JP2020015490A - 冗長超音波レーダを備える自律走行車{ autonomous driving vehicles with redundant ultrasonic radar } - Google Patents
冗長超音波レーダを備える自律走行車{ autonomous driving vehicles with redundant ultrasonic radar } Download PDFInfo
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- JP2020015490A JP2020015490A JP2019110851A JP2019110851A JP2020015490A JP 2020015490 A JP2020015490 A JP 2020015490A JP 2019110851 A JP2019110851 A JP 2019110851A JP 2019110851 A JP2019110851 A JP 2019110851A JP 2020015490 A JP2020015490 A JP 2020015490A
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Abstract
Description
Claims (21)
- 自律走行車であって、
自律走行車(ADV)の複数の位置に装着された複数のセンサを備えるセンサシステムであって、前記複数のセンサは、
光検出及び測距(LIDAR)ユニットと、慣性計測ユニット(IMU)と、レーダ(RADAR)ユニットと、超音波センサアレイとを含み、前記超音波センサアレイは、
前記自律走行車の前方端部において複数の検出方向に配置されているセンサシステムと、
前記センサシステムに接続されている感知及び計画システムであって、前記感知及び計画システムは、
前記センサシステムの前記複数のセンサから受信された、前記超音波センサから取得された超音波センサデータを含むセンサデータに基づいて、前記自律走行車の周囲の走行環境を感知するように構成される感知モジュールと、
前記感知モジュールからの前記走行環境を感知して得られた感知データに基づいて、前記自律走行車を走行させるための軌跡を計画するように構成される計画モジュールと、を含む
感知及び計画システムと、
を備える自律走行車。 - 前記超音波センサは、前記自律走行車の中心に対して対称になるように、前記自律走行車の前方端部に配置されている請求項1に記載の自律走行車。
- 互いに隣接する超音波センサ同士間の距離は、17cmないし18cmの範囲内である請求項1に記載の自律走行車。
- 前記超音波センサのうち、前記自律走行車の最も左側の位置に設けられる第1の超音波センサと、前記超音波センサのうち、前記自律走行車の最も右側の位置に設けられる第2の超音波センサとの間の距離は、1.2mないし1.4mの範囲内である請求項1に記載の自律走行車。
- 互いに隣接する超音波センサ同士間の距離は、前記自律走行車の車幅に基づいて決定される請求項1に記載の自律走行車。
- 前記超音波センサのうち、前記自律走行車の最も左側の位置に設けられる第1の超音波センサと、前記超音波センサのうち、前記自律走行車の最も右側の位置に設けられる第2の超音波センサとの間の距離は、前記自律走行車の車幅に基づいて決定される請求項1に記載の自律走行車。
- 前記第1の超音波センサと前記第2の超音波センサの間の距離は、前記自律走行車の車幅の80%である請求項6に記載の自律走行車。
- 前記超音波センサのそれぞれの検出方向は、前記自律走行車の中心に対して対称になるように、前記自律走行車の前方端部から外方へ向けて配置されている請求項1に記載の自律走行車。
- 前記超音波センサのそれぞれの検出方向は、前記自律走行車の前方端部の前縁に設けられた所定の曲線に基づいて配置されている請求項8に記載の自律走行車。
- 前記超音波センサのそれぞれの検出方向は、前記所定の曲線と直交している請求項9に記載の自律走行車。
- 前記超音波センサのそれぞれは、前記所定の曲線に従って配置されている請求項9に記載の自律走行車。
- 前記所定の曲線と前記自律走行車の前縁との間の最大距離は5cmである請求項11に記載の自律走行車。
- 前記超音波センサのうち、前記自律走行車の最も左側の位置に設けられる第1の超音波センサと、前記超音波センサのうち、前記自律走行車の最も右側の位置に設けられる第2の超音波センサとの間の距離は、前記自律走行車の車幅に基づいて決定される請求項11に記載の自律走行車。
- 前記第1の超音波センサと前記第2の超音波センサの間の距離は、前記自律走行車の車幅の80%である請求項13に記載の自律走行車。
- 前記所定の曲線と前記自律走行車の前縁との間の最大距離は、前記第1の超音波センサと前記第2の超音波センサとの間の距離の4%ないし5%の範囲内である請求項14に記載の自律走行車。
- 自律走行車を動作させるための方法であって、
自律走行車(ADV)の複数の位置に装着された複数のセンサを提供するステップであって、前記複数のセンサは、
光検出及び測距(LIDAR)ユニットと、慣性計測ユニット(IMU)と、レーダ(RADAR)ユニットと、超音波センサアレイとを含み、前記超音波センサアレイは、
前記自律走行車の前方端部において複数の検出方向に配置されている、
ステップと、
感知モジュールにより、前記センサシステムの前記複数のセンサから受信されたセンサデータに基づいて、前記自律走行車の周囲の走行環境を感知するステップであって、前記センサデータは、
前記超音波センサから取得された超音波センサデータを含む、
ステップと、
前記感知モジュールからの前記走行環境を感知して得られた感知データに基づいて、前記自律走行車を走行させるための軌跡を計画モジュールによって計画するステップと、
を含む自律走行車を動作させるための方法。 - 前記超音波センサは、前記自律走行車の中心に対して対称になるように、前記自律走行車の前方端部に配置されている請求項16に記載の方法。
- 互いに隣接する超音波センサ同士間の距離は、17cmないし18cmの範囲内である請求項16に記載の方法。
- 前記超音波センサのうち、前記自律走行車の最も左側の位置に設けられる第1の超音波センサと、前記超音波センサのうち、前記自律走行車の最も右側の位置に設けられる第2の超音波センサとの間の距離は、1.2mないし1.4mの範囲内である請求項16に記載の方法。
- 互いに隣接する超音波センサ同士間の距離は、前記自律走行車の車幅に基づいて決定される請求項16に記載の方法。
- 前記超音波センサのうち、前記自律走行車の最も左側の位置に設けられる第1の超音波センサと、前記超音波センサのうち、前記自律走行車の最も右側の位置に設けられる第2の超音波センサとの間の距離は、前記自律走行車の車幅に基づいて決定される請求項16に記載の方法。
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