JP2019502214A - 物理的環境の変化に応答して自律車両をナビゲートするための適応マッピング - Google Patents
物理的環境の変化に応答して自律車両をナビゲートするための適応マッピング Download PDFInfo
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- JP2019502214A JP2019502214A JP2018543270A JP2018543270A JP2019502214A JP 2019502214 A JP2019502214 A JP 2019502214A JP 2018543270 A JP2018543270 A JP 2018543270A JP 2018543270 A JP2018543270 A JP 2018543270A JP 2019502214 A JP2019502214 A JP 2019502214A
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Abstract
Description
本PCT国際出願は、2015年11月4日に出願された「AUTONOMOUS VEHICLE FLEET SERVICE AND SYSTEM」と題する米国出願第14/932,963号および2016年11月4日に出願された「AUTONOMOUS VEHICLE FLEET SERVICE AND SYSTEM」と題する米国特許出願第14/932,959号の継続出願であり、本出願は、2015年11月4日に出願された「TELEOPERATION SYSTEM AND METHOD FOR TRAJECTORY MODIFICATION OF AUTONOMOUS VEHICLES」と題する米国特許出願第14/932,966号、2015年11月4日に出願された「AUTOMATED EXTRACTION OF SEMANTIC INFORMATION TO ENHANCE INCREMENTAL MAPPING MODIFICATIONS FOR ROBOTIC VEHICLES」と題する米国特許出願第14/932,940号、2015年11月4日に出願された「COORDINATION OF DISPATCHING AND MAINTAINING FLEET OF AUTONOMOUS VEHICLES」と題する米国特許出願第14/756,995号、2015年11月4日に出願された「ADAPTIVE AUTONOMOUS VEHICLE PLANNER LOGIC」と題する米国特許出願第14/756,992号、2015年11月4日に出願された「SENSOR−BASED OBJECT−DETECTION OPTIMIZATION FOR AUTONOMOUS VEHICLES」と題する米国特許出願第14/756,991号、および2015年11月4日に出願された「CALIBRATION FOR AUTONOMOUS VEHICLE OPERATION」と題する米国特許出願第14/756,996号に関係付けられ、これらはすべて本明細書において、参照によりそれらの全体が本明細書に組み込まれる。
Claims (12)
- コンピューティングシステムによって、車両の群を監視するステップであって、そのうちの少なくとも1つが、計画された経路を介する第1の地理的領域から第2の地理的領域までの道路ネットワークを介して車両を自律的に通過させるように構成された車両コントローラを含む、ステップと、
前記コンピューティングシステムによって、前記車両に関連付けられたイベントを示すデータを受信するステップと、
前記コンピューティングシステムによって、前記車両を現在の軌道から操縦するために使用され得る前記車両に関する複数の候補軌道を表すデータを受信するステップであって、前記複数の候補軌道の各々が、前記イベントを示す前記データの受信の後に、前記車両の動作に対する前記イベントの影響を低減し、前記車両を前記計画された経路に戻すように構成され、前記複数の候補軌道のうちの少なくともいくつかが、関連付けられた信頼レベルを有する、ステップと、
前記コンピューティングシステムによって、前記車両の案内された軌道として使用されるべき前記複数の候補軌道の中からの特定の候補軌道の選択を表すデータを受信するステップであって、前記選択が、前記信頼レベルに少なくとも部分的に基づく、ステップと、
前記イベントに応答して前記現在の軌道から操縦するために前記車両によって使用するために、前記コンピューティングシステムから前記車両に前記案内された軌道を送信するステップと
を備える方法。 - 前記案内された軌道としての前記候補軌道の前記選択を前記車両に送信するステップが、第1の方向および第2の反対方向における実質的に対称的な制御および動きが可能な双方向自律車両に前記案内された軌道を送信するステップであって、前記双方向自律車両が、前記双方向自律車両に関する前方方向が前記第1の方向にあることを示す第1の状態に設定されたアクティブ照明を有する、ステップを備える請求項1に記載の方法。
- 前記イベントを示す前記データを受信するステップが、前記現在の軌道に関連付けられた検出された障害物を特定するデータを受信するステップを備える請求項1に記載の方法。
- 前記検出された障害物を特定する前記データを受信するステップが、前記検出された障害物に関する分類タイプを識別するステップを備える請求項1に記載の方法。
- 前記関連付けられた信頼レベルに従って前記複数の候補軌道のランキングを受信するステップをさらに備える請求項1に記載の方法。
- 前記複数の候補軌道に関する考慮から除外する地理的領域を識別する遠隔操作者コンピューティングデバイスからの応答を生成するステップをさらに備える請求項1に記載の方法。
- 前記関連付けられた信頼レベルが、前記イベントが前記車両の動作に影響を及ぼす確率に関係付けられる請求項1に記載の方法。
- コンピューティングシステムにおいて、独立した無人運転車両の群を監視することであって、そのうちの少なくとも1つが道路ネットワークを介する計画された経路を介して第1の地理的領域から第2の地理的領域まで自律的に通過するように構成され、前記無人運転車両が、第1の方向において前方に駆動する、または反対の第2の方向において前方に駆動することができる双方向自律車両であり、周囲環境における1人または複数の潜在的な人に現在の前方方向を通信するための少なくとも1つの機構を有する、ことと、
前記コンピューティングシステムにおいて、前記群内の無人運転車両から、前記無人運転車両に現在の軌道から操縦させる可能性がある前記無人運転車両によって遭遇されるイベントを示すデータを受信することと、
前記コンピューティングシステムによって、前記無人運転車両が前記現在の軌道から操縦する複数の候補軌道を生成することであって、前記複数の候補軌道の各々が、前記車両の動作に対する前記イベントの影響を低減し、前記車両を前記計画された経路に戻すように構成されている、ことと、
前記コンピューティングシステムによって、前記複数の候補軌道に関連付けられた信頼レベルを計算することと、
前記コンピューティングシステムによって、前記信頼レベルに従って前記複数の候補軌道をランク付けすることと、
前記複数の候補軌道に関連付けられた前記信頼レベルに少なくとも部分的に基づいて、前記複数の候補軌道の中から特定の候補軌道を選択することと、
前記無人運転車両を操縦する際に使用するための前記特定の候補軌道を前記無人運転車両に送信することであって、それによって、前記無人運転車両が、前記周囲環境における前記潜在的な人に前記第1の方向の任意の変化を通信するために前記機構を使用する、ことと
を備える方法。 - 前記機構が、アクティブ照明を備え、前記無人運転車両が操縦しているとき、前記アクティブ照明を活発にされた状態に入らせることをさらに備える請求項11に記載の方法。
- 前記機構が、音のパターンを放射する音ジェネレータを備え、前記無人運転車両が操縦しているとき、前記音ジェネレータに前記音のパターンを放射させることをさらに備える請求項11に記載の方法。
- 前記イベントを示すデータを受信することが、前記現在の軌道における検出された障害物を特定するデータを受信することを備え、前記障害物が静的障害物または動的障害物のいずれであるかを決定することをさらに備える請求項11に記載の方法。
- 前記関連付けられた信頼レベルが、前記イベントが前記車両の動作に影響を及ぼす可能性を特定の候補軌道が低減するそれぞれの確実性の程度に関連付けられる請求項11に記載の方法。
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CN108700876B (zh) | 2021-08-27 |
JP2022009142A (ja) | 2022-01-14 |
EP4180893A1 (en) | 2023-05-17 |
CN113721629A (zh) | 2021-11-30 |
JP7381539B2 (ja) | 2023-11-15 |
JP6962926B2 (ja) | 2021-11-05 |
JP7316789B2 (ja) | 2023-07-28 |
JP2022113694A (ja) | 2022-08-04 |
CN108700876A (zh) | 2018-10-23 |
CN113721629B (zh) | 2024-04-02 |
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