JP6369789B2 - 自律運転のための作業中及び非作業中の工事区域のマップ作成 - Google Patents
自律運転のための作業中及び非作業中の工事区域のマップ作成 Download PDFInfo
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Description
本出願は、2013年4月10日に出願された米国特許出願第13/859,990号の継続出願であり、この特許出願の開示は引用により本明細書に組み入れられる。
本発明は、限定するわけではないが、自律運転モードの車両が使用するための作業中及び非作業中の工事区域のマップ作成を含む幅広い産業上の利用可能性を有する。
400 幹線道路
410、411、412 北行き車線
420、421、422 南行き車線
430、431、432、433、440、441、442、443 車線境界線
450、451、452、453 路肩
460、461 障壁
470 中央分離帯
810、820、830、840、850、860、870、880、890 工事物
910 工事区域の範囲
Claims (20)
- 一以上のプロセッサにより、工事区域の範囲と、前記工事区域の作業中又は非作業中といった作業タイプの分類とを識別する更新された詳細マップ情報を受信するステップであって、前記工事区域の特徴が、記憶された詳細マップ情報と比べて車道に変化があったことを示す場合、前記工事区域の前記作業タイプは作業中として分類される、ステップと、
前記更新された詳細マップ情報を受信した後に、前記一以上のプロセッサにより、所与の位置の工事物を識別するステップと、
前記一以上のプロセッサにより、前記所与の位置における前記工事区域の範囲を識別するステップと、
前記一以上のプロセッサにより、前記詳細マップ情報から前記工事区域の前記作業タイプの前記分類にアクセスするステップと、
前記一以上のプロセッサにより、前記アクセスされた分類に基づいて、自立運転モードを有する車両を操作するステップであって、前記工事区域の前記作業タイプが作業中として分類された場合、前記分類に基づいて前記車両を操作するステップは、前記工事区域の前記範囲を通じて前記車両を手動運転モードで操作するステップを含む、ステップと、
を含む、方法。 - 前記アクセスされた分類に基づいて前記車両を操作した後に、
前記工事区域の前記作業タイプを再分類するステップと、
前記再分類に基づいて、前記詳細マップ情報内の前記工事区域の前記分類を更新するステップと、をさらに含む、
請求項1に記載の方法。 - 前記分類に基づいて前記車両を操作するステップは、前記車両を前記自律運転モードで運転すべきか、それとも手動運転モードで運転すべきかを決定するステップを含む、請求項1に記載の方法。
- 前記工事区域を識別する前記更新された詳細マップ情報は、前記工事区域の前記範囲内における前記車両の運転挙動を制御する命令と共にさらに受信され、前記車両を操作するステップは、前記運転挙動を制御する前記命令にさらに基づく、請求項1に記載の方法。
- 前記作業中又は非作業中の分類の一方又は両方は、前記工事区域において作業がいつ行われるかを識別する時間成分、又は、前記工事区域において工事による影響を受ける車道車線の一方又は両方を含む、請求項1に記載の方法。
- 前記更新された分類を別の車両に送信するステップをさらに含む、請求項2に記載の方法。
- 詳細マップ情報を記憶するメモリと、
一以上のプロセッサと、
を備えたシステムであって、前記一以上のプロセッサは、
工事区域と、前記工事区域の作業中又は非作業中といった作業タイプの分類とを識別する更新された詳細マップ情報を受信することであって、前記工事区域の特徴が、記憶された詳細マップ情報と比べて車道に変化があったことを示す場合、前記工事区域の前記作業タイプは作業中として分類される、受信することと、
前記更新された詳細マップ情報を受信した後に、所与の位置の工事物を識別することと、
前記所与の位置における前記工事区域の範囲を識別することと、
前記詳細マップ情報から前記工事区域の前記作業タイプの前記分類にアクセスすることと、
前記アクセスされた分類に基づいて、自立運転モードを有する車両を操作することであって、前記工事区域の前記作業タイプが作業中として分類された場合、前記分類に基づいて前記車両を操作することは、前記工事区域の前記範囲を通じて前記車両を手動運転モードで操作することを含む、操作することと、
を行うように構成される、システム。 - 前記一以上のプロセッサは、
前記アクセスされた分類に基づいて前記車両を操作した後に、
前記工事区域の前記作業タイプを再分類することと、
前記再分類に基づいて、前記詳細マップ情報内の前記工事区域の前記分類を更新することと、
を行うようにさらに構成される、請求項7に記載のシステム。 - 前記分類に基づいて前記車両を操作することは、前記車両を前記自律運転モードで運転すべきか、それとも手動運転モードで運転すべきかを決定することを含む、請求項7に記載のシステム。
- 前記工事区域を識別する前記更新された詳細マップ情報は、前記工事区域の前記範囲内における前記車両の運転挙動を制御する命令と共にさらに受信され、前記車両を操作することは、前記運転挙動を制御する前記命令にさらに基づく、請求項7に記載のシステム。
- 前記作業中又は非作業中の分類の一方又は両方は、前記工事区域において作業がいつ行われるかを識別する時間成分、又は、前記工事区域において工事による影響を受ける車道車線の一方又は両方を含む、請求項7に記載のシステム。
- 前記分類に基づいて前記車両を操作する、請求項7に記載のシステム。
- 前記一以上のプロセッサは、前記更新された分類を遠隔コンピュータに送信することを行うようにさらに構成される、請求項8に記載のシステム。
- 命令が記憶された一時的でない有形の機械可読媒体であって、前記命令は、一以上のプロセッサにより実行されると、
工事区域と、前記工事区域の作業中又は非作業中といった作業タイプの分類とを識別する更新された詳細マップ情報を受信するステップであって、前記工事区域の特徴が、記憶された詳細マップ情報と比べて車道に変化があったことを示す場合、前記工事区域の前記作業タイプは作業中として分類される、ステップと、
前記更新された詳細マップ情報を受信した後に、所与の位置の工事物を識別するステップと、
前記所与の位置における工事区域の範囲を識別するステップと、
前記詳細マップ情報から前記工事区域の前記作業タイプの前記分類にアクセスするステップと、
前記アクセスされた分類に基づいて、自立運転モードを有する車両を操作するステップであって、前記工事区域の前記作業タイプが作業中として分類された場合、前記分類に基づいて前記車両を操作するステップは、前記工事区域の前記範囲を通じて前記車両を手動運転モードで操作するステップを含む、ステップと、
を含む方法を前記一以上のプロセッサに実行させる、
媒体。 - 前記方法は、
前記アクセスされた分類に基づいて前記車両を操作した後に、
前記工事区域の前記作業タイプを再分類するステップと、
前記再分類に基づいて、前記詳細マップ情報内の前記工事区域の前記分類を更新するステップと、をさらに含む、
請求項14に記載の媒体。 - 前記分類に基づいて前記車両を操作するステップは、前記車両を前記自律運転モードで運転すべきか、それとも手動運転モードで運転すべきかを決定するステップを含む、請求項14に記載の媒体。
- 前記工事区域を識別する前記更新された詳細マップ情報は、前記工事区域の前記範囲内における前記車両の運転挙動を制御する命令と共にさらに受信され、前記車両を操作するステップは、前記運転挙動を制御する前記命令にさらに基づく、請求項14に記載の媒体。
- 前記作業中又は非作業中の分類の一方又は両方は、前記工事区域において作業がいつ行われるかを識別する時間成分、又は、前記工事区域において工事による影響を受ける車道車線の一方又は両方を含む、請求項14に記載の媒体。
- 前記方法は、前記更新された分類を遠隔コンピュータに送信するステップをさらに含む、請求項15に記載の媒体。
- 前記更新された詳細マップ情報は、自立運転モードを有する車両内の一以上のプロセッサから受信される、請求項1に記載の方法。
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CN105210128A (zh) | 2015-12-30 |
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JP2016520902A (ja) | 2016-07-14 |
WO2014168944A1 (en) | 2014-10-16 |
EP2984642B1 (en) | 2021-01-27 |
US20220229439A1 (en) | 2022-07-21 |
JP6178914B2 (ja) | 2017-08-09 |
US20190258261A1 (en) | 2019-08-22 |
CN105210128B (zh) | 2017-10-24 |
KR101636666B1 (ko) | 2016-07-05 |
EP3757965A1 (en) | 2020-12-30 |
JP6677765B2 (ja) | 2020-04-08 |
US20140309833A1 (en) | 2014-10-16 |
KR20150138394A (ko) | 2015-12-09 |
US20170176996A1 (en) | 2017-06-22 |
EP2984642A1 (en) | 2016-02-17 |
US9575490B2 (en) | 2017-02-21 |
CN107976200B (zh) | 2022-06-28 |
EP2984642A4 (en) | 2016-08-10 |
JP2018154338A (ja) | 2018-10-04 |
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