JP7071271B2 - 自律車両の方向性を示すためのアクティブ化照明を構成するシステム - Google Patents
自律車両の方向性を示すためのアクティブ化照明を構成するシステム Download PDFInfo
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- JP7071271B2 JP7071271B2 JP2018543267A JP2018543267A JP7071271B2 JP 7071271 B2 JP7071271 B2 JP 7071271B2 JP 2018543267 A JP2018543267 A JP 2018543267A JP 2018543267 A JP2018543267 A JP 2018543267A JP 7071271 B2 JP7071271 B2 JP 7071271B2
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Description
本PCT国際出願は、2015年11月4日に出願された「Autonomous Vehicle Fleet Service and System」と題されている米国特許出願第14/756,994号明細書、2015年11月4日に出願された「Active Lighting Control for Communicating a State of an Autonomous Vehicle to Entities in a Surrounding Environment」と題されている米国特許出願第14/932,948号明細書、および2015年11月4日に出願された「Robotic Vehicle Active Safety Systems and Methods」と題されている米国特許出願第14/932,962号明細書の継続出願であり、これは、2015年11月4日に出願された「Autonomous Vehicle Fleet Service And System」と題されている米国特許出願第14/932,959号明細書、2015年11月4日に出願された「Adaptive Mapping To Navigate Autonomous Vehicles Responsive To Physical Environment Changes」と題されている米国特許出願第14/932,963号明細書に関連しており、これらのすべては、すべての目的のためにそれらの全体が参照によって本明細書に組み込まれている。
行動を変更することが可能である。
に/または車両100にその側部1005から近づくオブジェクトに関するセンサおよびアラートカバレッジを提供するように車両100上に配置されることが可能である(たとえば、図3Bにおけるセンサシステム330における1つまたは複数のセンサ328は、センサカバレッジの重なり合う領域を含むことができる)。プランナーシステムは、たとえば、オブジェクトとの衝突を回避するために、双方向680の走行能力を使用して、安全停止操縦または安全停止軌道を実施することができる。一例として、自律車両100は、第1の方向に走行していて、停止し、第1の方向とは逆である第2の方向での走行を開始することが可能であり、衝突またはその他の極端な事象を回避するために安全停止ロケーションへ操縦することができる。プランナーシステムは、601、603、および605として示されている、環境590における1つまたは複数のしきい値ロケーション(たとえば、しきい値境界、これは、距離などの関数であることが可能である)を推定することができ、そのしきい値ロケーションにおいて、オブジェクト(たとえば、歩行者オブジェクト585d)のロケーションが、一致のポイント602、604、および606によって示されているように、しきい値ロケーションと一致した場合に、アラートを発行する。3つのしきい値ロケーションが示されているが、示されているよりも多いまたは少ないしきい値ロケーションが存在することが可能である。第1の例として、軌道Tpが、602として示されているポイントにおいて第1のしきい値ロケーション601と交差する際に、プランナーシステムは、(たとえば、相対的なまたは絶対的な基準フレームの座標X1、Y1を有している)ポイント602における歩行者オブジェクト585dのロケーション、および(たとえば、局所的位置データから)自律車両100のロケーションの座標を決定することができる。自律車両100およびオブジェクト(たとえば、オブジェクト585d)に関するロケーションデータは、音響ビームステアリングアレイ(たとえば、指向性の音響源、フェーズドアレイ、パラメトリックアレイ、大型ラジエータ、超音波源などのうちの1つもしくは複数)によって放射された誘導される音響エネルギー(たとえば、オーディオアラート)のビームの伝搬の方向(たとえば、メインローブもしくはビームの焦点の方向)に関するロケーション(たとえば、座標、角度、極座標)を計算するために使用されることが可能であり、視覚的アラートのためにどの光エミッタをアクティブ化するかを決定するために使用されることが可能であり、オブジェクトとの予測される衝突の前にどのブラッダをアクティブ化するかを決定するために使用されることが可能であり、ならびに自律車両100のその他の安全システムおよび/もしくは運転システムをアクティブ化するために使用されることが可能であり、または前述の内容の任意の組合せである。自律車両100が軌道Tavに沿って方向625にロケーションL1からロケーションL2へ走行し続けるにつれて、歩行者オブジェクト585dおよび自律車両100の相対的なロケーションが変わる場合があり、それによってロケーションL2において、オブジェクト585dは、第2のしきい値ロケーション603のポイント604において座標(X2,Y2)を有する。同様に、軌道Tavに沿って方向625にロケーションL2からロケーションL3へ引き続き走行すると、歩行者オブジェクト585dおよび自律車両100の相対的なロケーションが変わる場合があり、それによってロケーションL3において、オブジェクト585dは、第3のしきい値ロケーション605のポイント606において座標(X3,Y3)を有する。
Claims (10)
- 無人運転の自律車両の外部の環境における前記自律車両の軌道を表す軌道データを受信するステップと、
前記環境におけるオブジェクトを感知するステップと、
前記オブジェクトの位置、前記オブジェクトのオブジェクトタイプ、および前記オブジェクトのオブジェクト分類を含むオブジェクトデータを決定するステップと、
前記オブジェクトデータに基づいて前記環境における前記オブジェクトの1つまたは複数の予測されるロケーションを決定するステップと、
前記軌道データと、前記環境における前記オブジェクトの前記1つまたは複数の予測されるロケーションとに基づいて、予測される衝突ロケーションを決定するステップと、
前記オブジェクトと前記予測される衝突ロケーションとの間での前記環境における第1のしきい値ロケーションを決定するステップと、
前記オブジェクトと前記予測される衝突ロケーションとの間での前記環境における第2のしきい値ロケーションを決定するステップであって、前記第2のしきい値ロケーションは、前記第1のしきい値ロケーションよりも前記衝突ロケーションに近く、前記第1のしきい値ロケーションと前記第2のしきい値ロケーションとの構成は、前記オブジェクトの軌道に関する分析に基づく、ステップと、
前記環境における前記オブジェクトの更新された位置を感知するステップと、
前記更新された位置が前記第1のしきい値ロケーションに相当していることに応答して、安全システムを使用して第1の安全アクションを実施するステップと、
前記更新された位置が前記第2のしきい値ロケーションに相当していることに応答して、前記安全システムを使用して第2の安全アクションを実施するステップと
を備えることを特徴とする方法。 - 前記安全システムは、音響ビームステアリングアレイを備え、前記第1の安全アクションは、前記自律車両の前記軌道に対して第1の角度で第1のオーディオアラートを放射するステップを含み、前記第2の安全アクションは、前記自律車両の前記軌道に対して第2の角度で第2のオーディオアラートを放射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。
- 前記安全システムは、光エミッタを備え、前記第1の安全アクションは、第1の光パターンを放射するステップを含み、前記第2の安全アクションは、第2の光パターンを放射するステップを含むことを特徴とする請求項1または2に記載の方法。
- 前記軌道から前記自律車両を操縦する際に使用するための回避軌道を送信するステップをさらに備えることを特徴とする請求項1、2、または3のいずれか一項に記載の方法。
- 前記第1の安全アクションは第1の緊急性を有し、前記第2の安全アクションは第2の緊急性を有することを特徴とする請求項1、2、3、または4のいずれか一項に記載の方法。
- 車道上を自律的に運転するように構成されている自律車両であって、前記自律車両の周囲の環境におけるオブジェクトを感知するための複数のセンサを有する、前記自律車両と、
前記自律車両に通信可能に結合されて、前記複数のセンサからのデータを受信し、前記自律車両のコンポーネントをコントロールするための命令を送信するためのコンピューティングシステムであって、
前記自律車両の軌道を決定し、
前記オブジェクトの第1のロケーションおよび前記オブジェクトのタイプを決定し、
前記オブジェクトの前記第1のロケーションおよび前記オブジェクトの前記タイプに基づいて、前記オブジェクトが走行すると予測される領域を含む予測される領域を決定し、
前記予測される領域内の第1のしきい値境界および前記予測される領域内の第2のしきい値境界を決定し、前記第1のしきい値境界と前記第2のしきい値境界との構成は、前記オブジェクトの軌道に関する分析に基づき、
前記オブジェクトの更新されたロケーションが前記第1のしきい値境界と一致するという決定に基づいて、第1の緊急性を有する第1のアラートを放射することを前記自律車両に行わせ、
前記オブジェクトの前記更新されたロケーションが前記第2のしきい値境界と一致するという決定に基づいて、第2の緊急性を有する第2のアラートを放射することを前記自律車両に行わせるようにプログラムされている、
前記コンピューティングシステムと
を備えたことを特徴とするシステム。 - 前記コンピューティングシステムは、前記自律車両と前記オブジェクトとの予測される衝突ロケーションを決定するようにさらにプログラムされ、および前記第1のしきい値境界は、前記第2のしきい値境界と比べて前記予測される衝突ロケーションから比較的遠いことを特徴とする請求項6に記載のシステム。
- 前記コンピューティングシステムは、前記オブジェクトの前記更新されたロケーションが前記第2のしきい値境界と一致するという決定に基づいて前記自律車両の安全システムをアクティブ化するための命令を生成するようにさらにプログラムされていることを特徴とする請求項6または7に記載のシステム。
- 前記自律車両は、音響安全システムをさらに含み、前記第1のアラートは、前記音響安全システムによって放射される第1のオーディオアラートを含み、前記第2のアラートは、前記音響安全システムによって放射される第2のオーディオアラートを含むことを特徴とする請求項6、7、または8のいずれか一項に記載のシステム。
- 前記自律車両は、光エミッタをさらに含み、前記第1のアラートは、前記光エミッタによって放射される第1の放射される光パターンを含み、前記第2のアラートは、前記光エミッタによって放射される第2の放射される光パターンを含むことを特徴とする請求項6、7、8または9のいずれか一項に記載のシステム。
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