JP7101892B2 - 一般的な道路気象状況の検出 - Google Patents
一般的な道路気象状況の検出 Download PDFInfo
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- JP7101892B2 JP7101892B2 JP2021531304A JP2021531304A JP7101892B2 JP 7101892 B2 JP7101892 B2 JP 7101892B2 JP 2021531304 A JP2021531304 A JP 2021531304A JP 2021531304 A JP2021531304 A JP 2021531304A JP 7101892 B2 JP7101892 B2 JP 7101892B2
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Description
本出願は、2018年12月12日に出願の米国特許出願第16/217,235号の利益を主張するものであり、2018年12月12日に出願の、「Determining Wheel Slippage on Self-Driving Vehicle」と題する米国特許出願第16/217,531号(弁護士整理番号第XSDV3.0F-2078号)に関連しており、これらの全開示は参照により本明細書に組み込まれる。
図1Aは、ミニバン、スポーツユーティリティビークル(SUV)、または他の車両などの例示的な乗客用車両100の斜視図を示す。図1Bは、乗客用車両100の上から見た図を示す。乗客用車両100は、車両の外部環境に関する情報を取得するための様々なセンサを含むことができる。例えば、屋上ハウジング102は、Lidarセンサ、ならびに様々なカメラ、レーダーユニット、赤外線および/または音響センサを含むことができる。車両100の前端部に位置付けられたハウジング104、ならびに車両の運転者側および乗客側のハウジング106a、106bは、各々、Lidar、レーダー、カメラおよび/または他のセンサを組み込むことができる。例えば、ハウジング106aは、車両のクォーターパネルに沿って運転席サイドドアの前に位置付けられてもよい。図示されるように、乗客用車両100はまた、レーダーユニット、Lidar、および/または車両の後方屋根部分にも向かって位置付けられている、カメラのためのハウジング108a、108bも含む。追加のLidar、レーダーユニット、および/またはカメラ(図示せず)は、車両100に沿った他の場所に位置付けられてもよい。例えば、矢印110は、センサユニット(図1Bの112)が、車両100の後方に沿って、例えば、バンパー上またはバンパーに隣接して位置決めされてもよいことを示す。そして、矢印114は、車両の前方を向いた方向に沿って配置された一連のセンサユニット116を示す。いくつかの例では、乗客用車両100はまた、車両の内部空間(図示せず)に関する情報を取得するための様々なセンサも含むことができる。
例示的な実装形態
本技術の態様によれば、車両の周囲の一般的な道路気象状況を決定することは、自律運転中に車両が1つ以上の制動および/または加速動作を実行することを含むことができる。このような動作は、Lidar、レーダー、カメラ、または外部環境内の物体を検出するように構成されたその他のセンサからデータを収集することと併せて実行することができる。一般的な気象状況の情報が決定されると、この情報を現在の運転動作を管理または変更するために使用することができる。また、ルートの接近しつつある部分を修正または再計画するために使用することもできる。
Claims (22)
- 自律運転モードにおいて動作する車両の周囲の環境における気象または道路状況を決定する方法であって、前記方法が、
前記車両の1つ以上のプロセッサによって、前記車両の1つ以上のセンサから前記車両の周囲の前記環境のセンサデータを受信することと、
前記1つ以上のプロセッサによって、前記車両のサブシステムに、前記自律運転モードにおける動作中に前記サブシステムの1つ以上の構成要素を作動させることと、
前記サブシステムの前記1つ以上の構成要素の前記作動中に前記車両の姿勢情報を取得することと、
前記車両の1つ以上のプロセッサによって、前記取得された姿勢情報に従って道路に沿った前記車両の実際の姿勢を決定することと、
前記1つ以上のプロセッサによって、前記車両の前記実際の姿勢を前記道路に沿った前記車両の予想された姿勢と比較することと、
前記1つ以上のプロセッサによって、前記比較に基づいて前記実際の姿勢と前記予想された姿勢との差を決定することと、
(i)前記実際の姿勢と前記予想された姿勢との間の差または(ii)前記環境の前記受信されたセンサデータのうちの少なくとも一方に基づいて、前記車両の周囲の前記環境において有害な気象または道路状況があることを決定することと、
前記車両の周囲の前記環境における前記有害な気象または道路状況を決定することに応答して処置を実行することと、を含む、方法。 - 有害な気象または道路状況があることを決定することは、前記車両が動作している道路の領域が凍結している、濡れている、または少なくとも部分的に雪で覆われていることを決定することを含む、請求項1に記載の方法。
- 前記車両の前記サブシステムに前記1つ以上の構成要素を作動させることが、道路の特定の部分を、前記道路の前記特定の部分に対して選択された速度および選択された位置方位において運転することを含む、請求項1に記載の方法。
- 前記道路の特定の部分に対して異なる選択された速度または異なる選択された位置方位において前記道路の前記特定の部分を運転するように、別の車両に命令することをさらに含む、請求項3に記載の方法。
- 他の車両が、第1の車両であり、前記車両が、前記第1の車両に続く第2の車両であり、前記方法は、前記第2の車両が、前記第1の車両が前記道路の前記特定の部分を運転した結果を観察することを含む、請求項4に記載の方法。
- 前記選択された速度および前記選択された位置方位において前記道路の特定の部分を運転することが、前記道路の前記特定の部分に沿った牽引力の量を検出するために行われる、請求項3に記載の方法。
- 前記姿勢情報を取得することが、前記車両の前記1つ以上のセンサからセンサデータを受信することを含む、請求項1に記載の方法。
- 前記車両の前記1つ以上のセンサによって、前記車両の周囲の前記環境における1つ以上の他の車両による運転処置を検出することをさらに含む、請求項1に記載の方法。
- 前記1つ以上の他の車両による前記運転処置の検出に応答して、前記1つ以上のプロセッサが、道路の選択された部分に沿って特定の気象または道路状況を決定することをさらに含む、請求項8に記載の方法。
- 前記特定の気象または道路状況が、前記道路の前記選択された部分に沿った水たまり、流氷原、または積雪のうちの1つである、請求項9に記載の方法。
- 前記道路の選択された部分に沿った前記特定の気象または道路状況を決定することに応答して、前記車両の1つ以上のセンサによって取得されたデータのセットから疑似センサ信号をフィルタリングすることをさらに含む、請求項9に記載の方法。
- 是正運転処置、ルート再計画処置、または行動予測の修正に関する情報を、別の車両またはフリート管理システムのうちの少なくとも一方に送信することをさらに含む、請求項1に記載の方法。
- 前記1つ以上の構成要素の所与の1つが、制動構成要素であり、前記サブシステムが、減速システムであるか、
前記1つ以上の構成要素のうちの前記所与の1つが、加速構成要素であり、前記サブシステムが加速システムであるか、
前記1つ以上の構成要素のうちの前記所与の1つが、ステアリング構成要素であり、前記サブシステムが、ステアリングシステムである、請求項1に記載の方法。 - 前記処置を実行することが、是正運転処置を実行すること、ルート再計画処置を実施すること、前記環境内の物体の行動予測において修正を引き起こすこと、別の車両に通知を提供すること、またはバックエンドシステムに通知を提供すること、のうちの少なくとも1つを含む、請求項1に記載の方法。
- 自律運転モードにおいて動作するように構成された車両であって、前記車両が、
前記自律運転モードにおいて前記車両の運転を制御するためのステアリングサブシステム、加速サブシステム、および減速サブシステムを含む運転システムと、
前記車両の周囲の環境にある物体を検出するように構成された1つ以上のセンサを含む知覚システムと、
前記車両の現在位置を決定するように構成された測位システムと、
1つ以上のプロセッサを含む制御システムと、を備え、前記制御システムが、前記運転システム、前記知覚システム、および前記測位システムに動作可能に連結されており、前記制御システムが、
前記1つ以上のセンサから前記車両の周囲の前記環境のセンサデータを受信することと、
前記車両のサブシステムに、前記自律運転モードにおける動作中に前記サブシステムの1つ以上の構成要素を作動させることと、
前記サブシステムの前記1つ以上の構成要素の前記作動中に前記車両の姿勢情報を取得することと、
前記取得された前記姿勢情報に従って、道路に沿った前記車両の実際の姿勢を決定することと、
前記車両の前記実際の姿勢を前記道路に沿った前記車両の予想された姿勢と比較することと、
前記比較に基づいて、前記実際の姿勢と前記予想された姿勢との間の差を決定することと、
(i)前記実際の姿勢と前記予想された姿勢との間の差または(ii)前記環境の前記受信されたセンサデータのうちの少なくとも一方に基づいて、前記車両の周囲の前記環境において有害な気象または道路状況があることを決定することと、
前記車両の周囲の前記環境における前記有害な気象または道路状況を決定することに応答して処置を実行することと、行うように構成されている、車両。 - 有害な気象または道路状況があるという決定は、前記車両が動作している道路の領域が氷結している、濡れている、または少なくとも部分的に雪で覆われていることを決定することを含む、請求項15に記載の車両。
- 前記制御システムが、前記車両の前記サブシステムに、道路の特定の部分を、前記道路の前記特定の部分に対して選択された速度および選択された位置方位において運転することによって、前記1つ以上の構成要素を作動させることを行わせるように構成されている、請求項15に記載の車両。
- 少なくとも1つの他の車両と通信するように構成された通信システムをさらに備え、前記制御システムが、前記道路の特定の部分を、前記道路の前記特定の部分に対して異なる選択された速度または異なる選択された位置方位において運転するように、前記少なくとも1つの他の車両に前記通信システムを介して命令するようにさらに構成されている、請求項17に記載の車両。
- 前記少なくとも1つの他の車両が、第1の車両であり、前記車両が、前記第1の車両に続く第2の車両であり、前記知覚システムの前記1つ以上のセンサは、前記第1の車両が前記道路の前記特定の部分を運転した結果を観察するように構成されている、請求項18に記載の車両。
- 前記1つ以上のセンサが、前記車両の周囲の前記環境における1つ以上の他の車両による運転処置を検出するように構成されており、
前記1つ以上の他の車両による前記運転処置を検出することに応答して、前記制御システムが、
道路の選択された部分に沿った特定の気象または道路状況を決定すること、または
前記車両の1つ以上のセンサによって取得されたデータのセットから、疑似センサ信号をフィルタリングすること、を行うように構成されている、請求項15に記載の車両。 - 是正運転処置、ルート再計画処置、または行動予測の修正に関する情報を、別の車両またはフリート管理システムのうちの少なくとも一方に送信するように構成された通信システムをさらに備える、請求項15に記載の車両。
- 前記制御システムが、是正運転処置を開始すること、ルート再計画処置を実施すること、前記環境内の物体の行動予測において修正を引き起こすこと、別の車両に通知を提供すること、またはバックエンドシステムに通知を提供すること、のうちの少なくとも1つによって前記処置を実行するように構成されている、請求項15に記載の車両。
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WO2020123132A1 (en) | 2020-06-18 |
EP3870490B1 (en) | 2024-08-14 |
JP2022508300A (ja) | 2022-01-19 |
KR20210090720A (ko) | 2021-07-20 |
EP3870490A4 (en) | 2022-11-16 |
US20230315122A1 (en) | 2023-10-05 |
CN113195326A (zh) | 2021-07-30 |
KR20220031938A (ko) | 2022-03-14 |
KR102441858B1 (ko) | 2022-09-13 |
US10852746B2 (en) | 2020-12-01 |
EP3870490A1 (en) | 2021-09-01 |
US12066836B2 (en) | 2024-08-20 |
US20210132628A1 (en) | 2021-05-06 |
JP2022141734A (ja) | 2022-09-29 |
KR102369294B1 (ko) | 2022-03-03 |
US20200192403A1 (en) | 2020-06-18 |
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