JP2022508299A - 自動運転車両の車輪スリップの決定 - Google Patents
自動運転車両の車輪スリップの決定 Download PDFInfo
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Abstract
Description
本出願は、2018年12月12日出願の米国特許出願第16/217,531号の利益を主張するものであり、2018年12月12日出願の「Detecting General Road Weather Conditions」と題する米国特許出願第16/217,235号に関連しており、これらの全開示は参照により本明細書に組み込まれる。
図1Aは、ミニバン、スポーツユーティリティビークル(SUV)、または他の車両などの例示的な乗客用車両100の斜視図を示す。図1Bは、乗客用車両100の上から見た図を示す。乗客用車両100は、車両の外部環境に関する情報を取得するための様々なセンサを含むことができる。例えば、屋上ハウジング102は、Lidarセンサ、ならびに様々なカメラ、レーダーユニット、赤外線および/または音響センサを含むことができる。車両100の前端部に位置付けられたハウジング104、ならびに車両の運転者側および乗客側のハウジング106a、106bは、各々、Lidar、レーダー、カメラおよび/または他のセンサを組み込むことができる。例えば、ハウジング106aは、車両のクォーターパネルに沿って運転席サイドドアの前に位置付けられてもよい。図示されるように、乗客用車両100はまた、レーダーユニット、Lidar、および/または車両の後方屋根部分にも向かって位置付けられている、カメラのためのハウジング108a、108bも含む。追加のLidar、レーダーユニット、および/またはカメラ(図示せず)は、車両100に沿った他の場所に位置付けられてもよい。例えば、矢印110は、センサユニット(図1Bの112)が、車両100の後方に沿って、例えば、バンパー上またはバンパーに隣接して位置決めされてもよいことを示す。そして、矢印114は、車両の前方を向いた方向に沿って配置された一連のセンサユニット116を示す。いくつかの例では、乗客用車両100はまた、車両の内部空間(図示せず)に関する情報を取得するための様々なセンサも含むことができる。
例示的な実装形態
例示的なシナリオ
Claims (20)
- 自律運転モードにおいて車両を動作させて牽引力状態を検出する方法であって、前記方法が、
前記車両の1つ以上のプロセッサによって、前記車両のサブシステムに、前記自律運転モードにおける動作中に前記サブシステムの1つ以上の構成要素を作動させることと、
前記サブシステムの前記1つ以上の構成要素の作動中に前記車両の姿勢情報を取得することと、
前記1つ以上のプロセッサによって、前記取得された姿勢情報に従って前記車両の実際の姿勢を決定することと、
前記1つ以上のプロセッサによって、前記実際の姿勢を予想された姿勢と比較することと、
前記1つ以上のプロセッサによって、前記比較に基づいて前記実際の姿勢と前記予想された姿勢との差を決定することと、
前記差に基づいて、前記車両の1つ以上の車輪のスリップを決定することと、
前記車両の前記スリップの決定に応じて、是正運転処置またはルート再計画処置のうちの少なくとも一方を実行することと、を含む、方法。 - 前記姿勢情報を取得することが、前記車両の1つ以上のセンサからセンサデータを受信することを含む、請求項1に記載の方法。
- 前記是正運転処置が、選択された制動技術または選択された制動パターンを実行することのうちの少なくとも一方を含む、請求項1に記載の方法。
- 前記是正運転処置が、前記車両の制動プロファイルまたは所望の停止点のうちの少なくとも一方を調整することを含む、請求項1に記載の方法。
- 前記是正運転処置が、道路の選択された部分に沿って最大運転速度を低下させることを含む、請求項1に記載の方法。
- 前記是正運転処置が、前記実際の姿勢に基づいて実行される、請求項1に記載の方法。
- 前記ルート再計画処置が、道路上の異なる車線への操縦または代替ルートの選択のうちの少なくとも一方を含む、請求項1に記載の方法。
- 前記ルート再計画処置を実行することが、現在のルートの接近しつつある区分においてスリップの可能性を予測することを含む、請求項1に記載の方法。
- 前記1つ以上の構成要素のうちの所与の1つが、
制動構成要素であり、前記サブシステムが減速システムであるか、
前記所与の1つが加速構成要素であり、前記サブシステムが加速システムであるか、または
前記所与の1つがステアリング構成要素であり、前記サブシステムがステアリングシステムである、請求項1に記載の方法。 - 前記差に基づいて前記車両のうちの1つ以上の車輪の前記スリップを決定することは、前記差が閾値を超えることを決定することを含む、請求項1に記載の方法。
- 前記差が、別の物体までの相対距離、前記車両の向き、または進行方向のうちの1つ以上の変動を示す、請求項1に記載の方法。
- 前記車両の前記サブシステムに前記サブシステムの1つ以上の構成要素を作動させることが、前記自律運転モードにおける動作中に制動動作または加速動作のうちの少なくとも一方を実行することを含む、請求項1に記載の方法。
- 前記スリップに関する情報を別の車両または遠隔フリート管理システムのうちの少なくとも一方に送信することをさらに含む、請求項1に記載の方法。
- 自律運転モードにおいて動作するように構成された車両であって、前記車両が、
前記自律運転モードにおいて前記車両の運転を制御するためのステアリングサブシステム、加速サブシステム、および減速サブシステムを含む運転システムと、
前記車両の外部環境にある物体を検出するように構成された1つ以上のセンサを含む知覚システムと、
前記車両の現在位置を決定するように構成された測位システムと、
1つ以上のプロセッサを含む制御システムであって、前記制御システムが、前記運転システム、前記知覚システム、および前記測位システムに動作可能に連結されており、前記制御システムが、
前記車両のサブシステムに、前記自律運転モードにおける動作中に前記サブシステムの1つ以上の構成要素を作動させることと、
前記測位システムおよび前記知覚システムのうちの少なくとも一方から、前記サブシステムの前記1つ以上の構成要素の作動中に前記車両の姿勢情報を取得することと、
前記取得された姿勢情報に従って、前記車両の実際の姿勢を決定することと、
前記実際の姿勢を予想された姿勢と比較することと、
前記比較に基づいて、前記実際の姿勢と前記予想された姿勢との間の違いを決定することと、
前記差に基づいて、前記車両の1つ以上の車輪のスリップを決定することと、
前記運転システムに、前記車両の前記スリップの決定に応じて、是正運転処置を取らせるか、またはルート再計画処置を実行させることと、を行うように構成されている、制御システムと、を備える、車両。 - 前記是正運転処置が、選択された制動技術または選択された制動パターンのうちの少なくとも一方を実行する前記減速サブシステムを含む、請求項14に記載の車両。
- 前記是正運転処置が、前記車両の制動プロファイルまたは所望の停止点のうちの少なくとも一方を調整することを含む、請求項14に記載の車両。
- 前記是正運転処置が、道路の選択された部分に沿って最大運転速度を低下させることを含む、請求項14に記載の車両。
- 前記ルート再計画処置が、
道路上の異なる車線に操縦するか、もしくは別のルートを選択すること、または
現在のルートの接近しつつある区分におけるスリップの可能性を予測することのうちの少なくとも一方を含む、請求項14に記載の車両。 - 前記1つ以上の構成要素のうちの所与の1つが、
制動構成要素であり、前記サブシステムが前記減速サブシステムであるか、
前記所与の1つが加速構成要素であり、前記サブシステムが加速サブシステムであるか、または
前記所与の1つがステアリング構成要素であり、前記サブシステムが前記ステアリングサブシステムである、請求項14に記載の車両。 - 前記スリップに関する情報を別の車両または遠隔フリート管理システムのうちの少なくとも一方に送信するように構成された通信システムをさらに備える、請求項14に記載の車両。
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