JP6506805B2 - 自律走行車の決定の評価フレームワーク - Google Patents
自律走行車の決定の評価フレームワーク Download PDFInfo
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Description
複数の自律走行車ログを受信するステップと、
前記複数の自律走行車ログを利用し、自律走行車の運転決定に対応する人間の運転決定を抽出するステップと、
複数の評点指標に基づいて、前記人間の運転決定を評点するステップと、
少なくとも部分的に前記人間の運転決定の点数及び前記人間の運転決定と前記自律走行車の運転決定との比較に基づいて、その後の自律走行車運転のアルゴリズムを変更するための前記自律走行車の運転決定に対する点数を生成するステップと、を含む。
前記命令が、プロセッサにより実行される場合、前記プロセッサに操作を実行させ、前記操作は、
複数の自律走行車ログを受信するステップと、
前記複数の自律走行車ログを利用し、自律走行車の運転決定に対応する人間の運転決定を抽出するステップと、
複数の評点指標に基づいて、前記人間の運転決定を評点するステップと、
少なくとも部分的に前記人間の運転決定の点数及び前記人間の運転決定と前記自律走行車の運転決定との比較に基づいて、その後の自律走行車運転のアルゴリズムを変更するための前記自律走行車の運転決定に対する点数を生成するステップと、を含む。
前記命令が、前記プロセッサにより実行される場合、前記プロセッサに操作を実行させ、前記操作は、
複数の自律走行車ログを受信するステップと、
前記複数の自律走行車ログを利用し、自律走行車の運転決定に対応する人間の運転決定を抽出するステップと、
複数の評点指標に基づいて、前記人間の運転決定を評点するステップと、
少なくとも部分的に前記人間の運転決定の点数及び前記人間の運転決定と前記自律走行車の運転決定との比較に基づいて、その後の自律走行車運転のアルゴリズムを変更するための前記自律走行車の運転決定に対する点数を生成するステップと、を含む。
Claims (21)
- 複数の自律走行車ログを受信するステップと、
前記複数の自律走行車ログを利用し、自律走行車の運転決定に対応する人間の運転決定を抽出するステップと、
複数の評点指標に基づいて、前記人間の運転決定を評点するステップと、
少なくとも部分的に前記人間の運転決定の点数及び前記人間の運転決定と前記自律走行車の運転決定との比較に基づいて、その後の自律走行車運転のアルゴリズムを変更するための前記自律走行車の運転決定に対する点数を生成するステップと、を含み、
前記複数の自律走行車ログは、前記自律走行車の決定モジュールで作成された複数の自律走行車の運転決定ログ、複数のターゲットセンサ出力ログを含む感知ログ、及び複数の運転制御入力ログを含む運転ログを含み、ここで、前記自律走行車がユーザにより運転される場合、前記自律走行車から複数の運転制御入力を取得し、
ターゲットに対して自律走行車の運転決定に対応する人間の運転決定を抽出するステップには、
前記自律走行車の運転決定が行われた時間を決定するステップ、
前記自律走行車の運転決定の前後の前記感知ログを分析するステップ、又は
前記自律走行車の運転決定の前後の前記運転ログを分析するステップ
のうちの1つ以上を含んでおり、
ここで、前記運転ログを分析するステップには、前記複数の運転制御入力のうちの1つ以上の運転制御入力間の関係を決定するステップと、前記自律走行車に対する前記ターゲットの位置又は距離を決定するステップと、を含む
ことを特徴とするコンピュータ実施方法。 - 前記自律走行車外部のターゲットに対して自律走行車の運転決定を専門的に作成し、前記自律走行車の運転決定は、前記ターゲットを追い越すこと、前記ターゲットを譲ること、前記自律走行車を前記ターゲットとの最小距離に停止させること、又は前記ターゲットを無視することを含む
ことを特徴とする請求項1に記載の方法。 - 前記運転制御入力は、加速制御の入力量、ブレーキ制御の入力量又はステアリング制御の入力量のうちの1つを含む
ことを特徴とする請求項1に記載の方法。 - 前記評点指標は、安全性指標、快適さ指標、ルール遵守指標又は時間効率指標を含む
ことを特徴とする請求項1に記載の方法。 - 前記ターゲットセンサはLIDAR、RADAR、GPS又はカメラのうちの1つ以上を含み、前記ターゲットセンサ出力は、ターゲットと前記自律走行車との距離、前記自律走行車外部のターゲットの速度、前記自律走行車の速度、前記自律走行車に対する前記自律走行車外部のターゲットの方向、前記自律走行車外部のターゲットの方向、前記自律走行車の方向又は前記自律走行車の位置のうちの1つ以上を含む
ことを特徴とする請求項1に記載の方法。 - 前記人間の運転決定を評点するステップには、
前記人間の運転決定の後に、1つ以上の運転入力又は1つ以上のターゲットセンサ出力を分析することにより、抽出した人間の運転決定の安全性指標、快適さ指標、ルール遵守指標又は時間効率指標を決定するステップを含む
ことを特徴とする請求項1に記載の方法。 - 前記自律走行車の運転決定を評点するステップには、
前記自律走行車の運転決定の後に、1つ以上の運転入力又は1つ以上のターゲットセンサ出力を評価することにより、前記自律走行車の運転決定の安全性指標、快適さ指標、ルール遵守指標又は時間効率指標を決定するステップを含む
ことを特徴とする請求項1に記載の方法。 - 命令が記憶された非一時的な機械可読媒体であって、
前記命令が、プロセッサにより実行される場合、前記プロセッサに操作を実行させ、前記操作は、
複数の自律走行車ログを受信するステップと、
前記複数の自律走行車ログを利用し、自律走行車の運転決定に対応する人間の運転決定を抽出するステップと、
複数の評点指標に基づいて、前記人間の運転決定を評点するステップと、
少なくとも部分的に前記人間の運転決定の点数及び前記人間の運転決定と前記自律走行車の運転決定との比較に基づいて、その後の自律走行車運転のアルゴリズムを変更するための前記自律走行車の運転決定に対する点数を生成するステップと、を含み、
前記複数の自律走行車ログは、前記自律走行車の決定モジュールで作成された複数の自律走行車の運転決定ログ、複数のターゲットセンサ出力ログを含む感知ログ、及び複数の運転制御入力ログを含む運転ログを含み、ここで、前記自律走行車がユーザにより運転される場合、前記自律走行車から複数の運転制御入力を取得し、
ターゲットに対して自律走行車の運転決定に対応する人間の運転決定を抽出するステップは、
前記自律走行車の運転決定が行われた時間を決定するステップ、
前記自律走行車の運転決定の前後の前記感知ログを分析するステップ、又は
前記自律走行車の運転決定の前後の前記運転ログを分析するステップ
のうちの1つ以上を含んでおり、
ここで、前記運転ログを分析するステップには、前記複数の運転制御入力のうちの1つ以上の運転制御入力間の関係を決定するステップと、前記自律走行車に対する前記ターゲットの位置又は距離を決定するステップと、を含む
ことを特徴とする非一時的な機械可読媒体。 - 前記自律走行車外部のターゲットに対して自律走行車の運転決定を専門的に作成し、前記自律走行車の運転決定は、前記ターゲットを追い越すこと、前記ターゲットを譲ること、前記自律走行車を前記ターゲットとの最小距離に停止させること、又は前記ターゲットを無視することを含む
ことを特徴とする請求項8に記載の媒体。 - 前記運転制御入力は、加速制御の入力量、ブレーキ制御の入力量又はステアリング制御の入力量のうちの1つを含む
ことを特徴とする請求項8に記載の媒体。 - 前記評点指標は、安全性指標、快適さ指標、ルール遵守指標又は時間効率指標を含む
ことを特徴とする請求項8に記載の媒体。 - 前記ターゲットセンサはLIDAR、RADAR、GPS又はカメラのうちの1つ以上を含み、前記ターゲットセンサ出力は、ターゲットと前記自律走行車との距離、前記自律走行車外部のターゲットの速度、前記自律走行車の速度、前記自律走行車に対する前記自律走行車外部のターゲットの方向、前記自律走行車外部のターゲットの方向、前記自律走行車の方向又は前記自律走行車の位置のうちの1つ以上を含む
ことを特徴とする請求項8に記載の媒体。 - 前記人間の運転決定を評点するステップには、
前記人間の運転決定の後に、1つ以上の運転入力又は1つ以上のターゲットセンサ出力を分析することにより、抽出した人間の運転決定の安全性指標、快適さ指標、ルール遵守指標又は時間効率指標を決定するステップを含む
ことを特徴とする請求項8に記載の媒体。 - 前記自律走行車の運転決定を評点するステップには、
前記自律走行車の運転決定の後に、1つ以上の運転入力又は1つ以上のターゲットセンサ出力を評価することにより、前記自律走行車の運転決定の安全性指標、快適さ指標、ルール遵守指標又は時間効率指標を決定するステップを含む
ことを特徴とする請求項8に記載の媒体。 - プロセッサと、
前記プロセッサに連結されて命令を記憶するメモリと、を備え、
前記命令が、前記プロセッサにより実行される場合、前記プロセッサに操作を実行させ、
前記操作は、
複数の自律走行車ログを受信するステップと、
前記複数の自律走行車ログを利用し、自律走行車の運転決定に対応する人間の運転決定を抽出するステップと、
複数の評点指標に基づいて、前記人間の運転決定を評点するステップと、
少なくとも部分的に前記人間の運転決定の点数及び前記人間の運転決定と前記自律走行車の運転決定との比較に基づいて、その後の自律走行車運転のアルゴリズムを変更するための前記自律走行車の運転決定に対する点数を生成するステップと、を含み、
前記複数の自律走行車ログは、前記自律走行車の決定モジュールで作成された複数の自律走行車の運転決定ログ、複数のターゲットセンサ出力ログを含む感知ログ、及び複数の運転制御入力ログを含む運転ログを含み、ここで、前記自律走行車がユーザにより運転される場合、前記自律走行車から複数の運転制御入力を取得し、
ターゲットに対して自律走行車の運転決定に対応する人間の運転決定を抽出するステップは、
前記自律走行車の運転決定が行われた時間を決定するステップ、
前記自律走行車の運転決定の前後の前記感知ログを分析するステップ、又は
前記自律走行車の運転決定の前後の前記運転ログを分析するステップ
のうちの1つ以上を含んでおり、
ここで、前記運転ログを分析するステップには、前記複数の運転制御入力のうちの1つ以上の運転制御入力間の関係を決定するステップと、前記自律走行車に対する前記ターゲットの位置又は距離を決定するステップと、を含む
ことを特徴とするデータ処理システム。 - 前記自律走行車外部のターゲットに対して自律走行車の運転決定を専門的に作成し、前記自律走行車の運転決定は、前記ターゲットを追い越すこと、前記ターゲットを譲ること、前記自律走行車を前記ターゲットとの最小距離に停止させること、又は前記ターゲットを無視することを含む
ことを特徴とする請求項15に記載のデータ処理システム。 - 前記運転制御入力は、加速制御の入力量、ブレーキ制御の入力量又はステアリング制御の入力量のうちの1つを含む
ことを特徴とする請求項15に記載のデータ処理システム。 - 前記評点指標は、安全性指標、快適さ指標、ルール遵守指標又は時間効率指標を含む
ことを特徴とする請求項15に記載のデータ処理システム。 - 前記ターゲットセンサはLIDAR、RADAR、GPS又はカメラのうちの1つ以上を含み、前記ターゲットセンサ出力は、ターゲットと前記自律走行車との距離、前記自律走行車外部のターゲットの速度、前記自律走行車の速度、前記自律走行車に対する前記自律走行車外部のターゲットの方向、前記自律走行車外部のターゲットの方向、前記自律走行車の方向又は前記自律走行車の位置のうちの1つ以上を含む
ことを特徴とする請求項15に記載のデータ処理システム。 - 前記人間の運転決定を評点するステップには、
前記人間の運転決定の後に、1つ以上の運転入力又は1つ以上のターゲットセンサ出力を分析することにより、抽出した人間の運転決定の安全性指標、快適さ指標、ルール遵守指標又は時間効率指標を決定するステップを含む
ことを特徴とする請求項15に記載のデータ処理システム。 - 前記自律走行車の運転決定を評点するステップには、
前記自律走行車の運転決定の後に、1つ以上の運転入力又は1つ以上のターゲットセンサ出力を評価することにより、前記自律走行車の運転決定の安全性指標、快適さ指標、ルール遵守指標又は時間効率指標を決定するステップを含む
ことを特徴とする請求項15に記載のデータ処理システム。
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