JP2019533609A - ニアクラッシュ判定システムおよび方法 - Google Patents
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Abstract
Description
[0001]この出願は2016年9月14日提出の米国仮出願番号62/394,298および2016年10月25日提出の米国仮出願番号62/412,419の利益を主張するものであり、これらはいずれもその全体が参照により本明細書に組み込まれている。
Claims (20)
- 車両に取り付けられた外向きカメラで第1の映像を記録するステップと、
前記第1の映像から物体を検出するステップと、
前記第1の映像から前記物体についての物体パラメータを特定するステップと、
前記車両に取り付けられた内向きカメラで第2の映像を記録するステップと、
前記第2の映像に基づいてユーザ行動スコアを決定するステップと、
前記車両に対するリスクマップを生成するステップであって、前記リスクマップは、前記車両の近くの体積内の位置のセットのそれぞれに対するリスクスコアを含み、各リスクスコアは、前記ユーザ行動スコアと前記物体パラメータとに基づいてパラメトリックモジュールを用いて計算される、ステップと、
前記リスクマップ内で閾値スコアを超えるリスクスコアを検出することを含む、衝突接近事象を検出するステップと、
前記衝突接近事象の検出に応答して、前記衝突接近事象を包含する前記第1の映像のセグメントを保存するステップと、
前記パラメトリックモジュールの個々のパラメータに基づいて、前記衝突接近事象の原因を特定するステップと、を含むことを特徴とする方法。 - 請求項1の方法において、さらに、
複数の車両からの衝突接近事象に関連する複数の第1の映像セグメントを集めるステップと、
前記複数の第1の映像セグメントの各々について、それぞれの第1の映像に関連する衝突接近事象の間に記録されたユーザ応答を記録するステップと、
各第1の映像セグメントをそれぞれの衝突接近事象の原因でラベル付けするステップと、
それぞれの原因に基づいて前記複数の第1の映像セグメントをフィルタリングするステップと、
前記フィルタリングされた複数の第1の映像セグメントとそれぞれのユーザ応答とに基づいて、自律型車両の自律動作を制御する自律型車両制御モジュールをトレーニングするステップと、を含むことを特徴とする方法。 - 請求項2の方法において、前記ユーザ応答は、前記衝突接近事象を包含する時間枠の間にサンプリングされた前記第2の映像のセグメントから特定されることを特徴とする方法。
- 請求項1の方法において、前記衝突接近事象を検出するステップが、
前記閾値スコアを超えるリスクスコアに関連付けられた位置を同定するステップと、
前記車両の車両軌道を特定するステップと、
前記車両軌道が前記位置に向けられた場合に衝突接近事象を検出するステップと、を含むことを特徴とする方法。 - 請求項4の方法において、前記衝突接近事象の原因を特定するステップは、前記車両軌道が前記位置に向けられた場合に、前記ユーザを前記衝突接近事象の原因として特定するステップを含むことを特徴とする方法。
- 請求項1の方法において、前記衝突接近事象の原因を特定するステップは、最も高い重み付き値を用いて前記パラメトリックモジュールの独立パラメータを決定するステップを含むことを特徴とする方法。
- 請求項1の方法において、前記内向きカメラは、前記外向きカメラに対して既知の配向で共通のハウジングによって固定的に取り付けられ、前記第1の映像は前記第2の映像と同時に記録され、前記方法がさらに、前記第2の映像と前記配向に基づいて前記物体に対するドライバーの視線方向を特定するステップを含み、前記ユーザ行動スコアは、前記物体に対するドライバーの視線方向に基づいて決定されることを特徴とする方法。
- 請求項1の方法において、前記第1の映像を記録するステップと、前記物体を検出するステップと、前記物体パラメータを特定するステップと、前記第2の映像を記録するステップと、前記ユーザ行動スコアを決定するステップと、前記リスクマップを生成するステップと、前記衝突接近事象を検出するステップとは、車両搭載プロセッサによってリアルタイムで実行されることを特徴とする方法。
- 請求項8の方法において、前記リスクマップは、前記車両の後部付近の物理的体積を除外することを特徴とする方法。
- 請求項1の方法において、先行車両の予想挙動に基づいて前記リスクマップの幾何学的形状を決定するステップをさらに含むことを特徴とする方法。
- 請求項10の方法において、前記先行車両の予想挙動に基づいて前記リスクマップの幾何学的形状を決定するステップは、
前記第1の映像から、前記先頭車両による、一方の側に関連する方向指示器の操作を検出するステップと、
方向指示器の操作を検出することに応答して、前記第1の側に偏った所定の幾何学的形状を前記リスクマップの幾何学的形状として選択するステップと、を含むことを特徴とする方法。 - 請求項1の方法において、さらに、
車両経路に沿った複数の場所のそれぞれについてリスクマップを生成するステップと、
複数の車両のそれぞれについてのリスクマップを、前記場所のそれぞれに関連付けて記憶するステップと、
前記場所のそれぞれについての前記複数の車両のそれぞれからのリスクマップに基づいて、前記複数の場所のそれぞれについてのリスクマップを生成するステップとを含むことを特徴とする方法。 - 請求項12の方法において、前記リスクマップはリアルタイムで生成されるとともに、前記方法がさらに、
前記内向きカメラ、外向きカメラ、およびプロセッサなしで、二次車両に対するリスクマップ要求を受信するステップであって、前記リスクマップ要求は、前記複数の場所内のある位置についての位置識別子を含む、ステップと、
前記場所に関連するリスクマップを検索するステップと、
前記検索されたリスクマップを前記二次車両に送信するステップであって、前記二次車両は前記検索されたリスクマップに基づいて操作されるステップとを含むことを特徴とする方法。 - 請求項1の方法において、前記パラメトリックモジュールは、ガウスモデルのセットを含むことを特徴とする方法。
- 請求項1の方法において、さらに、1組の所定のパラメータモジュールから前記車両の地理的位置に基づいて前記パラメトリックモジュールを選択するステップを含むことを特徴とする方法。
- 請求項1の方法において、さらに、
前記衝突接近事象の原因に基づいて推奨を生成するステップと、
前記推奨を含む通知をユーザに送信するステップと、
前記通知を送信した後の閾値期間、前記内向きカメラによってサンプリングされた映像に基づいてユーザ行動を監視するステップと、
前記閾値期間中に前記原因の発生頻度が閾値頻度を下回ったことに応答して、第2のユーザに関連する第2の衝突接近事象の原因と実質的に一致する原因に応答して前記推奨を前記第2のユーザに送信するステップであって、前記第2のユーザは前記第1のユーザとは異なるステップと、を含むことを特徴とする方法。 - 車両に取り付けられ、内向きカメラに固定的に取り付けられた外向きカメラと、前記外向きカメラおよび内向きカメラに電気的に接続されたプロセッサとを具える搭載システムが:
前記外向きカメラおよび内向きカメラをそれぞれ使用して第1の映像および第2の映像を同時に記録するステップと;
プロセッサで前記第1の映像から物体を検出するステップと;
前記プロセッサで第1の映像から前記物体についての物体パラメータを決定するステップと;
前記プロセッサで、前記第2の映像と、前記内向きカメラに対する前記外向きカメラの既知の配向とに基づいてユーザ行動スコアを決定するステップと;
前記プロセッサで、ほぼリアルタイムで前記車両に対するリスクマップを生成するステップであって、前記リスクマップは、前記車両を包含する体積内の位置のセットのそれぞれについてのリスクスコアを含み、各リスクスコアは、前記ユーザ行動スコアと物体パラメータとに基づくパラメトリックモジュールを用いて計算されるステップと;
前記リスクマップに基づいて衝突接近事象を検出するステップと;
前記搭載システムから離れたリモート演算システムが:
前記衝突接近事象の検出に応答して前記第1の映像を記録するステップと;
前記衝突接近事象の後にサンプリングされた第2の映像のセグメントを記録するステップと;
前記第1の映像と前記第2の映像のセグメントとに基づいて制御モジュールをトレーニングするステップであって、当該制御モジュールによって二次車両が自動的に制御されるステップと、を含むことを特徴とする方法。 - 請求項17の方法において、さらに、
前記プロセッサが、複数の場所の各々についてリスクマップを生成するステップと;
前記リモート演算システムが、それぞれの場所に関連して複数の車両のそれぞれについてのリスクマップを記憶するステップと、
前記リモート演算システムが、前記それぞれの場所についての前記複数の車両のそれぞれからのリスクマップに基づいて、前記複数の場所のそれぞれについてのリスクマップを生成するステップと、
前記リモート演算システムが、前記システムのない二次車両についてのリスクマップ要求を受信するステップであって、前記リスクマップ要求は、前記複数の場所内の1つの場所についての場所識別子を含むステップと、
前記リモート演算システムが、前記場所に関連するリスクマップを検索するステップと、
前記検索されたリスクマップを前記二次車両に送信するステップであって、当該二次車両は前記検索されたリスクマップに基づいて動作するステップとを含むことを特徴とする方法。 - 請求項17の方法において、前記パラメトリックモジュールは、ガウスモデルのセットを含むことを特徴とする方法。
- 請求項17の方法において、さらに、
複数の車両からの衝突接近事象に関連する複数の第1の映像を集めるステップと、
第1の映像のそれぞれについて:
前記パラメトリックモジュールの個々のパラメータに基づいて衝突接近事象の原因を特定するステップと、
第1の映像のそれぞれに、それぞれの衝突接近事象の原因をラベリングするステップと、
それぞれの原因に基づいて複数の映像をフィルタリングするステップと、
前記フィルタリングされた複数の第1の映像に基づいて、自律型車両の自律動作を制御する自律型車両制御モジュールをトレーニングするステップと、を含むことを特徴とする方法。
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JP6940612B2 (ja) | 2021-09-29 |
US10769456B2 (en) | 2020-09-08 |
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EP3513265A4 (en) | 2020-04-22 |
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