JP6967672B2 - 既存の経路を目的地まで延長する遠隔操作 - Google Patents
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Description
Claims (17)
- 車両の自律動作の遠隔支援のための装置であって、
記憶装置と、
前記記憶装置に記憶された命令を実行するように構成されたプロセッサとを備え、
該プロセッサは、出発地から目的地の終点に至る走行経路を走行する車両から、前記目的地において停止した前記車両が前記終点に到達することができないことを識別する支援要求信号を受信し、
地理的領域および前記地理的領域内の前記車両の表示を含む第1の地図表示を生成し、
前記車両から、前記車両の1つ以上の感知装置からのセンサデータを受信し、
前記第1の地図表示、前記センサデータおよび地理参照高解像度衛星画像を含む遠隔支援インターフェースを生成し、
前記遠隔支援インターフェースに提供される入力信号に応答して、前記目的地における代替終点を含む命令データを前記車両に送信し、
前記命令データは、前記車両の現在位置と延長走行経路を形成する前記代替終点との間の中間地点を含み、
前記延長走行経路の少なくとも一部は、前記地理的領域のマッピングされていない部分に位置する、装置。 - 前記センサデータは、前記車両の画像取込装置からの画像データまたは物体検知情報のうちの少なくとも1つを含む、請求項1に記載の装置。
- 前記記憶装置は、前記目的地における少なくとも2つの終点のためのストレージを含む、請求項1または2に記載の装置。
- 前記入力信号は、前記少なくとも2つの終点からの前記代替終点の選択を含む、請求項3に記載の装置。
- 前記代替終点は、前記地理的領域の前記マッピングされていない部分の内側にあり、
前記入力信号は、前記地理的領域のマッピングされた部分から前記地理的領域の前記マッピングされていない部分を通って前記代替終点に到る前記延長走行経路をさらに含む、請求項4に記載の装置。 - 前記代替終点は、前記地理的領域のマッピングされた部分の内側の新しい終点である、請求項1または2に記載の装置。
- 前記プロセッサは、前記記憶装置に格納された命令を実行するように構成され、
前記新しい終点を前記目的地の終点になりうる点の集合に格納する、請求項6に記載の装置。 - 前記代替終点は、前記地理的領域の前記マッピングされていない部分における新しい終点であり、
前記延長走行経路は、前記マッピングされていない部分を通って前記目的地における前記新しい終点まで到る経路を含む、請求項1または2に記載の装置。 - 前記プロセッサは、前記記憶装置に格納された命令を実行するように構成され、
前記新しい終点を前記目的地の終点になりうる点の集合に格納し、マッピングされていない部分を通って前記新しい終点に到る前記経路を格納する、請求項8に記載の装置。 - 前記遠隔支援インターフェースは、公共に利用可能なストリートビューデータを含む、請求項1または2に記載の装置。
- 前記支援要求信号は、前記目的地の規定された距離内の規定された時間の間、前記車両が停止することに応答する、前記車両からの自動化された信号を含む、請求項1または2に記載の装置。
- 前記命令は、前記代替終点付近の所望の停止位置を示す前記第1の地図表示上の前記入力信号を受信する命令をさらに含み、
前記入力信号は、前記車両の現在位置から前記第1の地図表示上の前記代替終点までの前記車両の経路に対して垂直な交差線を形成し、前記入力信号は前記センサデータに応答し、
前記命令データは、前記代替終点として前記車両に前記所望の停止位置を送信することを含む、請求項1または2に記載の装置。 - 前記支援要求信号は、前記車両の現在位置と前記終点との間の前記目的地における閉鎖された入口、または前記車両の前記現在位置と前記終点との間の前記目的地における閉鎖された歩道のうちの少なくとも1つに応答する、請求項1または2に記載の装置。
- 車両の自律動作の遠隔支援を提供するための方法であって、
出発地から目的地の終点に至る走行経路を走行する車両から、前記目的地において停止した前記車両が前記終点に到達できないことを識別する支援要求信号を受信するステップと、
地理的領域および地理的領域内の前記車両の表示を含む第1の地図表示を生成するステップと、
前記車両から、前記車両の1つ以上の感知装置からのセンサデータを受信するステップと、
第1の地図表示、前記センサデータおよび地理参照高解像度衛星画像を含む遠隔支援インターフェースを生成するステップと、
遠隔支援インターフェースに提供される入力信号に応答して、前記目的地における代替終点を含む命令データを車両に送信するステップと、を含み、
前記命令データは、前記車両の現在位置と延長走行経路を形成する前記代替終点との間の中間地点を含み、
前記延長走行経路の少なくとも一部は、前記地理的領域のマッピングされていない部分に位置する方法。 - 前記命令データは、前記延長走行経路に沿った停止位置、または、前記延長走行経路に沿った1つまたは複数の速度制限のうちの少なくとも1つとを含む、請求項14に記載の方法。
- 前記代替終点に到る前記延長走行経路は、サービスコンテキスト、顧客位置、前記目的地における前記終点、地域交通ルールまたは基準、または前記目的地の記憶された利用履歴のうちの少なくとも1つに基づく、請求項14または15に記載の方法。
- 前記遠隔支援インターフェースは、インフラストラクチャセンサデバイスからのデータ、または、前記第1の地図表示に重畳する地域ルールまたは基準のうちの少なくとも1つを備える、請求項14または15に記載の方法。
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PCT/US2019/019037 WO2019165135A1 (en) | 2018-02-21 | 2019-02-21 | Remote operation extending an existing route to a destination |
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