JP7181092B2 - 自律型車両用動作計画及び再構成可能な動作計画プロセッサ - Google Patents
自律型車両用動作計画及び再構成可能な動作計画プロセッサ Download PDFInfo
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Description
計画グラフ構築は、オフラインで(即ち、リアルタイムの作動計画の前に)実行される。
Claims (11)
- 自律型車両用の動作計画のためのシステムであって、
動作環境の環境情報を取得する複数のセンサと、
前記複数のセンサと電気的に通信する複数の検出器と、
前記複数のセンサと電気的に通信することで前記環境情報を受信して前記動作環境内の動的オブジェクトを識別し、当該動的オブジェクトについての将来軌道の確率分布を出力するオブジェクト追跡器と、
前記動作環境内の静的オブジェクト又は動的オブジェクトであるオブジェクトを表す複数のボクセルのそれぞれについて、衝突のコストとボクセルとを関連付けるコストグリッドと、
前記の検出器と電気通信し、前記オブジェクト追跡器と電気通信して前記動的オブジェクトの将来軌道の確率分布を取得し、かつ自律型車両の計算システムと電気的に通信する動作計画モジュールと、を含み、
前記動作計画モジュールは、エッジで接続された複数のノードを含む計画グラフを保存し、
各ノードは、前記自律型車両の状態、動作環境、又は前記自律型車両の状態と前記動作環境との両方を画定する時間及び変数を暗示的又は明示的に表し、
前記動作計画モジュールは、前記複数の検出器と前記オブジェクト追跡器から知覚データ及び前記動作環境の識別済み動的オブジェクトを表す障害物のサンプル軌道を受信し、前記コストグリッドから前記ボクセルに関連付けられた前記衝突のコストを受け取り、前記サンプル軌道を考慮して前記知覚データ内で障害物と衝突する前記計画グラフ内の各エッジに沿った可能性のある衝突確率及び前記衝突のコストを調整し、前記衝突のコスト及び衝突確率を考慮して経路を特定し、前記経路を前記計算システムに出力し、
前記衝突のコストは、前記動作環境内の前記オブジェクトの特徴に基づいて決定される、
システム。 - 前記複数の検出器は、前記動作環境内で識別済み静的オブジェクト又は識別済み動的オブジェクトである識別済みオブジェクトを表す障害物の表現を含む知覚データを生成するオブジェクト検出器を含む、請求項1に記載のシステム。
- 前記動作計画モジュールは、ハードウェアプロセッサ、記憶装置、及び各々が前記計画グラフの複数のエッジの各1つを表現する複数の衝突検出ユニットを含む、請求項1に記載のシステム。
- 前記動作計画モジュールは、再構成可能なアーキテクチャを含む、請求項1に記載のシステム。
- 前記動作計画モジュールは、
ハードウェアプロセッサと、
前記計画グラフが保存される記憶装置と、
前記記憶装置に保存される事前計算済み衝突データであって、実行時、知覚データが受信されると、前記知覚データが、前記ハードウェアプロセッサによって、前記記憶装置に保存されている前記事前計算済み衝突データと比較されて衝突が判定される、衝突データと、
を含む、請求項1又は2に記載のシステム。 - 前記事前計算済み衝突データは、新たな自律型車両又はシナリオに対しては新たな事前計算済み衝突データに更新される、請求項5に記載のシステム。
- 自律型車両用の動作計画を実施する方法であって、
環境の識別済み静的オブジェクト又は識別済み動的オブジェクトである識別済みオブジェクトを表す障害物表現を受信することと、
前記環境の識別済み動的オブジェクトを表す障害物の軌道をサンプリングすることと、
サンプリングされた軌道に基づいて各エッジの衝突確率を調整することと、
障害物表現との衝突となる計画グラフ内の各エッジについて、前記サンプリングされた軌道に基づいた衝突確率を考慮しながら各衝突のコストを調整することであって、前記計画グラフは、エッジによって接続された複数のノードを含み、各ノードは、自律型車両の状態、動作環境、又は前記自律型車両の状態と前記動作環境との両方を画定する時間及び変数を暗示的又は明示的に表す調整と、
衝突のコストと前記計画グラフの各エッジの衝突確率とを両方考慮して経路を特定することと、
を含み、
前記衝突のコストは、前記障害物の特徴に基づいて決定される、
方法。 - 割り当てられた衝突のコストを受信することと、
障害物表現との衝突となる前記計画グラフ内の各エッジについて、識別済みオブジェクトの割り当てられた衝突のコストを考慮しながら衝突のコストを調整することと、
をさらに含む、請求項7に記載の方法。 - 前記経路を特定することが、識別済み動的オブジェクトに対する衝突確率と識別済みオブジェクトに対する衝突の割り当てられた衝突のコストとの間の有効な衝突のコストを特定することを含む、請求項8に記載の方法。
- 前記経路を特定することが、割り当てられた衝突のコストを用いて動作計画を計算することを含み、前記経路が、その経路に対する衝突確率に関してリスク限定がかけられる衝突のコストが最低である経路を識別することを含む、請求項8に記載の方法。
- 前記方法が前記自律型車両の各動作後に反復される、請求項7~10のいずれか1項に記載の方法。
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JP7222803B2 (ja) | 2019-04-25 | 2023-02-15 | 株式会社日立製作所 | 軌道計画装置、軌道計画方法及びプログラム |
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JP2007531110A (ja) | 2004-03-26 | 2007-11-01 | レイセオン・カンパニー | 適応型経路計画のためのシステム及び方法 |
JP2012190405A (ja) | 2011-03-14 | 2012-10-04 | Toyota Motor Corp | 経路情報修正装置、軌道計画装置、及びロボット |
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EP3449214A4 (en) | 2019-05-22 |
EP3449214B1 (en) | 2021-12-15 |
JP2022084895A (ja) | 2022-06-07 |
ES2903532T3 (es) | 2022-04-04 |
TW201801965A (zh) | 2018-01-16 |
JP7431273B2 (ja) | 2024-02-14 |
JP2019517702A (ja) | 2019-06-24 |
EP3449214A1 (en) | 2019-03-06 |
TWI758296B (zh) | 2022-03-21 |
US20190163191A1 (en) | 2019-05-30 |
CN109477723B (zh) | 2023-02-21 |
US11429105B2 (en) | 2022-08-30 |
CN109477723A (zh) | 2019-03-15 |
EP3537248A1 (en) | 2019-09-11 |
WO2017214581A1 (en) | 2017-12-14 |
PL3449214T3 (pl) | 2022-04-04 |
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