JP6435351B2 - 自律動作検証装置および自律システム - Google Patents
自律動作検証装置および自律システム Download PDFInfo
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- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
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- 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
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- B60W60/001—Planning or execution of driving tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
- B60W60/00272—Planning or execution of driving tasks using trajectory prediction for other traffic participants relying on extrapolation of current movement
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- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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- B60W60/00274—Planning or execution of driving tasks using trajectory prediction for other traffic participants considering possible movement changes
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- G—PHYSICS
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Description
以下、本発明を用いた自律動作検証装置の第一実施例について説明する。
一方、充足解が存在する場合には、具体的な割り当て値となる動作命令値列が、所望の不整合を招く解となっている。
(実施例2)
図11は、図1で開示した自律動作検証装置を備えた自律制御装置及び自律システムの構成例を示す。自律システムの典型的な構成は、内部状態計測手段021、外界状態計測手段022、自律制御装置03、駆動装置028のハードウェアで構成されるものである。
(実施例3)
図12は、図1で開示した自律動作検証装置02を備えた自律制御装置02及び自律システム01であって、自律動作検証装置03の内部で行われる判定処理フロー及び通知情報を、図13に示される処理フローに従い、図14に示される外観の提示装置等に出力する構成例を示す。
代替計画動作が無い場合には、回避不能のハザードを招く周囲動体を特定して、ハザードを招く周囲動体の状態値列の空間座標成分を取り出して連結した危険軌跡データを、提示装置内の表示画面0273に表示する。
02 自律制御装置
021 内部状態計測手段
022 外界状態計測手段
023 動作時制約
024 動作時前提条件
025 期待動作
026 安全要件
027 提示装置
0271 システム異常ランプ
0272 動作計画手段以上のランプ
0273 検証に用いる有効データの表示画面
028 駆動装置
03 自律動作検証装置
031 制約形式変換部
032 充足可能性判定部
033 動作計画手段
034 検証前計画動作
035 検証済み計画動作
036 制御装置
04 記録装置
Claims (7)
- 自車の内部状態を計測する内部状態計測手段と、
外界状態を計測する手段と、
前記内部状態が所定の時点までに取りうる値域を限定する動作時制約を設定する動作時制約設定手段と、
外界計測手段を用いて取得した外界状態を用いて、前記外界状態が所定の時点までにとりうる値域を限定する動作時前提条件を設定する手段と、
前記内部状態および前記外界状態の関係を制約する安全要件を設定する手段と、
自車が実行するべき動作を指示する期待動作を設定する期待動作設定手段と、
前記期待動作を達成する事を目的とする計画動作を算出する計画動作算出手段と、
前記動作時制約と前記動作時前提条件と前記安全要件と前記期待動作と前記計画動作をすべて限量子付き制約形式に変換する制約形式変換部と、
前記限量子付き制約形式の充足解の有無を判定する充足可能性判定手段と、を有し、
前記充足可能性判定手段は、自車が前記計画動作に基づき動作している時に前記限量子付き制約形式の充足可能性判定解を解く自律システム。 - 前記充足可能性判定手段は、
前記期待動作と前記安全要件の充足解の有無を判定する実現可能性判定機能と、
前記外界状態と前記動作時前提条件の充足解の有無を判定して、前記動作時前提条件に違反する危険動作をする対象を特定するハザード要因特定機能と、
前記動作時前提条件の元で前記安全要件に違反する前記外部状態の時系列値の有無を判定するハザード発生可能性判定機能と、
前記動作時前提条件の元で前記安全要件を充足する代替計画動作の有無を判定するハザード回避可能性判定機能と、
を有する請求項1に記載の自律システム。 - 前記充足可能性判定手段は、
前記実現可能性判定機能の結果に基づく計画動作の安全性と、
前記ハザード要因特定機能の結果に基づく危険動作をする対象と、
前記ハザード発生可能性判定機能の結果に基づくハザード要因と、
前記ハザード回避可能性判定機能の結果に基づく代替計画動作と、を前記計画動作算出手段に通知する請求項2に記載の自律システム。 - 前記充足可能性判定手段は、
前記限量子付き制約形式のデータを受け取る毎に、受け取ったデータにより前記各種機能により判定した結果のデータを、そのデータの登録時点及び有効期限と併せて記録手段に出力する請求項3に記載の自律システム。 - 前記計画動作算出手段は、
前記充足可能性判定手段から前記代替計画動作を得た場合には、前記計画動作を前記代替計画動作に置換して、前記安全要件を充足する回復機能を有する事を特徴とする請求項4に記載の自律システム。 - 乗員への提示手段を有し、
前記充足可能性判定手段は、前記安全性と、前記危険動作をする対象と、前記ハザード要因と、前記代替計画と、を前記提示手段に通知し、
前記提示手段は、
前記計画動作の安全性がない場合、異常ランプを点灯する機能と、
前記危険動作をする対象を強調表示する機能と、
代替計画動作を表示する機能と、
を備える事を特徴とする請求項4に記載の自律システム。 - 自車の内部状態値が所定の時点までに取りうる値域を限定する動作時制約と、計測された外界状態が所定の時点までにとりうる値域を限定する動作時前提条件情報と、前記内部状態および前記外界状態の関係を制約する安全要件情報と、自車が実行するべき動作を指示する期待動作と、前記期待動作を達成する事を目的とする計画動作情報とが入力され、前記入力されたすべてを限量子付き制約形式に変換する制約形式変換部と、
前記限量子付き制約形式の充足解の有無を判定する充足可能性判定部と、を有し、
前記充足可能性判定部は、自車が前記計画動作に基づき動作している時に前記限量子付き制約形式の充足可能性判定解を解く自律動作検証装置。
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US10640111B1 (en) | 2016-09-07 | 2020-05-05 | Waymo Llc | Speed planning for autonomous vehicles |
WO2018051399A1 (ja) * | 2016-09-13 | 2018-03-22 | 株式会社日立情報通信エンジニアリング | 状態予測装置及び状態予測方法 |
MX2019009397A (es) | 2017-02-10 | 2019-12-05 | Nissan North America Inc | Gestion operacional de vehiculo autonomo que incluye operar una instancia de modelo de proceso de decision de markov parcialmente observable. |
RU2734732C1 (ru) | 2017-02-10 | 2020-10-22 | Ниссан Норт Америка, Инк. | Отслеживание блокировки сети движения при оперативном управлении автономным транспортным средством |
JP6638695B2 (ja) * | 2017-05-18 | 2020-01-29 | トヨタ自動車株式会社 | 自動運転システム |
US11210744B2 (en) * | 2017-08-16 | 2021-12-28 | Mobileye Vision Technologies Ltd. | Navigation based on liability constraints |
WO2019089015A1 (en) | 2017-10-31 | 2019-05-09 | Nissan North America, Inc. | Autonomous vehicle operation with explicit occlusion reasoning |
WO2019088989A1 (en) | 2017-10-31 | 2019-05-09 | Nissan North America, Inc. | Reinforcement and model learning for vehicle operation |
US10627825B2 (en) | 2017-11-22 | 2020-04-21 | Waymo Llc | Using discomfort for speed planning in autonomous vehicles |
US10967861B2 (en) | 2018-11-13 | 2021-04-06 | Waymo Llc | Using discomfort for speed planning in responding to tailgating vehicles for autonomous vehicles |
US11084504B2 (en) | 2017-11-30 | 2021-08-10 | Nissan North America, Inc. | Autonomous vehicle operational management scenarios |
WO2020204871A1 (en) | 2017-12-22 | 2020-10-08 | Nissan North America, Inc. | Shared autonomous vehicle operational management |
EP3759563B1 (en) * | 2018-02-26 | 2023-11-22 | Nissan North America, Inc. | Centralized shared autonomous vehicle operational management |
US11120688B2 (en) | 2018-06-29 | 2021-09-14 | Nissan North America, Inc. | Orientation-adjust actions for autonomous vehicle operational management |
US11783701B2 (en) * | 2019-01-31 | 2023-10-10 | Nec Corporation | Communication control apparatus, communication system, communication control method, and non-transitory computer-readable medium |
GB202215836D0 (en) * | 2019-05-07 | 2022-12-07 | Motional Ad Llc | Systems and methods for planning and updating a vehicle's trajectory |
JP2022537798A (ja) * | 2019-05-08 | 2022-08-30 | ボルボトラックコーポレーション | 車両制御指令が将来の車両安全マニューバを除外するかどうかを判断するための方法 |
US11899454B2 (en) | 2019-11-26 | 2024-02-13 | Nissan North America, Inc. | Objective-based reasoning in autonomous vehicle decision-making |
US11635758B2 (en) | 2019-11-26 | 2023-04-25 | Nissan North America, Inc. | Risk aware executor with action set recommendations |
US11613269B2 (en) | 2019-12-23 | 2023-03-28 | Nissan North America, Inc. | Learning safety and human-centered constraints in autonomous vehicles |
US11300957B2 (en) | 2019-12-26 | 2022-04-12 | Nissan North America, Inc. | Multiple objective explanation and control interface design |
US11577746B2 (en) | 2020-01-31 | 2023-02-14 | Nissan North America, Inc. | Explainability of autonomous vehicle decision making |
US11714971B2 (en) | 2020-01-31 | 2023-08-01 | Nissan North America, Inc. | Explainability of autonomous vehicle decision making |
US11782438B2 (en) | 2020-03-17 | 2023-10-10 | Nissan North America, Inc. | Apparatus and method for post-processing a decision-making model of an autonomous vehicle using multivariate data |
CN113810354B (zh) * | 2020-09-08 | 2022-06-14 | 北京航空航天大学 | 用于自治系统的数据认证方法及装置 |
EP4027204A1 (en) * | 2021-01-07 | 2022-07-13 | TUV SUD Hong Kong Limited | System and method for modelling and assessing risks |
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JP5159369B2 (ja) * | 2008-02-29 | 2013-03-06 | 三菱電機株式会社 | 複数ロボットによる探索監視方法 |
JP2012226699A (ja) * | 2011-04-22 | 2012-11-15 | Toyota Motor Corp | 進路評価装置 |
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