JP2022506539A - 追従のための車両軌道の修正 - Google Patents
追従のための車両軌道の修正 Download PDFInfo
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Abstract
Description
この特許出願は、2018年11月5日に出願された米国特許出願第16/181,164号の優先権を主張し、その全体が参照により本明細書に組み込まれる。
段落A.車両のための環境を通る運転可能エリアを決定するステップであって、前記運転可能エリアは、前記車両が走行し得る環境内の領域を表す、ステップと、前記車両が辿るための前記運転可能エリア内の軌道を決定するステップと、前記車両上のセンサからセンサデータを受信するステップと、前記センサデータに少なくとも部分的に基づいて、前記環境内の物体を検出するステップと、前記センサデータに少なくとも部分的に基づいて、前記物体に関連付けられた物体パラメータを決定するステップであって、前記物体パラメータは、速度、位置、分類、または範囲の1つまたは複数を含むステップと、前記物体パラメータに少なくとも部分的に基づいて、修正された運転可能エリアを決定するステップと、前記修正された運転可能エリアに少なくとも部分的に基づいて、前記軌道が無効であることを決定するステップと、前記軌道が無効であると決定するステップに少なくとも部分的に基づいて、修正された軌道を決定するステップと、前記修正された軌道に従って前記車両を制御するステップと、を含む方法。
本明細書で説明する技術の1つまたは複数の例について説明したが、様々な変更、追加、置換、およびそれらの同等物が、本明細書で説明する技術の範囲内に含まれる。
Claims (15)
- 車両のための環境を通る運転可能エリアを決定するステップと、
前記車両が辿るための前記運転可能エリア内の軌道を決定するステップと、
前記車両上のセンサからセンサデータを受信するステップと、
前記センサデータに少なくとも部分的に基づいて、前記環境内の物体を検出するステップと、
前記センサデータに少なくとも部分的に基づいて、前記物体に関連付けられた物体パラメータを決定するステップと、
前記物体パラメータに少なくとも部分的に基づいて、修正された運転可能エリアを決定するステップと、
前記修正された運転可能エリアに少なくとも部分的に基づいて、前記軌道が無効であることを決定するステップと、
前記軌道が無効であると決定するステップに少なくとも部分的に基づいて、修正された軌道を決定するステップと、
前記修正された軌道に従って前記車両を制御するステップと、
を含む方法。 - 前記軌道が無効であると決定するステップは、前記修正された運転可能エリアおよび前記軌道に少なくとも部分的に基づいて、コストを決定するステップを含み、
前記コストは前記車両と前記物体との間を維持する最小距離に少なくとも部分的に基づく、
請求項1に記載の方法。 - 前記物体パラメータに少なくとも部分的に基づいて、前記物体の予測軌道を決定するステップを、さらに含み、前記コストは前記予測軌道に少なくとも部分的に基づく、請求項2に記載の方法。
- 前記物体パラメータは、前記車両に占有されている車線内への前記物体による車線変更または合流を示す、請求項1から請求項3のいずれか1項に記載の方法。
- 前記修正された軌道に従って前記車両を制御するステップは、
前記物体の相対速度または前記物体までの相対距離の1つまたは複数に少なくとも部分的に基づいて、前記物体に追従するように前記車両を制御するステップを、
さらに含む、請求項1から請求項4のいずれか1項に記載の方法。 - 前記物体パラメータは、速度、位置、分類、または範囲の1つまたは複数を含む、請求項1から請求項5のいずれか1項に記載の方法。
- 前記分類は、車、自転車、オートバイ、または歩行者を含む、請求項1から請求項6のいずれか1項に記載の方法。
- 前記軌道が無効であると決定するステップは、
前記軌道が前記修正された運転可能エリアの境界の閾値距離と交差する、または範囲内にあると決定するステップを
含む、請求項1から請求項7のいずれか1項に記載の方法。 - 実行されると、1つまたは複数のプロセッサに請求項1ないし請求項8のいずれか1項に記載の前記方法を実行させる命令を格納する非一時的コンピュータ可読媒体。
- 車両上に設置されたセンサと、
プロセッサと、
前記プロセッサによって実行可能な命令を格納するコンピュータ可読媒体と、
を備え、
前記命令が実行されると、前記プロセッサに、
前記車両ための運転可能エリアを決定するステップと、
前記運転可能エリアに少なくとも部分的に基づいて、前記車両が辿るための基準軌道を決定するステップと、
前記センサからセンサデータを受信するステップと、
前記センサデータに少なくとも部分的に基づいて、前記車両が走行する環境内の物体の物体パラメータを決定するステップと、
前記センサデータに少なくとも部分的に基づいて、前記運転可能エリアを修正し、修正された運転可能エリアを生成するステップと、
前記修正された運転可能エリアおよび前記基準軌道に少なくとも部分的に基づいて、前記基準軌道を修正するかどうかを決定するステップと、
を含む操作を実行させる、車両。 - 前記物体パラメータは、
速度、位置、分類、または範囲の1つまたは複数を含む、
車線変更または合流を示す、または
交差点の方向転換を示す、
の少なくとも1つである、請求項10に記載の車両。 - 前記基準軌道を修正するステップは、前記車両と前記物体との間の相対距離および相対速度を維持するステップを含む、請求項10または請求項11のいずれか1項に記載の車両。
- 前記操作は
前記基準軌道を修正するかどうかに少なくとも部分的に基づいて、修正された軌道を決定するステップと、
前記修正された軌道に関連付けられたコストを決定するステップと、
前記コストがコスト閾値を満たすまたは超えるかどうかに少なくとも部分的に基づいて、前記車両を制御するステップと、
をさらに含む、請求項10から請求項12のいずれか1項に記載の車両。 - 前記操作は、
前記物体の予測軌道を決定するステップと、
前記予測軌道に関連付けられた確率を決定するステップと、
前記予測軌道に関連付けられた前記確率に少なくとも部分的に基づいて、前記車両を制御するステップと、
をさらに含む、請求項10から請求項13のいずれか1項に記載の車両。 - 前記修正された運転可能エリアは第1の修正された運転可能エリアであり、
前記操作は、
第2の物体に基づく追加のセンサデータを受信するステップと、
前記追加のセンサデータに少なくとも部分的に基づいて、前記運転可能エリアを修正し、第2の修正された運転可能エリアを生成するステップと、
前記第2の修正された運転可能エリアおよび前記基準軌道に少なくとも部分的に基づいて、コストを決定するステップと、
前記コストおよび前記第1の修正された運転可能エリアに少なくとも部分的に基づいて、前記車両を制御するステップと、
をさらに含む、請求項10から請求項14のいずれか1項に記載の車両。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US16/181,164 US11110922B2 (en) | 2018-11-05 | 2018-11-05 | Vehicle trajectory modification for following |
US16/181,164 | 2018-11-05 | ||
PCT/US2019/059769 WO2020097011A2 (en) | 2018-11-05 | 2019-11-05 | Vehicle trajectory modification for following |
Publications (2)
Publication Number | Publication Date |
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JP2022506539A true JP2022506539A (ja) | 2022-01-17 |
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