JP7222868B2 - オブジェクト挙動のリアルタイム予測 - Google Patents
オブジェクト挙動のリアルタイム予測 Download PDFInfo
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- JP7222868B2 JP7222868B2 JP2019190970A JP2019190970A JP7222868B2 JP 7222868 B2 JP7222868 B2 JP 7222868B2 JP 2019190970 A JP2019190970 A JP 2019190970A JP 2019190970 A JP2019190970 A JP 2019190970A JP 7222868 B2 JP7222868 B2 JP 7222868B2
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Description
ある時点で前記自動運転車両の感知モジュールから受信された感知データに対して第1ニューラルネットワークを適用して1組の感知特徴を抽出することと、
前記第1ニューラルネットワークから抽出された感知特徴と、地図から取得された地図情報とに基づいて、第2ニューラルネットワークを用いて前記自動運転車両の環境における1つ又は複数のオブジェクトの挙動を予測することと、
前記自動運転車両の環境における前記1つ又は複数のオブジェクトの予測された挙動に少なくとも部分的に基づいて制御コマンドを生成して、前記自動運転車両の動作を制御することと、を含むコンピュータによって実施される方法を提供する。
ある時点で前記自動運転車両の感知モジュールから受信された感知データに対して第1ニューラルネットワークを適用して1組の感知特徴を抽出することと、
前記第1ニューラルネットワークから抽出された感知特徴と、地図から取得された地図情報とに基づいて、第2ニューラルネットワークを用いて前記自動運転車両の環境における1つ又は複数のオブジェクトの挙動を予測することと、
前記自動運転車両の環境における前記1つ又は複数のオブジェクトの予測された挙動に少なくとも部分的に基づいて制御コマンドを生成して、前記自動運転車両の動作を制御することと、を含む非一時的機械可読媒体を提供する。
ある時点で前記自動運転車両の感知モジュールから受信された感知データに対して第1ニューラルネットワークを適用して1組の感知特徴を抽出することと、
前記第1ニューラルネットワークから抽出された感知特徴と、地図から取得された地図情報とに基づいて、第2ニューラルネットワークを用いて前記自動運転車両の環境における1つ又は複数のオブジェクトの挙動を予測することと、
前記自動運転車両の環境における前記1つ又は複数のオブジェクトの予測された挙動に少なくとも部分的に基づいて制御コマンドを生成して、前記自動運転車両の動作を制御することと、を含むデータ処理システムを提供する。
Claims (22)
- 自動運転車両において機械学習により環境オブジェクトの挙動を予測するためのコンピュータによって実施される方法であって、
ある時点で前記自動運転車両の感知モジュールから受信された感知データに対して、トレーニングデータセットによりトレーニングされた第1ニューラルネットワークを適用して1組の感知特徴を抽出することと、
前記第1ニューラルネットワークから抽出された感知特徴と、地図から取得された地図情報とに基づいて、前記地図情報を含むトレーニングデータセットによりトレーニングされた第2ニューラルネットワークを用いて、前記自動運転車両の環境における1つ又は複数のオブジェクトの挙動を予測することと、
前記自動運転車両の環境における前記1つ又は複数のオブジェクトの予測された挙動に少なくとも部分的に基づいて制御コマンドを生成して、前記自動運転車両の動作を制御することと、を含み、
前記地図情報は、高精細地図に基づいて生成された画像データであるとともに、車線特徴成分、交通信号成分、静的オブジェクト成分及び一般地図情報成分のうち1つ又は複数を含む、コンピュータによって実施される方法。 - 前記1つ又は複数のオブジェクトは、自動車、自転車及び/又は歩行者を含む請求項1に記載の方法。
- 前記第1ニューラルネットワークは、多層パーセプトロンであり、前記第2ニューラルネットワークは、畳み込みニューラルネットワークである請求項1に記載の方法。
- 前記第1ニューラルネットワークは、1つ又は複数の以前の計画周期から前記1つ又は複数のオブジェクトの履歴特徴を入力として受け取り、前記1つ又は複数のオブジェクトの抽出された履歴特徴を出力として生成し、前記第2ニューラルネットワークは、前記1つ又は複数のオブジェクトの抽出された履歴特徴及び地図情報を入力として受け取り、前記1つ又は複数のオブジェクトの予測された挙動を出力として生成する請求項3に記載の方法。
- 前記1つ又は複数のオブジェクトの前記履歴特徴は、位置、速度及び加速度のうち1つ又は複数を含む、請求項4に記載の方法。
- 前記自動運転車両の矩形感知及び予測領域のグリッドサブディビジョンに基づいて、前記1つ又は複数のオブジェクトの抽出された履歴特徴及び前記地図情報を、関連付けられるブロック情報でラベル付けし、前記グリッドサブディビジョンは、前記自動運転車両の前記矩形感知及び予測領域をグリッドに基づいて複数の均一サイズの矩形ブロックに細分化することを含む請求項4に記載の方法。
- 前記1つ又は複数のオブジェクトの予測された挙動は、
オブジェクトが含まれると予測される前記矩形感知及び予測領域におけるブロック毎について、オブジェクト種類、前記ブロックに関連付けられた前記オブジェクトの予測された挙動に関する1つ又は複数の特徴、及び信頼度レベルのうち1つ又は複数を示す数字の列として表示される請求項6に記載の方法。 - 指令が格納されている非一時的機械可読媒体であって、前記指令は、プロセッサによって実行されるときに、自動運転車両において機械学習により環境オブジェクトの挙動を予測するための動作を前記プロセッサに実行させ、前記動作は、
ある時点で前記自動運転車両の感知モジュールから受信された感知データに対して、トレーニングデータセットによりトレーニングされた第1ニューラルネットワークを適用して1組の感知特徴を抽出することと、
前記第1ニューラルネットワークから抽出された感知特徴と、地図から取得された地図情報とに基づいて、前記地図情報を含むトレーニングデータセットによりトレーニングされた第2ニューラルネットワークを用いて、前記自動運転車両の環境における1つ又は複数のオブジェクトの挙動を予測することと、
前記自動運転車両の環境における前記1つ又は複数のオブジェクトの予測された挙動に少なくとも部分的に基づいて制御コマンドを生成して、前記自動運転車両の動作を制御することと、を含み、
前記地図情報は、高精細地図に基づいて生成された画像データであるとともに、車線特徴成分、交通信号成分、静的オブジェクト成分及び一般地図情報成分のうち1つ又は複数を含む、非一時的機械可読媒体。 - 前記1つ又は複数のオブジェクトは、自動車、自転車及び/又は歩行者を含む請求項8に記載の非一時的機械可読媒体。
- 前記第1ニューラルネットワークは、多層パーセプトロンであり、前記第2ニューラルネットワークは、畳み込みニューラルネットワークである請求項8に記載の非一時的機械可読媒体。
- 前記第1ニューラルネットワークは、1つ又は複数の以前の計画周期から前記1つ又は複数のオブジェクトの履歴特徴を入力として受け取り、前記1つ又は複数のオブジェクトの抽出された履歴特徴を出力として生成し、前記第2ニューラルネットワークは、前記1つ又は複数のオブジェクトの抽出された履歴特徴及び地図情報を入力として受け取り、前記1つ又は複数のオブジェクトの予測された挙動を出力として生成する請求項10に記載の非一時的機械可読媒体。
- 前記1つ又は複数のオブジェクトの前記履歴特徴は、位置、速度及び加速度のうち1つ又は複数を含む、請求項11に記載の非一時的機械可読媒体。
- 前記自動運転車両の矩形感知及び予測領域のグリッドサブディビジョンに基づいて、前記1つ又は複数のオブジェクトの抽出された履歴特徴及び前記地図情報を、関連付けられるブロック情報でラベル付けし、前記グリッドサブディビジョンは、前記自動運転車両の前記矩形感知及び予測領域をグリッドに基づいて複数の均一サイズの矩形ブロックに細分化することを含む請求項11に記載の非一時的機械可読媒体。
- 前記1つ又は複数のオブジェクトの予測された挙動は、
オブジェクトが含まれると予測される前記矩形感知及び予測領域におけるブロック毎について、オブジェクト種類、前記ブロックに関連付けられた前記オブジェクトの予測された挙動に関する1つ又は複数の特徴、及び信頼度レベルのうち1つ又は複数を示す数字の列として表示される請求項13に記載の非一時的機械可読媒体。 - プロセッサと、指令を格納するために前記プロセッサに接続されるメモリとを備えるデータ処理システムであって、前記指令は、前記プロセッサによって実行されるときに、自動運転車両において機械学習により環境オブジェクトの挙動を予測するための動作を前記プロセッサに実行させ、前記動作は、
ある時点で前記自動運転車両の感知モジュールから受信された感知データに対して、トレーニングデータセットによりトレーニングされた第1ニューラルネットワークを適用して1組の感知特徴を抽出することと、
前記第1ニューラルネットワークから抽出された感知特徴と、地図から取得された地図情報とに基づいて、前記地図情報を含むトレーニングデータセットによりトレーニングされた第2ニューラルネットワークを用いて、前記自動運転車両の環境における1つ又は複数のオブジェクトの挙動を予測することと、
前記自動運転車両の環境における前記1つ又は複数のオブジェクトの予測された挙動に少なくとも部分的に基づいて制御コマンドを生成して、前記自動運転車両の動作を制御することと、を含み、
前記地図情報は、高精細地図に基づいて生成された画像データであるとともに、車線特徴成分、交通信号成分、静的オブジェクト成分及び一般地図情報成分のうち1つ又は複数を含む、データ処理システム。 - 前記1つ又は複数のオブジェクトは、自動車、自転車及び/又は歩行者を含む請求項15に記載のデータ処理システム。
- 前記第1ニューラルネットワークは、多層パーセプトロンであり、前記第2ニューラルネットワークは、畳み込みニューラルネットワークである請求項15に記載のデータ処理システム。
- 前記第1ニューラルネットワークは、1つ又は複数の以前の計画周期から前記1つ又は複数のオブジェクトの履歴特徴を入力として受け取り、前記1つ又は複数のオブジェクトの抽出された履歴特徴を出力として生成し、前記第2ニューラルネットワークは、前記1つ又は複数のオブジェクトの抽出された履歴特徴及び地図情報を入力として受け取り、前記1つ又は複数のオブジェクトの予測された挙動を出力として生成する請求項17に記載のデータ処理システム。
- 前記1つ又は複数のオブジェクトの前記履歴特徴は、位置、速度及び加速度のうち1つ又は複数を含む、請求項18に記載のデータ処理システム。
- 前記自動運転車両の矩形感知及び予測領域のグリッドサブディビジョンに基づいて、前記1つ又は複数のオブジェクトの抽出された履歴特徴及び前記地図情報を、関連付けられるブロック情報でラベル付けし、前記グリッドサブディビジョンは、前記自動運転車両の前記矩形感知及び予測領域をグリッドに基づいて複数の均一サイズの矩形ブロックに細分化することを含む請求項18に記載のデータ処理システム。
- 前記1つ又は複数のオブジェクトの予測された挙動は、
オブジェクトが含まれると予測される前記矩形感知及び予測領域におけるブロック毎について、オブジェクト種類、前記ブロックに関連付けられた前記オブジェクトの予測された挙動に関する1つ又は複数の特徴、及び信頼度レベルのうち1つ又は複数を示す数字の列として表示される請求項20に記載のデータ処理システム。 - コンピュータプログラムであって、
前記コンピュータプログラムがプロセッサにより実行されると、請求項1~7のいずれか一項に記載の方法を実現する、コンピュータプログラム。
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