JP2019537530A - 自律走行車の停車位置のプランニング - Google Patents
自律走行車の停車位置のプランニング Download PDFInfo
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Abstract
Description
[0019] 本技術の態様は、自律走行車を制御すること、および必要に応じてこれらの車両を停車させるのに最適な位置を決定することに関する。例えば、踏切、横断歩道、交差点、車線横断エリア、および停車禁止ゾーンとして特別に指定された領域(「Don’t Block the Box」または「Keep Clear」の標識または表示で指定されたエリア)のような車両が停車してはいけない特定の「駐停車禁止」領域が存在する。車両がこれらの領域を安全に走行しているときに、長時間この領域に停車することは、違法であるだけでなく、他の車両の乗客もしくは運転者、歩行者または自転車運転者のような他の道路使用者の安全および快適さを危険にさらす可能性があり得る。
システム例
例えば、踏切は、歩行者横断中の横断歩道よりも高い優先度値を有し得る。歩行者横断中の横断歩道は、車両が現在走行している車線の優先権を有する車線横断よりも高い優先度値を有し得、交差点は、車線横断よりも高い優先度を有し得、車線横断は、「Keep Clear」または「Don’t Block the Box」と掲示されたエリアよりも高い優先度値を有し得、「Keep Clear」または「Don’t Block the Box」と掲示されたエリアは、歩行者横断中でない横断歩道よりも高い優先度値を有し得、歩行者横断中でない横断歩道は、全ての中で最低の優先度値を有し得る。
方法例
Claims (20)
- 自律運転モードで車両を操縦する方法であって、
1つまたは複数のプロセッサによって、前記車両が停車してはいけないが自律運転モードで通行することは可能である複数の駐停車禁止領域を識別する予め記憶されているマップ情報を使用して前記車両をルートに沿って自律運転モードで操縦するステップと、
前記1つまたは複数のプロセッサによって、前記複数の駐停車禁止領域のサブセットを前記ルートに基づいて識別するステップと、
前記1つまたは複数のプロセッサによって、前記複数の駐停車禁止領域の前記サブセットの駐停車禁止領域に関連付けられた優先度値に基づいて前記車両を停車させるための速度プランであって、前記車両を停車させる位置を識別する速度プランを作成するステップと、
前記1つまたは複数のプロセッサによって、前記速度プランを使用して、前記車両を停車させるステップと
を含む、前記方法。 - 前記速度プランを決定するステップは、前記複数の駐停車禁止領域の前記サブセットの所与の駐停車禁止領域に対する初期設定の最低必要間隔値を調節するステップを含み、前記所与の駐停車禁止領域は、前記複数の駐停車禁止領域の前記サブセットの駐停車禁止領域の全てのうちで最低の優先度値を有し、前記初期設定の最低必要間隔値は、前記所与の駐停車禁止領域との重なりの許容量を定義する、請求項1に記載の方法。
- 前記速度プランを決定するステップは、前記複数の駐停車禁止領域の前記サブセットの所与の駐停車禁止領域を調節するステップを含み、前記所与の駐停車禁止領域は、前記複数の駐停車禁止領域の前記サブセットの駐停車禁止領域の全てのうちで最低の優先度値を有する、請求項1に記載の方法。
- 前記速度プランは、前記複数の駐停車禁止領域の前記サブセットの特定の駐停車禁止領域内での停車を回避し、前記特定の駐停車禁止領域は、前記複数の駐停車禁止領域の前記サブセットの駐停車禁止領域の全てのうちで最高の優先度値に関連付けられる、請求項1に記載の方法。
- 前記複数の駐停車禁止領域の前記サブセットの少なくとも1つは、歩行者横断中の横断歩道に対応し、前記複数の駐停車禁止領域の前記サブセットの少なくとも1つは、歩行者横断中でない横断歩道に対応しており、前記歩行者横断中の横断歩道は前記歩行者横断中でない横断歩道よりも高い優先度値に関連付けられる、請求項1に記載の方法。
- 前記複数の駐停車禁止領域の前記サブセットの少なくとも1つは、歩行者横断中の横断歩道に対応し、前記複数の駐停車禁止領域の前記サブセットの少なくとも1つは、交差点に対応しており、前記歩行者横断中の横断歩道は前記交差点よりも高い優先度値に関連付けられる、請求項1に記載の方法。
- 前記複数の駐停車禁止領域の前記サブセットの少なくとも1つは、歩行者横断中でない横断歩道に対応し、前記複数の駐停車禁止領域の前記サブセットの少なくとも1つは、交差点に対応しており、前記交差点は前記歩行者横断中でない横断歩道よりも高い優先度値に関連付けられる、請求項1に記載の方法。
- 前記複数の駐停車禁止領域の前記サブセットの少なくとも1つは、車線を横断するエリアに対応する、請求項1に記載の方法。
- 前記複数の駐停車禁止領域の前記サブセットの少なくとも1つは、「keep Clear」または「Don’t Block the Box」の掲示エリアに対応する、請求項1に記載の方法。
- 前記複数の駐停車禁止領域の少なくとも1つは、踏切に対応する、請求項1に記載の方法。
- 自律運転モードで車両を操縦するためのシステムであって、
前記車両が停車してはいけないが自律運転モードで通行することは可能である複数の駐停車禁止領域を識別する予め記憶されているマップ情報を使用して前記車両をルートに沿って自律運転モードで操縦し、前記複数の駐停車禁止領域の各々の駐停車禁止領域は優先度値に関連付けられ、
前記複数の駐停車禁止領域のサブセットを前記ルートに基づいて識別し、
前記複数の駐停車禁止領域の前記サブセットの駐停車禁止領域に関連付けられた優先度値に基づいて前記車両を停車させるための速度プランであって、前記車両を停車させる位置を識別する速度プランを作成し、
前記速度プランを使用して前記車両を停車させる
ように構成された1つまたは複数のプロセッサを備える、前記システム。 - 前記速度プランの決定は、前記複数の駐停車禁止領域の前記サブセットの所与の駐停車禁止領域に対する初期設定の最低必要間隔値の調節を含み、前記所与の駐停車禁止領域は、前記複数の駐停車禁止領域の前記サブセットの駐停車禁止領域の全てのうちで最低の優先度値を有し、前記初期設定の最低必要間隔値は、前記所与の駐停車禁止領域との重なりの許容量を定義する、請求項11に記載のシステム。
- 前記速度プランの決定は、前記複数の駐停車禁止領域の前記サブセットの所与の駐停車禁止領域の調節を含み、前記所与の駐停車禁止領域は、前記複数の駐停車禁止領域の前記サブセットの駐停車禁止領域の全てのうちで最低の優先度値を有する、請求項11に記載のシステム。
- 前記速度プランは、前記複数の駐停車禁止領域の前記サブセットの特定の駐停車禁止領域内での停車を回避し、前記特定の駐停車禁止領域は、前記複数の駐停車禁止領域の前記サブセットの駐停車禁止領域の全てのうちで最高の優先度値に関連付けられる、請求項11に記載のシステム。
- 前記複数の駐停車禁止領域の前記サブセットの少なくとも1つは、歩行者横断中の横断歩道に対応し、前記複数の駐停車禁止領域の前記サブセットの少なくとも1つは、歩行者横断中でない横断歩道に対応しており、前記歩行者横断中の横断歩道は前記歩行者横断中でない横断歩道よりも高い優先度値に関連付けられる、請求項11に記載のシステム。
- 前記複数の駐停車禁止領域の前記サブセットの少なくとも1つは、歩行者横断中の横断歩道に対応し、前記複数の駐停車禁止領域の前記サブセットの少なくとも1つは、交差点に対応しており、前記歩行者横断中の横断歩道は前記交差点よりも高い優先度値に関連付けられる、請求項11に記載のシステム。
- 前記複数の駐停車禁止領域の前記サブセットの少なくとも1つは、歩行者横断中でない横断歩道に対応し、前記複数の駐停車禁止領域の前記サブセットの少なくとも1つは、交差点に対応しており、前記交差点は前記歩行者横断中でない横断歩道よりも高い優先度値に関連付けられる、請求項11に記載のシステム。
- 前記車両をさらに備える、請求項11に記載のシステム。
- 命令が記憶される非一時的なコンピュータ可読媒体であり、前記命令は、1つまたは複数のプロセッサによって実行されたときに、前記1つまたは複数のプロセッサに車両を自律運転モードで操縦する方法を実行させ、前記方法は、
1つまたは複数のプロセッサによって、前記車両が停車してはいけないが自律運転モードで通行することは可能である複数の駐停車禁止領域を識別する予め記憶されているマップ情報を使用して前記車両をルートに沿って自律運転モードで操縦するステップと、
前記1つまたは複数のプロセッサによって、前記複数の駐停車禁止領域のサブセットを前記ルートに基づいて識別するステップと、
前記1つまたは複数のプロセッサによって、前記複数の駐停車禁止領域の前記サブセットの駐停車禁止領域に関連付けられた優先度値に基づいて前記車両を停車させるための速度プランであって、前記車両を停車させる位置を識別する速度プランを作成するステップと、
前記1つまたは複数のプロセッサによって、前記速度プランを使用して、前記車両を停車させるステップと
を含む、非一時的なコンピュータ可読媒体。 - 前記速度プランを決定するステップは、前記複数の駐停車禁止領域の前記サブセットの所与の駐停車禁止領域の調節を含み、前記所与の駐停車禁止領域は、前記複数の駐停車禁止領域の前記サブセットの駐停車禁止領域の全てのうちで最低の優先度値を有する、請求項19に記載の媒体。
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AU2017343547B2 (en) | 2020-06-11 |
US11745742B2 (en) | 2023-09-05 |
AU2017343547A1 (en) | 2019-04-18 |
CN109890677A (zh) | 2019-06-14 |
JP6824395B2 (ja) | 2021-02-03 |
WO2018071266A1 (en) | 2018-04-19 |
US20190193733A1 (en) | 2019-06-27 |
EP3526093B1 (en) | 2021-12-15 |
CA3039913A1 (en) | 2018-04-19 |
EP3526093A1 (en) | 2019-08-21 |
US11034351B2 (en) | 2021-06-15 |
KR20210002121A (ko) | 2021-01-06 |
KR20190042097A (ko) | 2019-04-23 |
EP3526093A4 (en) | 2020-06-24 |
CN109890677B (zh) | 2021-11-09 |
US20210276554A1 (en) | 2021-09-09 |
US20180105174A1 (en) | 2018-04-19 |
KR102274273B1 (ko) | 2021-07-07 |
CA3039913C (en) | 2021-08-24 |
US10202118B2 (en) | 2019-02-12 |
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