JP2022113694A - ロボット車両のための内部安全システム - Google Patents
ロボット車両のための内部安全システム Download PDFInfo
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- JP2022113694A JP2022113694A JP2022081627A JP2022081627A JP2022113694A JP 2022113694 A JP2022113694 A JP 2022113694A JP 2022081627 A JP2022081627 A JP 2022081627A JP 2022081627 A JP2022081627 A JP 2022081627A JP 2022113694 A JP2022113694 A JP 2022113694A
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Abstract
Description
本出願は、2015年11月4日に出願された米国特許出願第14/932,954号明細書の継続出願であり、これは、2015年11月4日に出願された「Autonomous Vehicle Fleet Service and System」と題されている米国特許出願第14/932,959号明細書、2015年11月4日に出願された「Adaptive Mapping to Navigate Autonomous Vehicles Responsive to Physical Environment Changes」と題されている米国特許出願第14/932,963号明細書、および2015年11月4日に出願された「Robotic Vehicle Active Safety Systems and Methods」と題されている米国特許出願第14/932,962号明細書に関連しており、これらのすべては、すべての目的のためにそれらの全体が参照によって本明細書に組み込まれている。
100i 内部
100e 外部
105 軌道
105a 衝突回避軌道
180 オブジェクト
185 軌道
187 衝突
190 環境
Claims (10)
- ロボット車両内部安全システムアクティブ化のための方法であって、
自律車両の座席が占有されているということを検知するステップと、
前記座席と結合されているシートベルトが締められているということを検知するステップと、
前記シートベルトと結合されているベルトテンショナーによって、第1の張力を前記シートベルトに加えるステップと、
前記自律車両を目的地へ向けて自律的に進行させるステップと、
複数の安全関連事象からの安全事象の発生を識別するステップであって、前記複数の安全関連事象は、制動事象および加速事象を含む、ステップと、
前記ベルトテンショナーによって、前記安全事象の前記発生に少なくとも部分的に基づいて前記第1の張力を第2の張力へ増大させるステップと、
前記ベルトテンショナーによって、前記進行の間、前記第2の張力を前記第1の張力へ低減させるステップと
を備えることを特徴とする方法。 - 前記自律車両が前記目的地に到着したということを検知するステップであって、
前記自律車両の知覚システムにおいて、センサ信号を表すデータを受信するステップであって、前記センサ信号は、前記自律車両のセンサシステムによって生成される、ステップと、
前記知覚システムにおいて、前記センサ信号に少なくとも部分的に基づいて、前記自律車両の外部の環境を示すオブジェクトデータを表すデータを生成するステップと、
前記自律車両のローカライザシステムにおいて、前記環境における前記自律車両のロケーションに関連付けられているロケーションデータを表すデータを受信するステップと、
前記ローカライザシステムにおいて、前記ロケーションデータに少なくとも部分的に基づいて、位置および配向データを表すデータを生成するステップと、
前記自律車両のプランナーシステムにおいて、前記オブジェクトデータを前記位置および配向データと比較して、前記自律車両が前記目的地に到着したということを決定するステップと
を含む、ステップをさらに備えることを特徴とする請求項1に記載の方法。 - 前記自律車両の前記座席が占有されているということを検知する前記ステップは、
前記座席と結合されている占有センサからのセンサ信号を表すデータを受信するステップと、
前記センサ信号に少なくとも部分的に基づいて、前記座席が占有されていると決定するステップと
をさらに含むことを特徴とする請求項1または2に記載の方法。 - 前記座席と結合されている前記シートベルトが締められているということを検知する前記ステップは、
前記シートベルトを締めていることを感知するように構成されているシートベルトセンサからのセンサ信号を表すデータを受信するステップと、
前記センサ信号に少なくとも部分的に基づいて、前記シートベルトが締められていると決定するステップと
をさらに含むことを特徴とする請求項1乃至3のいずれか一項に記載の方法。 - 前記ベルトテンショナーによって加える前記ステップは、
前記ベルトテンショナーにおいて、前記シートベルトに張力を加えるために前記ベルトテンショナーが選択されていることを示すベルトテンショナー選択信号を表すデータを受信するステップと、
前記ベルトテンショナーにおいて、前記シートベルトに張力を加えることを前記ベルトテンショナーに行わせるように構成されているトリガー信号を表すデータを受信するステップと
をさらに含むことを特徴とする請求項1乃至4のいずれか一項に記載の方法。 - システムであって。
1つまたは複数のプロセッサと、
前記1つまたは複数のプロセッサによって実行されたとき、前記システムに、
環境における自律車両のロケーションを表すデータに少なくとも部分的に基づいて、前記環境における前記自律車両の軌道を表すデータを決定することと、
前記環境におけるオブジェクトのロケーションを表すデータを決定することであって、前記オブジェクトは、オブジェクトトラックおよびオブジェクト分類を有する、ことと、
前記オブジェクトの前記ロケーションを表す前記データ、および前記自律車両の前記軌道を表す前記データに少なくとも部分的に基づいて、前記オブジェクトと前記自律車両との間における衝突を予測することと、
前記衝突が予測されるパラメータ範囲において前記自律車両の内部安全システムのアクティブ化をもたらすことと
を含むオペレーションを実行させるコンピュータ実行可能命令を有するコンピュータ可読メモリと
を備えたことを特徴とするシステム。 - 前記オペレーションは、
ベルトテンショナーによって、前記自律車両の内部に配置されている座席に結合されているシートベルトに張力を加えることであって、前記ベルトテンショナーは、前記シートベルトに結合されている、ことをさらに含むことを特徴とする請求項6に記載のシステム。 - 前記内部安全システムのアクティブ化をもたらすことは、
ベルトテンショナーによって、前記自律車両の内部に配置されている座席に結合されているシートベルトに張力を加えることであって、前記ベルトテンショナーは、前記シートベルトに結合されている、ことを含むことを特徴とする請求項6に記載のシステム。 - 前記パラメータ範囲は、前記オブジェクトと前記自律車両との間における前記衝突に関連付けられている予測される衝撃時間を含むことを特徴とする請求項6乃至8のいずれか一項に記載のシステム。
- ベルトテンショナーによって、前記予測される衝撃時間の前に、前記自律車両の内部に配置されている座席に結合されているシートベルトに張力を加えることであって、前記ベルトテンショナーは、前記シートベルトに結合されている、こと
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。
Applications Claiming Priority (12)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US14/756,996 US9916703B2 (en) | 2015-11-04 | 2015-11-04 | Calibration for autonomous vehicle operation |
US14/932,959 US9606539B1 (en) | 2015-11-04 | 2015-11-04 | Autonomous vehicle fleet service and system |
US14/932,940 US9734455B2 (en) | 2015-11-04 | 2015-11-04 | Automated extraction of semantic information to enhance incremental mapping modifications for robotic vehicles |
US14/932,963 US9612123B1 (en) | 2015-11-04 | 2015-11-04 | Adaptive mapping to navigate autonomous vehicles responsive to physical environment changes |
US14/756,995 US9958864B2 (en) | 2015-11-04 | 2015-11-04 | Coordination of dispatching and maintaining fleet of autonomous vehicles |
US14/756,991 US9720415B2 (en) | 2015-11-04 | 2015-11-04 | Sensor-based object-detection optimization for autonomous vehicles |
US14/932,954 | 2015-11-04 | ||
US14/932,962 US9630619B1 (en) | 2015-11-04 | 2015-11-04 | Robotic vehicle active safety systems and methods |
US14/756,992 US9910441B2 (en) | 2015-11-04 | 2015-11-04 | Adaptive autonomous vehicle planner logic |
US14/932,954 US9517767B1 (en) | 2015-11-04 | 2015-11-04 | Internal safety systems for robotic vehicles |
JP2018544032A JP7458704B2 (ja) | 2015-11-04 | 2016-11-02 | ロボット車両のための内部安全システム |
PCT/US2016/060037 WO2017079236A2 (en) | 2015-11-04 | 2016-11-02 | Internal safety systems for robotic vehicles |
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JP2018538647A (ja) | 2018-12-27 |
CN118192555A (zh) | 2024-06-14 |
JP2022065083A (ja) | 2022-04-26 |
CN108700876B (zh) | 2021-08-27 |
JP6962926B2 (ja) | 2021-11-05 |
JP2022009142A (ja) | 2022-01-14 |
JP7316789B2 (ja) | 2023-07-28 |
JP7381539B2 (ja) | 2023-11-15 |
CN113721629B (zh) | 2024-04-02 |
JP2019502214A (ja) | 2019-01-24 |
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EP4180893A1 (en) | 2023-05-17 |
CN113721629A (zh) | 2021-11-30 |
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