JP6740480B2 - 自律走行車用の高度な脅威警告 - Google Patents
自律走行車用の高度な脅威警告 Download PDFInfo
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Description
Claims (20)
- 危険指示部を生成するための方法であって、
現在の車両場所、現在の車両目的地、及び履歴車両経路データを含む車両経路データを使用して車両の車両経路を決定するステップと、
現在の外部オブジェクト場所、現在の外部オブジェクト目的地、及び履歴外部オブジェクト経路データを含む外部オブジェクト経路データを使用して外部オブジェクトの外部オブジェクト経路を決定するステップと、
前記車両経路データと前記外部オブジェクト経路データとを比較して、近接基準を満たす外部オブジェクト経路を決定するステップであって、前記近接基準を満たす前記外部オブジェクト経路は、前記車両に関連付けられる過去の期間を使用して決定される既定期間の間に前記車両経路の既定の近接内に入っているステップと、
前記車両の車両状態及び前記近接基準を満たす前記外部オブジェクト経路に対応する前記外部オブジェクトの外部オブジェクト状態に基づいて前記車両に関する危険データを生成するステップであって、前記危険データは、有害イベントに関連付けられる近接性情報、重大度情報、及び可能性情報のいずれかを含むステップと、
前記危険データが危険基準を満たすとの決定に応答して、危険タイプを含む少なくとも1つの危険指示部を生成するステップと
を含む、方法。 - 前記近接基準を満たす前記外部オブジェクト経路に対応する外部オブジェクトの速度、密度及び相対位置を含む前記外部オブジェクト経路データに基づいて交通流量データを生成するステップと、
前記交通流量データが交通流量基準を満たすとの決定に応答して、前記近接基準を満たす前記外部オブジェクト経路に対応する前記外部オブジェクトの外部オブジェクト指示部を生成するステップと
をさらに含む、請求項1に記載の方法。 - 前記車両及び前記外部オブジェクトのいずれかのセンサからセンサデータを受信するステップであって、前記車両状態及び前記外部オブジェクト状態のいずれかは前記センサデータに基づいているステップ
をさらに含む、請求項1に記載の方法。 - 前記車両経路に沿って設置される1つ以上の交通制御デバイスの状態に基づいて交通制御デバイスデータを生成するステップと、
前記交通制御デバイスデータに基づいて、前記1つ以上の交通制御デバイスの少なくとも1つが故障しているとの決定に応答して、前記1つ以上の交通制御デバイスの故障タイプを決定するステップであって、前記危険データは、前記故障タイプを含むステップと
をさらに含む、請求項1に記載の方法。 - 前記車両経路及び前記外部オブジェクト経路の経路条件データを使用して経路条件を決定するステップと、
前記経路条件データを使用して前記危険データを修正するステップと、
前記車両経路及び前記近接基準を満たす前記外部オブジェクト経路に関して、前記経路条件データを使用して、経路条件指示部を生成するステップと
をさらに含む、請求項1に記載の方法。 - 前記経路条件データは、車両停止データ、建設活動データ、車線閉鎖データ、路面状態データ、歩行者活動データ、及び交通信号機タイミングデータのいずれかを含む、請求項5に記載の方法。
- 前記外部オブジェクト経路データに基づいて、前記車両経路の一部を含む既定エリアにおいて渋滞イベントが発生している期間を決定するステップと、
前記車両が前記既定エリアに入る時間が前記渋滞イベントが発生している期間に対応するとの決定に応答して、前記車両経路の一部の中の外部オブジェクトに関する1つ以上の渋滞指示部を生成するステップと
をさらに含む、請求項1に記載の方法。 - メモリと、
プロセッサと
を備え、前記プロセッサは、前記メモリに記憶されている命令を実行して、
現在の車両場所、現在の車両目的地、及び履歴車両経路データを含む車両経路データを使用して車両の車両経路を決定すること、
現在の外部オブジェクト場所、現在の外部オブジェクト目的地、及び履歴外部オブジェクト経路データを含む外部オブジェクト経路データを使用して外部オブジェクトの外部オブジェクト経路を決定すること、
前記車両経路データと前記外部オブジェクト経路データとを比較して、近接基準を満たす外部オブジェクト経路を決定することであって、前記近接基準を満たす前記外部オブジェクト経路は、前記車両に関連付けられる過去の期間を使用して決定される既定期間の間に前記車両経路の既定の近接内に入っていること、
前記車両の車両状態及び前記近接基準を満たす前記外部オブジェクト経路に対応する前記外部オブジェクトの外部オブジェクト状態に基づいて前記車両に関する危険データを生成することであって、前記危険データは、有害イベントに関連付けられる近接性情報、重大度情報、及び可能性情報のいずれかを含むこと、及び
前記危険データが危険基準を満たすとの決定に応答して、危険タイプを含む少なくとも1つの危険指示部を生成すること
を行うように構成される、危険指示装置。 - 前記プロセッサは、前記メモリに記憶されている命令を実行して、
前記近接基準を満たす前記外部オブジェクト経路に対応する外部オブジェクトの速度、密度及び相対位置を含む前記外部オブジェクト経路データに基づいて交通流量データを生成すること、及び
前記交通流量データが交通流量基準を満たすとの決定に応答して、前記近接基準を満たす前記外部オブジェクト経路に対応する前記外部オブジェクトの外部オブジェクト指示部を生成すること
を行うようにさらに構成される、請求項8に記載の危険指示装置。 - 前記プロセッサは、前記メモリに記憶されている命令を実行して、
前記車両及び前記外部オブジェクトのいずれかのセンサからセンサデータを受信することであって、前記車両状態及び前記外部オブジェクト状態のいずれかは前記センサデータに基づいていること
を行うようにさらに構成される、請求項8に記載の危険指示装置。 - 前記プロセッサは、前記メモリに記憶されている命令を実行して、
前記車両経路に沿って設置される1つ以上の交通制御デバイスの状態に基づいて交通制御デバイスデータを生成すること、及び
前記交通制御デバイスデータに基づいて、前記1つ以上の交通制御デバイスの少なくとも1つが故障しているとの決定に応答して、前記1つ以上の交通制御デバイスの故障タイプを決定することであって、前記危険データは、前記故障タイプを含むこと
を行うようにさらに構成される、請求項8に記載の危険指示装置。 - 前記プロセッサは、前記メモリに記憶されている命令を実行して、
前記車両経路及び前記外部オブジェクト経路の経路条件データを使用して経路条件を決定すること、
前記経路条件データを使用して前記危険データを修正すること、及び
前記車両経路及び前記近接基準を満たす前記外部オブジェクト経路に関して、前記経路条件データを使用して、経路条件指示部を生成すること
を行うようにさらに構成される、請求項8に記載の危険指示装置。 - 前記経路条件データは、車両停止データ、建設活動データ、車線閉鎖データ、路面状態データ、歩行者活動データ、及び交通信号機タイミングデータのいずれかを含む、請求項12に記載の危険指示装置。
- 前記プロセッサは、前記メモリに記憶されている命令を実行して、
前記外部オブジェクト経路データに基づいて、前記車両経路の一部を含む既定エリアにおいて渋滞イベントが発生している期間を決定すること、及び
前記車両が前記既定エリアに入る時間が前記渋滞イベントが発生している期間に対応するとの決定に応答して、前記車両経路の一部の中の外部オブジェクトに関する1つ以上の渋滞指示部を生成すること
を行うようにさらに構成される、請求項8に記載の危険指示装置。 - 危険指示装置の1つ以上のプロセッサによって実行可能なプログラム命令を含む非一時的なコンピュータ可読記憶媒体であって、前記プログラム命令は、実行されると、前記1つ以上のプロセッサに、
現在の車両場所、現在の車両目的地、及び履歴車両経路データを含む車両経路データを使用して車両の車両経路を決定すること、
現在の外部オブジェクト場所、現在の外部オブジェクト目的地、及び履歴外部オブジェクト経路データを含む外部オブジェクト経路データを使用して外部オブジェクトの外部オブジェクト経路を決定すること、
前記車両経路データと前記外部オブジェクト経路データとを比較して、近接基準を満たす外部オブジェクト経路を決定することであって、前記近接基準を満たす前記外部オブジェクト経路は、前記車両に関連付けられる過去の期間を使用して決定される既定期間の間に前記車両経路の既定の近接内に入っていること、
前記車両の車両状態及び前記近接基準を満たす前記外部オブジェクト経路に対応する前記外部オブジェクトの外部オブジェクト状態に基づいて前記車両に関する危険データを生成することであって、前記危険データは、有害イベントに関連付けられる近接性情報、重大度情報、及び可能性情報のいずれかを含むこと、及び
前記危険データが危険基準を満たすとの決定に応答して、危険タイプを含む少なくとも1つの危険指示部を生成すること
を含む動作を行わせる、非一時的なコンピュータ可読記憶媒体。 - 前記動作は、
前記近接基準を満たす前記外部オブジェクト経路に対応する外部オブジェクトの速度、密度及び相対位置を含む前記外部オブジェクト経路データに基づいて交通流量データを生成すること、及び
前記交通流量データが交通流量基準を満たすとの決定に応答して、前記近接基準を満たす前記外部オブジェクト経路に対応する前記外部オブジェクトの外部オブジェクト指示部を生成すること
をさらに含む、請求項15に記載の非一時的なコンピュータ可読記憶媒体。 - 前記動作は、
前記車両及び前記外部オブジェクトのいずれかのセンサからセンサデータを受信することであって、前記車両状態及び前記外部オブジェクト状態のいずれかは前記センサデータに基づいていること
をさらに含む、請求項15に記載の非一時的なコンピュータ可読記憶媒体。 - 前記動作は、
前記車両経路に沿って設置される1つ以上の交通制御デバイスの状態に基づいて交通制御デバイスデータを生成すること、及び
前記交通制御デバイスデータに基づいて、前記1つ以上の交通制御デバイスの少なくとも1つが故障しているとの決定に応答して、前記1つ以上の交通制御デバイスの故障タイプを決定することであって、前記危険データは、前記故障タイプを含むこと
をさらに含む、請求項15に記載の非一時的なコンピュータ可読記憶媒体。 - 前記動作は、
前記車両経路及び前記外部オブジェクト経路の経路条件データを使用して経路条件を決定すること、
前記経路条件データを使用して前記危険データを修正すること、及び
前記車両経路及び前記近接基準を満たす前記外部オブジェクト経路に関して、前記経路条件データを使用して、経路条件指示部を生成すること
をさらに含む、請求項15に記載の非一時的なコンピュータ可読記憶媒体。 - 前記動作は、
前記外部オブジェクト経路データに基づいて、前記車両経路の一部を含む既定エリアにおいて渋滞イベントが発生している期間を決定すること、及び
前記車両が前記既定エリアに入る時間が前記渋滞イベントが発生している期間に対応するとの決定に応答して、前記車両経路の一部の中の外部オブジェクトに関する1つ以上の渋滞指示部を生成すること
をさらに含む、請求項15に記載の非一時的なコンピュータ可読記憶媒体。
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US10580296B2 (en) | 2020-03-03 |
JP2020513624A (ja) | 2020-05-14 |
EP3551968A1 (en) | 2019-10-16 |
BR112019011376A2 (pt) | 2019-10-15 |
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