JP2016522769A - 自動運転車両の制御をドライバーに移行するためのシステムおよび方法 - Google Patents
自動運転車両の制御をドライバーに移行するためのシステムおよび方法 Download PDFInfo
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- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
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Abstract
Description
302 自動運転モードで動作する車両の制御を移行するための指示を、コンピューティングデバイスを介して受け取り、コンピューティングデバイスは、自動運転モードの車両を制御するように構成される
304 コンピューティングデバイスにより、自動運転モードでの車両の動作に関連する少なくとも1つのパラメータに基づいて車両の状態を判定
306 車両の状態または指示に基づいて、自動運転モードから手動動作モードへの車両の制御の移行に対応する命令を決定し、この命令は、車両の制御を移行するための方略、および自動運転モードから手動動作モードへの車両の制御の移行が行われるように構成された期間の一方または両方を示す情報を含む
308 自動運転モードから手動動作モードへの車両の制御の移行を実行するように命令を与える
Claims (20)
- 自動運転モードの車両を制御するように構成されたコンピューティングデバイスを介して、前記自動運転モードで動作する前記車両の制御を移行するための指示を受け取るステップと、
前記コンピューティングデバイスにより、前記自動運転モードでの前記車両の動作に関連する少なくとも1つのパラメータに基づいて前記車両の状態を判定するステップと、
前記車両の前記状態および前記指示に基づいて、前記車両の1つまたは複数のシステムの制御を前記自動運転モードから前記手動操作モードに移行するための方略であって、前記自動運転モードから前記手動操作モードに制御を移行すべき前記車両の前記1つまたは複数のシステムのうちのそれぞれのシステムと、前記車両の前記1つまたは複数のシステムのそれぞれのシステムの制御の前記自動運転モードから前記手動操作モードへの前記移行が行われるように構成された1つまたは複数の期間とを示す情報を含む、方略を決定するステップと、
前記車両の前記1つまたは複数のシステムの制御の前記自動運転モードから前記手動操作モードへの前記移行を実行するように前記方略を与えるステップと、
を含む、方法。 - 前記制御を移行するための前記指示は、前記車両のステアリングシステムの変化を検出することを含み、前記ステアリングシステムの前記変化は、閾値レベルを上回り、前記自動運転モードでの前記車両の前記制御とは無関係である、請求項1に記載の方法。
- 前記制御を移行するための前記指示は、前記車両のブレーキングシステムに関連する適用されたブレーキの量の増加を検出することを含む、請求項1に記載の方法。
- 前記制御を移行するための前記指示を受け取るステップは、ボタンまたはスイッチを介して解除信号を受け取るステップを含み、
前記車両の前記状態および前記指示に基づいて、前記車両の1つまたは複数のシステムの制御を前記自動運転モードから前記手動操作モードに移行するための方略を決定するステップは、前記車両のすべてのシステムを前記自動運転モードから前記手動操作モードに短時間で移行することを含む方略を決定するステップを含む、請求項1に記載の方法。 - 前記自動運転モードでの前記車両の動作に関連する少なくとも1つのパラメータに基づいて前記車両の前記状態を判定するステップは、前記車両のブレーキングシステム、ステアリングシステムおよびスロットルシステムのうちの1つまたは複数に関連する情報を判定するステップを含む、請求項1に記載の方法。
- 少なくとも1つのパラメータに基づいて前記車両の前記状態を判定するステップは、前記車両の速度および前記車両のステアリングシステムの旋回角を判定するステップを含む、請求項1に記載の方法。
- 前記自動運転モードでの前記車両の動作に関連する少なくとも1つのパラメータに基づいて、前記車両の1つまたは複数のシステムの制御の前記自動運転モードから前記手動操作モードへの移行を遅延させるステップをさらに含む、請求項1に記載の方法。
- 命令をその中に保存する非一時的コンピュータ可読媒体であって、前記命令は、コンピューティングデバイスによって実行されたときに、
自動運転モードで動作する車両の制御を移行するための指示を受け取るステップと、
前記自動運転モードでの前記車両の動作に関連する少なくとも1つのパラメータに基づいて前記車両の状態を判定するステップと、
前記車両の前記状態および前記指示に基づいて、前記車両の1つまたは複数のシステムの制御を前記自動運転モードから前記手動操作モードに移行するための方略であって、前記自動運転モードから前記手動操作モードに制御を移行すべき前記車両の前記1つまたは複数のシステムのうちのそれぞれのシステムと、前記車両の前記1つまたは複数のシステムのそれぞれのシステムの制御の前記自動運転モードから前記手動操作モードへの前記移行が行われるように構成された1つまたは複数の期間とを示す情報を含む、方略を決定するステップと、
前記車両の前記1つまたは複数のシステムの制御の前記自動運転モードから前記手動操作モードへの前記移行を実行するように前記方略を与えるステップと、
を含む機能を前記コンピューティングデバイスに実行させる、非一時的コンピュータ可読媒体。 - 前記車両の1つまたは複数のシステムの制御を前記自動運転モードから前記手動操作モードに移行するための方略を決定するステップは、前記車両の前記1つまたは複数のシステムのうちのそれぞれのシステムの制御を、前記車両の前記状態および前記受け取った指示に基づく所与の期間にわたる一連の移行において前記自動運転モードから前記手動操作モードに移行するための方略を決定するステップを含む、請求項8に記載の非一時的コンピュータ可読媒体。
- 前記制御を移行するための前記指示は、前記車両のブレーキングシステムに関連する適用されたブレーキの量の増加を示す情報を含む、請求項8に記載の非一時的コンピュータ可読媒体。
- 前記制御を移行するための前記指示を受け取るステップは、ボタンまたはスイッチを介して解除信号を受け取るステップを含み、
前記車両の前記状態および前記指示に基づいて、前記車両の1つまたは複数のシステムの制御を前記自動運転モードから前記手動操作モードに移行するための方略を決定するステップは、前記車両のすべてのシステムを前記自動運転モードから前記手動操作モードに所定の時間で移行することを含む方略を決定するステップを含む、請求項8に記載の非一時的コンピュータ可読媒体。 - 前記自動運転モードでの前記車両の動作に関連する少なくとも1つのパラメータに基づいて前記車両の前記状態を判定するステップは、前記車両のブレーキングシステム、ステアリングシステムおよびスロットルシステムのうちの1つまたは複数に関連する情報を判定するステップを含む、請求項8に記載の非一時的コンピュータ可読媒体。
- 少なくとも1つのパラメータに基づいて前記車両の前記状態を判定するステップは、前記車両の速度および前記車両のステアリングシステムの旋回角を判定するステップを含む、請求項8に記載の非一時的コンピュータ可読媒体。
- 少なくとも1つのプロセッサと、
命令をその中に保存するメモリと、
を備えるシステムであって、前記命令は、前記少なくとも1つのプロセッサによって実行されたときに、
自動運転モードで動作する車両の制御を移行するための指示を受け取るステップと、
前記自動運転モードでの前記車両の動作に関連する少なくとも1つのパラメータに基づいて前記車両の状態を判定するステップと、
前記車両の前記状態および前記指示に基づいて、前記車両の1つまたは複数のシステムの制御を前記自動運転モードから前記手動操作モードに移行するための方略であって、前記自動運転モードから前記手動操作モードに制御を移行すべき前記車両の前記1つまたは複数のシステムのうちのそれぞれのシステムと、前記車両の前記1つまたは複数のシステムのそれぞれのシステムの制御の前記自動運転モードから前記手動操作モードへの前記移行が行われるように構成された1つまたは複数の期間とを示す情報を含む、方略を決定するステップと、
前記車両の前記1つまたは複数のシステムの制御の前記自動運転モードから前記手動操作モードへの前記移行を実行するように前記方略を与えるステップと、
を含む機能を前記コンピューティングデバイスに実行させる、システム。 - 前記制御を移行するための前記指示は、前記車両のステアリングシステムの変化が、閾値レベルを上回り、前記自動運転モードでの前記車両の前記制御とは無関係であることを示す情報を含む、請求項14に記載のシステム。
- 前記車両の前記状態および前記指示に基づいて、前記車両の1つまたは複数のシステムの制御を前記自動運転モードから前記手動操作モードに移行するための前記方略を決定するステップは、前記車両の前記1つまたは複数のシステムのうちの少なくとも1つのシステムの制御の移行を遅延させることを含む方略を決定するステップを含む、請求項14に記載のシステム。
- 前記車両の前記状態および前記指示に基づいて、前記車両の1つまたは複数のシステムの制御を前記自動運転モードから前記手動操作モードに移行するための前記方略を決定するステップは、前記車両の前記状態が変化するまで前記車両の前記1つまたは複数のシステムの制御の移行を遅延させることを含む方略を決定するステップを含む、請求項14に記載のシステム。
- 前記自動運転モードでの前記車両の動作に関連する前記少なくとも1つのパラメータを判定するステップは、前記車両のブレーキングシステム、ステアリングシステムおよびスロットルシステムのうちの1つまたは複数に関連する情報を判定するステップを含む、請求項14に記載のシステム。
- 少なくとも1つのパラメータに基づいて前記車両の前記状態を判定するステップは、前記車両の速度および前記車両のステアリングシステムの旋回角を判定するステップを含む、請求項14に記載のシステム。
- 前記機能は、前記自動運転モードでの前記車両の動作に関連する少なくとも1つのパラメータに基づいて、前記自動運転モードから前記手動操作モードへの前記車両の制御の移行を遅延させるステップをさらに含む、請求項14に記載のシステム。
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US13/857,240 US9342074B2 (en) | 2013-04-05 | 2013-04-05 | Systems and methods for transitioning control of an autonomous vehicle to a driver |
US13/857,240 | 2013-04-05 | ||
PCT/US2014/032843 WO2014165681A1 (en) | 2013-04-05 | 2014-04-03 | Systems and methods for transitioning control of an autonomous vehicle to a driver |
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EP (1) | EP2981445B1 (ja) |
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Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
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US9342074B2 (en) | 2016-05-17 |
EP2981445A4 (en) | 2017-01-25 |
CN110077407A (zh) | 2019-08-02 |
US20140303827A1 (en) | 2014-10-09 |
EP2981445A1 (en) | 2016-02-10 |
KR101688762B1 (ko) | 2016-12-21 |
CN105264450A (zh) | 2016-01-20 |
CN110077407B (zh) | 2022-08-16 |
WO2014165681A1 (en) | 2014-10-09 |
KR20150133291A (ko) | 2015-11-27 |
EP2981445B1 (en) | 2022-01-12 |
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