JP2022065083A - 物理的環境の変化に応答して自律車両をナビゲートするための適応マッピング - Google Patents
物理的環境の変化に応答して自律車両をナビゲートするための適応マッピング Download PDFInfo
- Publication number
- JP2022065083A JP2022065083A JP2022020682A JP2022020682A JP2022065083A JP 2022065083 A JP2022065083 A JP 2022065083A JP 2022020682 A JP2022020682 A JP 2022020682A JP 2022020682 A JP2022020682 A JP 2022020682A JP 2022065083 A JP2022065083 A JP 2022065083A
- Authority
- JP
- Japan
- Prior art keywords
- data
- autonomous vehicle
- map
- map data
- sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000008859 change Effects 0.000 title abstract description 27
- 238000013507 mapping Methods 0.000 title description 59
- 230000003044 adaptive effect Effects 0.000 title description 2
- 238000000034 method Methods 0.000 claims abstract description 82
- 238000012545 processing Methods 0.000 claims description 14
- 238000004891 communication Methods 0.000 description 66
- 238000010586 diagram Methods 0.000 description 61
- 230000006870 function Effects 0.000 description 45
- 230000008569 process Effects 0.000 description 45
- 230000008447 perception Effects 0.000 description 36
- 230000003068 static effect Effects 0.000 description 34
- 230000033001 locomotion Effects 0.000 description 25
- 238000004422 calculation algorithm Methods 0.000 description 23
- 230000004044 response Effects 0.000 description 23
- 230000011218 segmentation Effects 0.000 description 21
- 230000003993 interaction Effects 0.000 description 16
- 230000002457 bidirectional effect Effects 0.000 description 15
- 238000001514 detection method Methods 0.000 description 14
- 238000013439 planning Methods 0.000 description 12
- 230000006399 behavior Effects 0.000 description 10
- 230000005540 biological transmission Effects 0.000 description 10
- 230000007613 environmental effect Effects 0.000 description 10
- 238000013459 approach Methods 0.000 description 9
- 238000005457 optimization Methods 0.000 description 9
- 230000009471 action Effects 0.000 description 8
- 238000003860 storage Methods 0.000 description 8
- 239000008186 active pharmaceutical agent Substances 0.000 description 7
- 238000013461 design Methods 0.000 description 6
- 238000004088 simulation Methods 0.000 description 6
- 230000006978 adaptation Effects 0.000 description 5
- 238000010801 machine learning Methods 0.000 description 5
- 238000007726 management method Methods 0.000 description 5
- 238000012986 modification Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 5
- 230000000007 visual effect Effects 0.000 description 5
- 239000003795 chemical substances by application Substances 0.000 description 4
- 238000009826 distribution Methods 0.000 description 4
- 230000004807 localization Effects 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 230000007704 transition Effects 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 238000007792 addition Methods 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 3
- 238000003491 array Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 3
- 239000003086 colorant Substances 0.000 description 3
- 238000007796 conventional method Methods 0.000 description 3
- 238000013135 deep learning Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000002452 interceptive effect Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 230000007257 malfunction Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 241000282472 Canis lupus familiaris Species 0.000 description 2
- 241000282412 Homo Species 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 2
- 238000004590 computer program Methods 0.000 description 2
- 239000000284 extract Substances 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000001953 sensory effect Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 238000000844 transformation Methods 0.000 description 2
- 238000012384 transportation and delivery Methods 0.000 description 2
- HPTJABJPZMULFH-UHFFFAOYSA-N 12-[(Cyclohexylcarbamoyl)amino]dodecanoic acid Chemical compound OC(=O)CCCCCCCCCCCNC(=O)NC1CCCCC1 HPTJABJPZMULFH-UHFFFAOYSA-N 0.000 description 1
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 241000282326 Felis catus Species 0.000 description 1
- 241001465754 Metazoa Species 0.000 description 1
- 241000699670 Mus sp. Species 0.000 description 1
- 208000007101 Muscle Cramp Diseases 0.000 description 1
- 230000002776 aggregation Effects 0.000 description 1
- 238000004220 aggregation Methods 0.000 description 1
- 230000009118 appropriate response Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000003542 behavioural effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000009792 diffusion process Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000004438 eyesight Effects 0.000 description 1
- 238000009499 grossing Methods 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 238000002156 mixing Methods 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 230000036651 mood Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000012552 review Methods 0.000 description 1
- 238000006798 ring closing metathesis reaction Methods 0.000 description 1
- 230000003997 social interaction Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 230000029305 taxis Effects 0.000 description 1
- 239000004557 technical material Substances 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
- 230000004382 visual function Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
- G08G1/205—Indicating the location of the monitored vehicles as destination, e.g. accidents, stolen, rental
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0007—Measures or means for preventing or attenuating collisions
- B60L3/0015—Prevention of collisions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/28—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating front of vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/30—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating rear of vehicle, e.g. by means of reflecting surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/503—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking using luminous text or symbol displays in or on the vehicle, e.g. static text
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/507—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking specific to autonomous vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/508—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking specific to vehicles driving in fleets or convoys
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
-
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3635—Guidance using 3D or perspective road maps
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3833—Creation or updating of map data characterised by the source of data
- G01C21/3848—Data obtained from both position sensors and additional sensors
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3863—Structures of map data
- G01C21/3867—Geometry of map features, e.g. shape points, polygons or for simplified maps
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3863—Structures of map data
- G01C21/387—Organisation of map data, e.g. version management or database structures
- G01C21/3881—Tile-based structures
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
-
- 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
- G01S17/875—Combinations of systems using electromagnetic waves other than radio waves for determining attitude
-
- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
- G01S7/4972—Alignment of sensor
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0027—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement involving a plurality of vehicles, e.g. fleet or convoy travelling
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0038—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0044—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0248—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0297—Fleet control by controlling means in a control room
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/25—Fusion techniques
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
-
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/005—Traffic control systems for road vehicles including pedestrian guidance indicator
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
- G08G1/202—Dispatching vehicles on the basis of a location, e.g. taxi dispatching
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
- G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/18—Methods or devices for transmitting, conducting or directing sound
- G10K11/26—Sound-focusing or directing, e.g. scanning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/60—Navigation input
- B60L2240/62—Vehicle position
- B60L2240/622—Vehicle position by satellite navigation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/32—Auto pilot mode
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/549—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking for expressing greetings, gratitude or emotions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R2021/01204—Actuation parameters of safety arrangents
- B60R2021/01252—Devices other than bags
- B60R2021/01265—Seat belts
- B60R2021/01272—Belt tensioners
-
- 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
-
- 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
- G01S13/867—Combination of radar systems with cameras
-
- 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
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
-
- 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
- G01S2013/9316—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles combined with communication equipment with other vehicles or with base stations
-
- 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
- G01S2013/9322—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using additional data, e.g. driver condition, road state or weather data
-
- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/0009—Transmission of position information to remote stations
- G01S5/0018—Transmission from mobile station to base station
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Transportation (AREA)
- Theoretical Computer Science (AREA)
- Multimedia (AREA)
- Artificial Intelligence (AREA)
- Optics & Photonics (AREA)
- Evolutionary Computation (AREA)
- Game Theory and Decision Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Medical Informatics (AREA)
- Acoustics & Sound (AREA)
- General Engineering & Computer Science (AREA)
- Data Mining & Analysis (AREA)
- Health & Medical Sciences (AREA)
- Business, Economics & Management (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geometry (AREA)
- Bioinformatics & Cheminformatics (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Bioinformatics & Computational Biology (AREA)
- Databases & Information Systems (AREA)
- Human Computer Interaction (AREA)
- Power Engineering (AREA)
- Evolutionary Biology (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Automotive Seat Belt Assembly (AREA)
- Navigation (AREA)
Abstract
Description
本PCT国際出願は、2015年11月4日に出願された「AUTONOMOUS VEHICLE FLEET SERVICE AND SYSTEM」と題する米国出願第14/932,963号および2016年11月4日に出願された「AUTONOMOUS VEHICLE FLEET SERVICE AND SYSTEM」と題する米国特許出願第14/932,959号の継続出願であり、本出願は、2015年11月4日に出願された「TELEOPERATION SYSTEM AND METHOD FOR TRAJECTORY MODIFICATION OF AUTONOMOUS VEHICLES」と題する米国特許出願第14/932,966号、2015年11月4日に出願された「AUTOMATED EXTRACTION OF SEMANTIC INFORMATION TO ENHANCE INCREMENTAL MAPPING MODIFICATIONS FOR ROBOTIC VEHICLES」と題する米国特許出願第14/932,940号、2015年11月4日に出願された「COORDINATION OF DISPATCHING AND MAINTAINING FLEET OF AUTONOMOUS VEHICLES」と題する米国特許出願第14/756,995号、2015年11月4日に出願された「ADAPTIVE AUTONOMOUS VEHICLE PLANNER LOGIC」と題する米国特許出願第14/756,992号、2015年11月4日に出願された「SENSOR-BASED OBJECT-DETECTION OPTIMIZATION FOR AUTONOMOUS VEHICLES」と題する米国特許出願第14/756,991号、および2015年11月4日に出願された「CALIBRATION FOR AUTONOMOUS VEHICLE OPERATION」と題する米国特許出願第14/756,996号に関係付けられ、これらはすべて本明細書において、参照によりそれらの全体が本明細書に組み込まれる。
Claims (11)
- 自律車両の群内の個々の自律車両からのコンピューティングシステムで、前記群における前記自律車両を周囲環境に存在する運転状態およびオブジェクトを示す複数のタイプのセンサデータを受信するステップと、
前記複数のタイプのセンサデータをデータストアに格納するステップと、
前記データストアから第1の場所にある第1の自律車両から受信する第1のタイプのセンサデータのサブセットを前記第1の自律車両に対する1つまたは複数の第1のセンサに由来する前記第1のタイプのセンサデータのサブセットにアクセスするステップと、
前記データストアから前記第1の場所にある前記第1の自律車両から受信する第2のタイプのセンサデータのサブセットにアクセスするステップであって、前記第1の自律車両に対する1つまたは複数の第2のセンサに由来する前記第2のタイプのセンサデータのサブセットにアクセスするステップと、
前記第1のタイプのセンサデータのサブセットおよび前記第2のタイプのセンサデータのサブセットを整列させ、整列されたセンサデータを形成するステップと、
前記コンピューティングシステムで、前記整列されたセンサデータが前記第1の場所の格納されたマップおよび前記自律車両が前記第1の場所にある間に感知された前記第1の自律車両の周囲環境の間の変動を示すかどうかを決定するステップと、
前記格納されたマップを更新して、前記変動に反映するステップと、
前記更新されたマップを前記コンピューティングシステムから自律車両の群内の前記個々の自律車両に送信するステップとを備え、
前記自律車両のうちの少なくとも1つは、前記更新されたマップに少なくとも部分的に基づいて制御される、
方法。 - 前記整列されたセンサデータが変動を示すかどうかを決定するステップは、
マップデータに関連付けられたグローバル座標系に対する前記第1の自律車両を位置特定するステップと、
前記マップデータのうちの1つまたは複数のマップ部分と、前記第1の自律車両で維持されている局所的マップとの間の差を検出するステップとを含む、
請求項1に記載の方法。 - 3次元マップデータのうちの前記1つまたは複数のマップ部分と、前記局所的マップとの間の前記差を特徴付けるステップと、
前記局所的マップの少なくとも1部および前記1つまたは複数のマップ部分の少なくとも1部を使用して、前記格納されているマップを更新するステップとをさらに備える、
請求項2に記載の方法。 - 前記更新されたマップをシミュレータコンピューティングデバイスにエクスポートするステップと、
前記シミュレータコンピューティングデバイスで、前記更新されたマップに基づいて、シミュレートされた環境内の前記自律車両の群内の一部の性能をシミュレートするステップとをさらに備える、
請求項1に記載の方法。 - グローバル座標系に対して前記整列されたセンサデータを整列するステップをさらに備える、
請求項1に記載の方法。 - 他の自動車との交通での道路網上を自律的に運転するように構成される無人運転車両であって、乗用車であり、前記無人運転車両の周囲環境内の1つまたは複数のオブジェクトを感知するための複数のセンサを有する、無人運転車両と、
前記無人運転車両からデータを受信し、および前記無人運転車両に命令を送信するために通信可能に結合されたコンピューティングシステムとを備えたシステムであって、
前記コンピューティングシステムは、
前記無人運転車両がロケーションにいる間に、前記環境内の前記1つまたは複数のオブジェクトに関連する複数のタイプのセンサデータを前記無人運転車両から受信し、
前記複数のタイプのセンサデータを処理して、前記センサデータが、前記ロケーションのマップデータと比較して、中にある前記1つまたは複数のオブジェクトに対して前記環境内で検出された変化を示しているかどうかを判断し、
前記ロケーションの前記マップデータを更新して、前記環境内で検出された前記変化を反映し、
更新された前記マップデータを前記無人運転車両に送信するようにプログラムされており、
前記無人運転車両は、更新された前記マップデータを用いて前記マップデータの局所的なバージョンを更新する、
システム。 - 前記コンピューティングシステムは、前記無人運転車両から遠隔にあり、且つ独立している、請求項6に記載のシステム。
- 前記無人運転車両は、前記無人運転車両の群の一部であり、前記コンピューティングシステムは、更新された前記マップデータを前記群内の複数の無人運転車両に送信するようにさらにプログラムされている、請求項6に記載のシステム。
- 更新された前記マップデータに基づいて、シミュレートされた環境内の前記無人運転車両の群の性能をシミュレートするように構成されるシミュレータをさらに備える、請求項6に記載のシステム。
- 更新された前記マップデータを人間の遠隔操作者に提示するように構成される遠隔操作者コンピューティングデバイスをさらに備える、請求項6に記載のシステム。
- 前記コンピューティングシステムは、前記複数のタイプのセンサデータを整列させ、前記ロケーションで前記環境内の1つまたは複数のオブジェクトに関連する整列されたセンサデータを提供することをさらにプログラムされる、請求項6に記載のシステム。
Applications Claiming Priority (9)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US14/756,995 US9958864B2 (en) | 2015-11-04 | 2015-11-04 | Coordination of dispatching and maintaining fleet of autonomous vehicles |
US14/932,963 | 2015-11-04 | ||
US14/932,959 US9606539B1 (en) | 2015-11-04 | 2015-11-04 | Autonomous vehicle fleet service and system |
US14/932,959 | 2015-11-04 | ||
US14/756,996 US9916703B2 (en) | 2015-11-04 | 2015-11-04 | Calibration for autonomous vehicle operation |
US14/756,992 US9910441B2 (en) | 2015-11-04 | 2015-11-04 | Adaptive autonomous vehicle planner logic |
US14/932,963 US9612123B1 (en) | 2015-11-04 | 2015-11-04 | Adaptive mapping to navigate autonomous vehicles responsive to physical environment changes |
PCT/US2016/060368 WO2017079460A2 (en) | 2015-11-04 | 2016-11-03 | Aptive mapping to navigate autonomous vehicles responsive to physical environment changes |
JP2018543270A JP7316789B2 (ja) | 2015-11-04 | 2016-11-03 | 物理的環境の変化に応答して自律車両をナビゲートするための適応マッピング |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018543270A Division JP7316789B2 (ja) | 2015-11-04 | 2016-11-03 | 物理的環境の変化に応答して自律車両をナビゲートするための適応マッピング |
Publications (1)
Publication Number | Publication Date |
---|---|
JP2022065083A true JP2022065083A (ja) | 2022-04-26 |
Family
ID=63077631
Family Applications (5)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018544028A Active JP6962926B2 (ja) | 2015-11-04 | 2016-11-02 | 自律車両の軌道修正のための遠隔操作システムおよび方法 |
JP2018543270A Active JP7316789B2 (ja) | 2015-11-04 | 2016-11-03 | 物理的環境の変化に応答して自律車両をナビゲートするための適応マッピング |
JP2021168747A Active JP7381539B2 (ja) | 2015-11-04 | 2021-10-14 | 自律車両の軌道修正のための遠隔操作システムおよび方法 |
JP2022020682A Pending JP2022065083A (ja) | 2015-11-04 | 2022-02-14 | 物理的環境の変化に応答して自律車両をナビゲートするための適応マッピング |
JP2022081627A Pending JP2022113694A (ja) | 2015-11-04 | 2022-05-18 | ロボット車両のための内部安全システム |
Family Applications Before (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018544028A Active JP6962926B2 (ja) | 2015-11-04 | 2016-11-02 | 自律車両の軌道修正のための遠隔操作システムおよび方法 |
JP2018543270A Active JP7316789B2 (ja) | 2015-11-04 | 2016-11-03 | 物理的環境の変化に応答して自律車両をナビゲートするための適応マッピング |
JP2021168747A Active JP7381539B2 (ja) | 2015-11-04 | 2021-10-14 | 自律車両の軌道修正のための遠隔操作システムおよび方法 |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2022081627A Pending JP2022113694A (ja) | 2015-11-04 | 2022-05-18 | ロボット車両のための内部安全システム |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP4180893A1 (ja) |
JP (5) | JP6962926B2 (ja) |
CN (2) | CN108700876B (ja) |
Families Citing this family (48)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP4180893A1 (en) * | 2015-11-04 | 2023-05-17 | Zoox, Inc. | Teleoperation system and method for trajectory modification of autonomous vehicles |
US9606539B1 (en) | 2015-11-04 | 2017-03-28 | Zoox, Inc. | Autonomous vehicle fleet service and system |
US20200158517A1 (en) * | 2017-01-19 | 2020-05-21 | Mindmaze Holding Sa | System, methods, device and apparatuses for preforming simultaneous localization and mapping |
US11262756B2 (en) * | 2018-01-15 | 2022-03-01 | Uatc, Llc | Discrete decision architecture for motion planning system of an autonomous vehicle |
US11919531B2 (en) * | 2018-01-31 | 2024-03-05 | Direct Current Capital LLC | Method for customizing motion characteristics of an autonomous vehicle for a user |
US11157527B2 (en) * | 2018-02-20 | 2021-10-26 | Zoox, Inc. | Creating clean maps including semantic information |
US10468062B1 (en) * | 2018-04-03 | 2019-11-05 | Zoox, Inc. | Detecting errors in sensor data |
US11726473B2 (en) * | 2018-11-08 | 2023-08-15 | Zoox, Inc. | Autonomous vehicle guidance authority framework |
EP3746989A4 (en) * | 2018-11-16 | 2021-03-17 | Beijing Didi Infinity Technology and Development Co., Ltd. | SYSTEMS AND METHODS FOR POSITIONING VEHICLES IN POOR LIGHT CONDITIONS |
CN111223321A (zh) * | 2018-11-26 | 2020-06-02 | 华为技术有限公司 | 自动驾驶规划的方法、设备及系统 |
KR102651410B1 (ko) | 2018-12-28 | 2024-03-28 | 현대자동차주식회사 | 자율 발렛 주차를 지원하는 시스템 및 방법, 그리고 이를 위한 인프라 및 차량 |
CN109816588B (zh) * | 2018-12-29 | 2023-03-21 | 百度在线网络技术(北京)有限公司 | 行车轨迹线的记录方法、装置及设备 |
CN109709966B (zh) * | 2019-01-15 | 2021-12-07 | 阿波罗智能技术(北京)有限公司 | 用于无人车的控制方法和装置 |
CN109817021B (zh) * | 2019-01-15 | 2021-11-02 | 阿波罗智能技术(北京)有限公司 | 一种激光雷达路侧盲区交通参与者避让方法和装置 |
US11315317B2 (en) | 2019-01-30 | 2022-04-26 | Baidu Usa Llc | Point clouds ghosting effects detection system for autonomous driving vehicles |
US11227398B2 (en) * | 2019-01-30 | 2022-01-18 | Baidu Usa Llc | RGB point clouds based map generation system for autonomous vehicles |
EP3707473A4 (en) * | 2019-01-30 | 2020-12-30 | Baidu.com Times Technology (Beijing) Co., Ltd. | REAL-TIME MAP GENERATION SYSTEM FOR AUTONOMOUS VEHICLES |
CN111679662B (zh) * | 2019-02-25 | 2022-07-15 | 北汽福田汽车股份有限公司 | 一种车辆的控制方法及装置、存储介质和处理器 |
EP3966526A1 (en) * | 2019-05-06 | 2022-03-16 | Rugged Robotics Inc. | Mobility platform for autonomous navigation of construction sites |
CN110154816A (zh) * | 2019-05-16 | 2019-08-23 | 盐城品迅智能科技服务有限公司 | 一种用于自动引导小车的充电管理系统及方法 |
CN110264715B (zh) * | 2019-06-20 | 2021-10-15 | 大连理工大学 | 一种基于路段突发拥堵分析的交通事件检测方法 |
US11364932B2 (en) | 2019-06-25 | 2022-06-21 | Lg Electronics Inc. | Method for transmitting sensing information for remote driving in automated vehicle and highway system and apparatus therefor |
JP7243512B2 (ja) * | 2019-07-29 | 2023-03-22 | トヨタ自動車株式会社 | 遠隔操作システム、プログラム及び車両 |
JP7192709B2 (ja) * | 2019-08-09 | 2022-12-20 | トヨタ自動車株式会社 | 車両遠隔指示訓練装置 |
KR102231503B1 (ko) * | 2019-09-02 | 2021-03-24 | 엘지전자 주식회사 | 자율 주행 제어 방법과 이를 이용한 자율 주행 시스템 |
US11316749B1 (en) | 2019-10-21 | 2022-04-26 | Splunk Inc. | Generating three-dimensional representation of one or more cloud computing systems |
JP7276072B2 (ja) * | 2019-10-22 | 2023-05-18 | 株式会社デンソー | 遠隔支援システム、車載装置、遠隔支援方法、及び遠隔支援プログラム |
CN111026873B (zh) * | 2019-10-24 | 2023-06-20 | 中国人民解放军军事科学院国防科技创新研究院 | 无人车及其导航方法、装置 |
JP7172946B2 (ja) * | 2019-10-29 | 2022-11-16 | 株式会社デンソー | 管理システム、管理方法、及び管理プログラム |
EP3816749A1 (en) * | 2019-10-29 | 2021-05-05 | Volkswagen AG | Teleoperated driving of a vehicle |
EP4061688A4 (en) * | 2019-11-20 | 2024-01-17 | Thales Canada Inc | SYSTEM AND METHOD FOR DETECTING HIGH INTEGRITY OBJECTS |
CN111161527B (zh) * | 2020-01-03 | 2021-11-26 | 财团法人车辆研究测试中心 | 自驾车远端监控系统及其方法 |
JP7371561B2 (ja) * | 2020-04-08 | 2023-10-31 | トヨタ自動車株式会社 | 車両管理システム及び情報処理装置 |
CN111649739B (zh) * | 2020-06-02 | 2023-09-01 | 阿波罗智能技术(北京)有限公司 | 定位方法和装置、自动驾驶车辆、电子设备和存储介质 |
CN111983655B (zh) * | 2020-07-22 | 2024-03-15 | 汉海信息技术(上海)有限公司 | 城市峡谷区域的确定方法、装置、电子设备及存储介质 |
CN111964578B (zh) * | 2020-07-27 | 2021-10-12 | 中国第一汽车股份有限公司 | 一种整车参数测量坐标系的建立方法 |
US11726471B2 (en) * | 2020-08-27 | 2023-08-15 | Waymo Llc | Methods and systems for gradually adjusting vehicle sensor perspective using remote assistance |
US11535276B2 (en) * | 2020-09-08 | 2022-12-27 | Waymo Llc | Methods and systems for using remote assistance to maneuver an autonomous vehicle to a location |
CN112590817B (zh) * | 2020-12-23 | 2023-01-17 | 江苏徐工工程机械研究院有限公司 | 运输系统的安全保护系统、方法和机群管理设备 |
DE102021101363A1 (de) | 2021-01-22 | 2022-07-28 | Bayerische Motoren Werke Aktiengesellschaft | Bildbasiertes Verfahren zum Vereinfachen einer fahrzeugexternen Kontrollübernahme über ein Kraftfahrzeug, Assistenzeinrichtung und Kraftfahrzeug |
JP7177205B2 (ja) * | 2021-03-25 | 2022-11-22 | 本田技研工業株式会社 | 車両制御装置、車両、車両制御装置の動作方法及びプログラム |
KR102572336B1 (ko) * | 2021-04-23 | 2023-08-30 | 한국전자기술연구원 | 주행 계획 장치 및 방법, 이를 적용한 이동 로봇 |
CN113844465B (zh) * | 2021-12-02 | 2022-07-15 | 上海车右智能科技有限公司 | 一种自动驾驶方法及系统 |
US20230182772A1 (en) * | 2021-12-14 | 2023-06-15 | Zoox, Inc. | Autonomous vehicle operations related to detection of an unsafe passenger pickup/delivery condition |
WO2023149370A1 (ja) * | 2022-02-01 | 2023-08-10 | キヤノン株式会社 | 制御システム、制御方法、及び記憶媒体 |
CN115116249B (zh) * | 2022-06-06 | 2023-08-01 | 苏州科技大学 | 一种自动驾驶车辆不同渗透率与道路通行能力的估计方法 |
CN115357047B (zh) * | 2022-08-26 | 2023-07-21 | 广东工业大学 | 一种基于眼神追踪的无人机辅助操控方法及系统 |
US11915533B1 (en) * | 2023-01-20 | 2024-02-27 | Embark Trucks Inc. | Systems and methods for distributed visualization generaton |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20150254986A1 (en) * | 2014-03-04 | 2015-09-10 | Google Inc. | Reporting Road Event Data and Sharing with Other Vehicles |
Family Cites Families (43)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5220507A (en) * | 1990-11-08 | 1993-06-15 | Motorola, Inc. | Land vehicle multiple navigation route apparatus |
JPH10275015A (ja) * | 1996-11-11 | 1998-10-13 | Komatsu Ltd | 移動体の遠隔操作装置 |
US7426429B2 (en) * | 1998-04-27 | 2008-09-16 | Joseph A Tabe | Smart seatbelt control system |
DE102004008894A1 (de) * | 2004-02-24 | 2005-09-08 | Robert Bosch Gmbh | Sicherheitssystem für ein Fortbewegungsmittel sowie hierauf bezogenes Verfahren |
JP2005262927A (ja) * | 2004-03-16 | 2005-09-29 | Denso Corp | シートベルト装置 |
JP2006113836A (ja) | 2004-10-15 | 2006-04-27 | Fuji Heavy Ind Ltd | 道路情報提供システム |
US7831433B1 (en) * | 2005-02-03 | 2010-11-09 | Hrl Laboratories, Llc | System and method for using context in navigation dialog |
JP2006321421A (ja) * | 2005-05-20 | 2006-11-30 | Honda Motor Co Ltd | 車両の走行制御装置 |
JP2007322172A (ja) * | 2006-05-30 | 2007-12-13 | Nissan Motor Co Ltd | 迂回路提案システム及び迂回路提案方法 |
JP4949063B2 (ja) | 2007-02-14 | 2012-06-06 | 富士重工業株式会社 | 車両の運転支援装置 |
JP4983542B2 (ja) | 2007-10-25 | 2012-07-25 | トヨタ自動車株式会社 | 車両の走行制御装置 |
KR101372482B1 (ko) * | 2007-12-11 | 2014-03-26 | 삼성전자주식회사 | 이동 로봇의 경로 계획 방법 및 장치 |
JP5215740B2 (ja) | 2008-06-09 | 2013-06-19 | 株式会社日立製作所 | 移動ロボットシステム |
JP2010156573A (ja) * | 2008-12-26 | 2010-07-15 | Alpine Electronics Inc | ナビゲーション装置および目的地候補情報提示方法 |
US8812226B2 (en) * | 2009-01-26 | 2014-08-19 | GM Global Technology Operations LLC | Multiobject fusion module for collision preparation system |
JP2010228564A (ja) * | 2009-03-26 | 2010-10-14 | Yamaha Corp | 自動車 |
JP5489965B2 (ja) * | 2009-12-24 | 2014-05-14 | 本田技研工業株式会社 | 行動制御システムおよびロボット |
US20110190972A1 (en) * | 2010-02-02 | 2011-08-04 | Gm Global Technology Operations, Inc. | Grid unlock |
US8031085B1 (en) | 2010-04-15 | 2011-10-04 | Deere & Company | Context-based sound generation |
US8467951B2 (en) * | 2010-05-06 | 2013-06-18 | Telenav, Inc. | Navigation system with alternative route determination mechanism and method of operation thereof |
JP5663942B2 (ja) * | 2010-05-11 | 2015-02-04 | トヨタ自動車株式会社 | 走行軌道作成装置 |
EP2487461B1 (en) * | 2011-02-09 | 2015-10-07 | Harman Becker Automotive Systems GmbH | Vehicle navigation device and method |
US9086288B2 (en) * | 2011-07-15 | 2015-07-21 | Google Inc. | Method and system for finding paths using GPS tracks |
JP2013033104A (ja) * | 2011-08-01 | 2013-02-14 | Densei:Kk | 音響信号送出装置、音響信号送出方法、およびプログラム |
US8583361B2 (en) * | 2011-08-24 | 2013-11-12 | Modular Mining Systems, Inc. | Guided maneuvering of a mining vehicle to a target destination |
JP2013054702A (ja) * | 2011-09-06 | 2013-03-21 | Takata Corp | 車両接近情報通知装置、車両接近情報通知方法及びプログラム |
KR101288323B1 (ko) * | 2011-12-16 | 2013-07-23 | 에스케이플래닛 주식회사 | 복수 경로 제공 내비게이션 장치 및 방법 |
US8849515B2 (en) * | 2012-07-24 | 2014-09-30 | GM Global Technology Operations LLC | Steering assist in driver initiated collision avoidance maneuver |
US10347127B2 (en) * | 2013-02-21 | 2019-07-09 | Waymo Llc | Driving mode adjustment |
WO2014133977A1 (en) * | 2013-03-01 | 2014-09-04 | Robotex Inc. | Low latency data link system and method |
US9008890B1 (en) * | 2013-03-15 | 2015-04-14 | Google Inc. | Augmented trajectories for autonomous vehicles |
US8996224B1 (en) | 2013-03-15 | 2015-03-31 | Google Inc. | Detecting that an autonomous vehicle is in a stuck condition |
CN105074793A (zh) * | 2013-03-15 | 2015-11-18 | 凯利普公司 | 用于车辆路径规划和交通管理的车道级车辆导航 |
CN103258445B (zh) * | 2013-05-22 | 2015-12-23 | 严凯 | 车辆险情预警方法和预警系统 |
JP6166107B2 (ja) * | 2013-06-17 | 2017-07-19 | 株式会社Ihiエアロスペース | 無人移動体の遠隔操縦システム及び無人移動体 |
JP6257318B2 (ja) * | 2013-09-30 | 2018-01-10 | 株式会社日本総合研究所 | 自動運転交通システムにおける移動体、移動体の連携配車装置、及びその配車方法 |
KR101465493B1 (ko) * | 2014-01-28 | 2014-11-28 | 성균관대학교산학협력단 | 차량 내비게이션 시스템 및 차량의 목적지 경로를 결정하는 방법 |
US9720410B2 (en) | 2014-03-03 | 2017-08-01 | Waymo Llc | Remote assistance for autonomous vehicles in predetermined situations |
JP6269210B2 (ja) | 2014-03-18 | 2018-01-31 | アイシン・エィ・ダブリュ株式会社 | 経路探索システム、経路探索方法及びコンピュータプログラム |
CN103872666B (zh) * | 2014-03-26 | 2016-02-24 | 国家电网公司 | 一种基于电压平面的负荷与单相接地故障识别方法 |
DE102014213171A1 (de) * | 2014-04-09 | 2015-10-15 | Continental Automotive Gmbh | System zur autonomen Fahrzeugführung und Kraftfahrzeug |
CN104882025B (zh) * | 2015-05-13 | 2017-02-22 | 东华大学 | 一种基于车联网技术的碰撞检测预警方法 |
EP4180893A1 (en) | 2015-11-04 | 2023-05-17 | Zoox, Inc. | Teleoperation system and method for trajectory modification of autonomous vehicles |
-
2016
- 2016-11-02 EP EP22216663.9A patent/EP4180893A1/en active Pending
- 2016-11-02 JP JP2018544028A patent/JP6962926B2/ja active Active
- 2016-11-02 CN CN201680064768.2A patent/CN108700876B/zh active Active
- 2016-11-03 CN CN202111033039.XA patent/CN113721629B/zh active Active
- 2016-11-03 JP JP2018543270A patent/JP7316789B2/ja active Active
-
2021
- 2021-10-14 JP JP2021168747A patent/JP7381539B2/ja active Active
-
2022
- 2022-02-14 JP JP2022020682A patent/JP2022065083A/ja active Pending
- 2022-05-18 JP JP2022081627A patent/JP2022113694A/ja active Pending
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20150254986A1 (en) * | 2014-03-04 | 2015-09-10 | Google Inc. | Reporting Road Event Data and Sharing with Other Vehicles |
Also Published As
Publication number | Publication date |
---|---|
JP7316789B2 (ja) | 2023-07-28 |
CN108700876A (zh) | 2018-10-23 |
EP4180893A1 (en) | 2023-05-17 |
JP2022009142A (ja) | 2022-01-14 |
CN108700876B (zh) | 2021-08-27 |
JP2022113694A (ja) | 2022-08-04 |
JP2018538647A (ja) | 2018-12-27 |
JP2019502214A (ja) | 2019-01-24 |
JP6962926B2 (ja) | 2021-11-05 |
CN113721629B (zh) | 2024-04-02 |
CN113721629A (zh) | 2021-11-30 |
JP7381539B2 (ja) | 2023-11-15 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP7330259B2 (ja) | 自律車両のためのシミュレーションシステム、方法、及び非一時的なコンピュータ可読記憶媒体 | |
JP2022065083A (ja) | 物理的環境の変化に応答して自律車両をナビゲートするための適応マッピング | |
US11796998B2 (en) | Autonomous vehicle fleet service and system | |
US11061398B2 (en) | Machine-learning systems and techniques to optimize teleoperation and/or planner decisions | |
JP7195143B2 (ja) | 適応的な自律車両のプランナ論理 | |
US11106218B2 (en) | Adaptive mapping to navigate autonomous vehicles responsive to physical environment changes | |
US20200074024A1 (en) | Simulation system and methods for autonomous vehicles | |
CN108369775B (zh) | 响应于物理环境的改变自适应制图以对自主车辆进行导航 | |
JP2023055751A (ja) | 自律車両の群の派遣および保守管理の協調 | |
US20170316333A1 (en) | Automated extraction of semantic information to enhance incremental mapping modifications for robotic vehicles | |
US20170124476A1 (en) | Automated extraction of semantic information to enhance incremental mapping modifications for robotic vehicles | |
JP2022137160A (ja) | 遠隔操作および/またはプランナ決定を最適化するための機械学習システムおよび技法 | |
US20240028031A1 (en) | Autonomous vehicle fleet service and system |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20220316 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20230606 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20230905 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20230926 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20231221 |
|
A02 | Decision of refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A02 Effective date: 20240109 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20240509 |
|
A911 | Transfer to examiner for re-examination before appeal (zenchi) |
Free format text: JAPANESE INTERMEDIATE CODE: A911 Effective date: 20240520 |