測距に基づく情報および前記画像の1つ以上ならびに前記レーダに基づく情報に基づいて、前記第1の乗物の1つ以上のそれぞれの特性を判断することとを含む、請求項4に記載の方法。 - 前記修正された制御戦略に基づいて前記第1の乗物を制御することは、(i)前記第1の乗物の速度を低減すること、(ii)前記第2の乗物から予め定められる安全距離を維持すること、(iii)前記第2の乗物の死角に入らないようにすること、(iv)車線を変更して前記第2の乗物から離れること、および(v)前記第1の乗物を停止させること、の中の1つ以上を含む、請求項1に記載の方法。
- 前記修正された制御戦略に基づいて前記第1の乗物を制御することは、前記第1の乗物の所望の経路を判断することを含み、前記第1の乗物の所望の経路を判断することは、前記第2の乗物の前記強引な運転挙動、前記第2の乗物のタイプ、および前記第1の乗物と前記第2の乗物との間の距離を考慮に入れる、請求項1に記載の方法。
- コンピューティング装置に機能を実行させるよう前記コンピューティング装置によって実行可能な命令がその上に保存される非一時的なコンピュータ読取可能媒体であって、前記機能は、
第1の乗物の走行の道路上における乗物の1つ以上のそれぞれの特性を示すセンサ情報を受取ることと、
前記乗物から、前記1つ以上のそれぞれの特性に基づいて、安全でないかまたは違法な運転行為として現れた強引な運転挙動を示す第2の乗物を識別することと、
前記1つ以上のそれぞれの特性に基づいて、前記第2の乗物のタイプを判断することと、
前記第1の乗物と前記第2の乗物との間の距離を推定することと、
前記第2の乗物の前記強引な運転挙動、前記第2の乗物のタイプ、および前記第1の乗物と前記第2の乗物との間の距離に基づいて、前記第1の乗物の運転挙動と関連付けられる制御戦略を修正することと、
修正された制御戦略に基づいて、前記第1の乗物を制御することとを含む、非一時的なコンピュータ読取可能媒体。 - 前記安全でないかまたは違法な運転行為は、速度制限を超えること、所与の道路状態に対して高速で運転すること、理由なく過度に車線変更すること、他の乗物を追い越す意図の合図をしないこと、他の乗物に対して威嚇的運転を行なうこと、警笛を過度に用いること、および対向交通でヘッドライトを過度に閃かすこと、の中の1つを含む、請求項8に記載の非一時的なコンピュータ読取可能媒体。
- 前記センサ情報を受取る機能は、前記第1の乗物に結合される画像捕捉装置から画像を受取ることを含み、
前記第2の乗物を識別することは前記画像において物体を識別することを含み、前記画像捕捉装置は、カメラまたは光検知測距(LIDAR)装置の1つである、請求項8に記載の非一時的なコンピュータ読取可能媒体。 - 前記第2の乗物のそれぞれの特性は、前記第2の乗物の長手方向速度、前記第2の乗物の横方向速度、前記第2の乗物の動きの方向、前記第2の乗物のサイズ、道路上の前記第2の乗物のそれぞれの位置、前記第2の乗物の軌道、および前記第2の乗物の加速または減速を含む、請求項8に記載の非一時的なコンピュータ読取可能媒体。
- 前記機能は、さらに、前記第1の乗物に結合されるLIDAR装置からの光検知測距に基づく情報または前記第1の乗物に結合されるカメラによって捕捉される前記第2の乗物の画像の1つ以上を受取ることを含み、
前記光検知測距に基づく情報は、前記LIDAR装置から発し、前記第2の乗物から反射された光に基づく点の集合を含む三次元(3D)の点群を含み、前記機能はさらに、
前記第1の乗物に結合されるレーダ(RADAR)装置から、前記第2の乗物の1つ以上のそれぞれの動き特性に関係する、レーダに基づく情報を受取ることと、
前記光検知測距に基づく情報および前記画像の1つ以上ならびに前記レーダに基づく情報に基づいて、前記第1の乗物の1つ以上のそれぞれの特性を判断することとを含む、請求項11に記載の非一時的なコンピュータ読取可能媒体。 - 前記修正された制御戦略に基づいて、前記第1の乗物を制御する機能は、(i)前記第1の乗物の速度を低減すること、(ii)前記第2の乗物から予め定められる安全距離を維持すること、(iii)前記第2の乗物の死角に入らないようにすること、(iv)車線を変更して前記第2の乗物から離れること、および(v)前記第1の乗物を停止させること、の1つ以上を含む、請求項8に記載の非一時的なコンピュータ読取可能媒体。
- 前記コンピューティング装置は前記第1の乗物を自立動作モードで制御するように構成される、請求項8に記載の非一時的なコンピュータ読取可能媒体。
- 制御システムであって、
少なくとも1つのプロセッサと、
前記少なくとも1つのプロセッサによる実行で前記制御システムに機能を実行させる命令をその上に保存したメモリとを含み、前記機能は、
第1の乗物の走行の道路上における乗物の1つ以上のそれぞれの特性を示すセンサ情報を受取ることと、
前記乗物から、前記1つ以上のそれぞれの特性に基づいて、安全でないかまたは違法な運転行為として現れた強引な運転挙動を示す第2の乗物を識別することと、
前記1つ以上のそれぞれの特性に基づいて、前記第2の乗物のタイプを判断することと、
前記第1の乗物と前記第2の乗物との間の距離を推定することと、
前記第2の乗物の前記強引な運転挙動、前記第2の乗物のタイプ、および前記第1の乗物と前記第2の乗物との間の距離に基づいて、前記第1の乗物の運転挙動と関連付けられる制御戦略を修正することと、
修正された制御戦略に基づいて、前記第1の乗物を制御することとを含む、制御システム。 - 前記安全でないかまたは違法な運転行為は、速度制限を超えること、所与の道路状態に対して高速で運転すること、理由なく過度に車線変更すること、他の乗物を追い越す意図の合図をしないこと、他の乗物に対して威嚇的運転を行なうこと、警笛を過度に用いること、および対向交通でヘッドライトを過度に閃かすこと、の中の1つを含む、請求項15に記載の制御システム。
- 前記センサ情報を受取る機能は、
前記第1の乗物に結合される画像捕捉装置から画像を受取ることを含み、前記第2の乗物を識別することは前記画像において物体を識別することを含み、前記画像捕捉装置は、カメラまたは光検知測距(LIDAR)装置の1つである、請求項15に記載の制御システム。 - 前記第2の乗物のそれぞれの特性は、前記第2の乗物の長手方向速度、前記第2の乗物の横方向速度、前記第2の乗物の動きの方向、前記第2の乗物のサイズ、道路上の前記第2の乗物のそれぞれの位置、前記第2の乗物の軌道、および前記第2の乗物の加速または減速を含む、請求項15に記載の制御システム。
- 前記制御システムはさらに、前記第1の乗物に結合されるLIDAR装置を含み、前記LIDAR装置は、前記LIDAR装置から発し、前記第2の乗物から反射された光に基づく点の集合を含む三次元(3D)の点群を含む光検知測距に基づく情報を与えるように構成され、前記制御システムはさらに、
前記第1の乗物に結合され、前記第2の乗物の画像を与えるように構成されたカメラと、
前記第1の乗物に結合され、前記第2の乗物の1つ以上のそれぞれの動き特性に関係する、レーダに基づく情報を与えるように構成されるレーダ(RADAR)装置とを含み、
前記機能はさらに、前記光検知測距に基づく情報および前記画像の1つ以上ならびに前記レーダに基づく情報に基づいて、前記第1の乗物の1つ以上のそれぞれの特性を判断することを含む、請求項18に記載の制御システム。 - 前記修正された制御戦略に基づいて、前記第1の乗物を制御する機能は、(i)前記第1の乗物の速度を低減すること、(ii)前記第2の乗物から予め定められる安全距離を維持すること、(iii)前記第2の乗物の死角に入らないようにすること、(iv)車線を変更して前記第2の乗物から離れること、および(v)前記第1の乗物を停止させること、の中の1つ以上を含む、請求項15に記載の制御システム。
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US10347127B2 (en) | 2019-07-09 |
KR20170090520A (ko) | 2017-08-07 |
EP2958783A4 (en) | 2016-11-23 |
WO2014130178A1 (en) | 2014-08-28 |
CN105008200B (zh) | 2018-11-13 |
JP6782197B2 (ja) | 2020-11-11 |
EP2958783B1 (en) | 2018-10-24 |
JP2017171296A (ja) | 2017-09-28 |
KR20150108891A (ko) | 2015-09-30 |
CN105008200A (zh) | 2015-10-28 |
US20140236414A1 (en) | 2014-08-21 |
EP2958783A1 (en) | 2015-12-30 |
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