JP2020508252A - 自律走行車の動作管理 - Google Patents
自律走行車の動作管理 Download PDFInfo
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Abstract
Description
Claims (20)
- 車両交通ネットワークの横断に使用される方法であって、
前記方法は、自律走行車によって、車両交通ネットワークを横断するステップを含み、
前記車両交通ネットワークを横断することは、
シナリオ固有の動作制御評価モジュールインスタンスを動作させること、
前記シナリオ固有の動作制御評価モジュールインスタンスから候補車両制御アクションを受信すること、及び
前記候補車両制御アクションに基づいて、前記車両交通ネットワークの一部を横断すること
を含む、方法。 - 前記車両交通ネットワークの前記一部を横断することは、識別された経路に従って前記車両交通ネットワークの前記一部を横断することを含む、請求項1に記載の方法。
- 前記シナリオ固有の動作制御評価モジュールインスタンスは、前記自律走行車から定義された距離内の外部オブジェクトに関連付けられる、請求項1に記載の方法。
- 前記シナリオ固有の動作制御評価モジュールインスタンスは、複数のシナリオ固有の動作制御評価モジュールの中の1つのシナリオ固有の動作制御評価モジュールのインスタンスである、請求項1に記載の方法。
- 前記複数のシナリオ固有の動作制御評価モジュールの中の各シナリオ固有の動作制御評価モジュールは、個別の車両動作シナリオをモデル化する、請求項4に記載の方法。
- 前記シナリオ固有の動作制御評価モジュールインスタンスを動作させることは、前記シナリオ固有の動作制御評価モジュールインスタンスによって、個別の車両動作シナリオをモデル化することを含む、請求項1に記載の方法。
- 前記個別の車両動作シナリオをモデル化することは、センサ不確実性をモデル化することを含む、請求項6に記載の方法。
- 前記個別の車両動作制御シナリオをモデル化することは、
前記自律走行車のセンサからセンサ情報を受信すること、及び
前記センサ情報に基づいて、前記個別の車両動作制御シナリオをモデル化すること
を含む、請求項6に記載の方法。 - 前記個別の車両動作制御シナリオをモデル化することは、
前記車両交通ネットワークを表す車両交通ネットワーク情報を受信すること、及び
前記センサ情報及び前記車両交通ネットワーク情報に基づいて、前記個別の車両動作制御シナリオをモデル化すること
を含む、請求項8に記載の方法。 - 前記個別の車両動作制御シナリオをモデル化することは、
ブロックモニタインスタンスから、前記車両交通ネットワークの前記一部に関する可用性確率を受信すること、及び
前記可用性確率に基づいて、前記個別の車両動作制御シナリオをモデル化すること
を含む、請求項6に記載の方法。 - 前記自律走行車から定義された距離内の第2の外部オブジェクトに関連付けられる第2のシナリオ固有の動作制御評価モジュールインスタンスをインスタンス化するステップと、
前記第2のシナリオ固有の動作制御評価モジュールインスタンスから第2の候補車両制御アクションを受信するステップと
をさらに含む、請求項1に記載の方法。 - 前記車両交通ネットワークの一部を横断することは、前記候補車両制御アクション及び前記第2の候補車両制御アクションに基づいて、前記車両交通ネットワークの前記一部を横断することを含む、請求項11に記載の方法。
- 前記シナリオ固有の動作制御評価モジュールインスタンスは、複数のシナリオ固有の動作制御評価モジュールの中の第1のシナリオ固有の動作制御評価モジュールのインスタンスであり、前記複数のシナリオ固有の動作制御評価モジュールの中の各シナリオ固有の動作制御評価モジュールは、個別の車両動作シナリオをモデル化する、請求項12に記載の方法。
- 前記第2のシナリオ固有の動作制御評価モジュールインスタンスは、前記第1のシナリオ固有の動作制御評価モジュールの第2のインスタンスである、請求項13に記載の方法。
- 前記第2のシナリオ固有の動作制御評価モジュールインスタンスは、前記自律走行車から前記定義された距離内の第2の外部オブジェクトに関連付けられる、請求項14に記載の方法。
- 前記第2のシナリオ固有の動作制御評価モジュールインスタンスは、前記複数のシナリオ固有の動作制御評価モジュールの中の第2のシナリオ固有の動作制御評価モジュールのインスタンスである、請求項13に記載の方法。
- 前記第2のシナリオ固有の動作制御評価モジュールインスタンスは、前記自律走行車から前記定義された距離内の第2の外部オブジェクトに関連付けられる、請求項16に記載の方法。
- 前記第2のシナリオ固有の動作制御評価モジュールインスタンスは、外部オブジェクトに関連付けられる、請求項16に記載の方法。
- 車両交通ネットワークの横断に使用される方法であって、
前記方法は、自律走行車によって、車両交通ネットワークを横断するステップを含み、
前記車両交通ネットワークを横断することは、
シナリオ固有の動作制御評価モジュールインスタンスを動作させるために自律走行車動作制御環境を生成することであって、各シナリオ固有の動作制御評価モジュールインスタンスは、各シナリオ固有の動作制御評価モジュールのインスタンスであり、各シナリオ固有の動作制御評価モジュールは、各個別の車両動作シナリオをモデル化し、かつ各シナリオ固有の動作制御評価モジュールインスタンスは、対応する各個別の車両動作シナリオに応じて、各候補車両制御アクションを生成すること、
第1のシナリオ固有の動作制御評価モジュールインスタンスを動作させること、
前記第1のシナリオ固有の動作制御評価モジュールインスタンスから第1の候補車両制御アクションを受信すること、及び
前記第1の候補車両制御アクションに基づいて、前記車両交通ネットワークの一部を横断すること
を含む、方法。 - プロセッサを備え、前記プロセッサは、非一時的なコンピュータ可読媒体に記憶されている命令を実行して、
シナリオ固有の動作制御評価モジュールインスタンスを動作させること、
前記シナリオ固有の動作制御評価モジュールインスタンスから候補車両制御アクションを受信すること、及び
前記候補車両制御アクションに従って、車両交通ネットワークの一部を横断すること
を行うように構成される、自律走行車。
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US20220227394A1 (en) | 2022-07-21 |
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US20200269875A1 (en) | 2020-08-27 |
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CA3052951C (en) | 2023-03-14 |
CN110325928B (zh) | 2023-04-04 |
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