JP2021031051A - 自動運転車両及び自動運転車両用のシステム - Google Patents
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- B60—VEHICLES IN GENERAL
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- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/023—Avoiding failures by using redundant parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
- B60W60/0018—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions
- B60W60/00186—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions related to the vehicle
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/865—Combination of radar systems with lidar systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0841—Registering performance data
- G07C5/085—Registering performance data using electronic data carriers
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0004—In digital systems, e.g. discrete-time systems involving sampling
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- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
- B60W2050/0292—Fail-safe or redundant systems, e.g. limp-home or backup systems
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- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
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- G06F21/60—Protecting data
- G06F21/606—Protecting data by securing the transmission between two devices or processes
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
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Abstract
Description
Claims (13)
- 自動運転車両(100)用のシステムであって、
前記自動運転車両(100)の動作を制御するように構成されるマスタコンピューティングユニット(102)と、
前記マスタコンピューティングユニット(102)に通信可能に結合され、且つ前記マスタコンピューティングユニット(102)の故障を検出したことに応じて、前記自動運転車両(100)の動作を制御するように構成されるスレーブコンピューティングユニット(104)と、
前記自動運転車両(100)の周辺の環境情報を取得するように構成される少なくとも1つのレーザレーダ(116,118)と、
前記少なくとも1つのレーザレーダ、前記マスタコンピューティングユニット(102)及び前記スレーブコンピューティングユニット(104)に通信可能に結合され、且つ前記自動運転車両(100)を制御するために、前記マスタコンピューティングユニット(102)および前記スレーブコンピューティングユニット(104)に前記環境情報を提供するように構成されるスイッチ(106)とを含むシステム。 - 前記少なくとも1つのレーザレーダは、前記自動運転車両(100)の異なる位置に設けられる複数のレーザレーダを含むことを特徴とする請求項1に記載のシステム。
- 前記スイッチ(106)に通信可能に結合され、且つ前記自動運転車両(100)の位置情報を取得し前記位置情報を前記スイッチ(106)に送信するように構成される少なくとも1つの測位デバイスをさらに備え、
前記スイッチ(106)は、さらに、前記位置情報を前記マスタコンピューティングユニット(102)および前記スレーブコンピューティングユニット(104)に送信するように構成されることを特徴とする請求項1に記載のシステム。 - 前記少なくとも1つの測位デバイスは、個別に動作する複数の測位デバイスを含むことを特徴とする請求項3に記載のシステム。
- 前記マスタコンピューティングユニット(102)に通信可能に結合され、且つ前記自動運転車両(100)の周辺の光学画像を取得し前記光学画像を前記マスタコンピューティングユニット(102)に送信するように構成される少なくとも1つのカメラ(110)をさらに含むことを特徴とする請求項1に記載のシステム。
- 前記自動運転車両(100)が外部デバイスと通信するために、前記スイッチ(106)に通信可能に結合されるV2Xデバイス(120)をさらに含むことを特徴とする請求項1に記載のシステム。
- 前記マスタコンピューティングユニット(102)及び前記スレーブコンピューティングユニット(104)に通信可能に結合され、且つ前記自動運転車両(100)の周辺のマイクロ波画像を取得し前記マイクロ波画像を前記マスタコンピューティングユニット(102)および前記スレーブコンピューティングユニット(104)に送信するように構成される少なくとも1つのミリ波レーダー(126,128)をさらに含むことを特徴とする請求項1に記載のシステム。
- 前記少なくとも1つのミリ波レーダーは、前記自動運転車両(100)の異なる位置に設けられる複数のミリ波レーダーを含むことを特徴とする請求項7に記載のシステム。
- 前記スイッチ(106)に通信可能に結合され、且つ外部デバイスと安全に通信するように構成されるセキュリティゲートウェイ(122)をさらに含むことを特徴とする請求項1に記載のシステム。
- 前記セキュリティゲートウェイ(122)に通信可能に結合され、且つ前記セキュリティゲートウェイ(122)を介して前記自動運転車両(100)の運転関連情報を取得するように構成されるブラックボックス(124)をさらに含むことを特徴とする請求項9に記載のシステム。
- 前記マスタコンピューティングユニット(102)は、さらに、少なくとも部分的に前記環境情報に基づいて、前記自動運転車両(100)の自動車シャーシ制御システム(108)のための制御信号を生成するように構成されることを特徴とする請求項1に記載のシステム。
- 前記スレーブコンピューティングユニット(104)は、さらに、前記マスタコンピューティングユニット(102)の故障を検出したことに応じて、少なくとも部分的に前記環境情報に基づいて、前記自動運転車両(100)の自動車シャーシ制御システム(108)のための制御信号を生成するように構成されることを特徴とする請求項1に記載のシステム。
- 請求項1〜12のいずれか1項に記載のシステムを含む自動運転車両(100)。
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CN201921323905.7U CN210391112U (zh) | 2019-08-15 | 2019-08-15 | 自动驾驶车辆以及用于自动驾驶车辆的系统 |
CN201910754014.5A CN112389461A (zh) | 2019-08-15 | 2019-08-15 | 自动驾驶车辆以及用于自动驾驶车辆的系统 |
CN201921323905.7 | 2019-08-15 | ||
CN201910754014.5 | 2019-08-15 |
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EP3879400A1 (en) * | 2020-03-12 | 2021-09-15 | Volkswagen Ag | Method and device for configuring a system architecture of an autonomous vehicle |
US20220171396A1 (en) * | 2020-11-30 | 2022-06-02 | Yandex Self Driving Group Llc | Systems and methods for controlling a robotic vehicle |
US11904899B2 (en) * | 2021-09-08 | 2024-02-20 | GM Global Technology Operations LLC | Limp home mode for an autonomous vehicle using a secondary autonomous sensor system |
CN113885515B (zh) * | 2021-10-25 | 2023-06-09 | 北京轻舟智航科技有限公司 | 一种连接多种自动驾驶传感器的网络架构系统 |
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