JP7317157B2 - 緊急車両のオーディオ及びビジュアル検出のポスト融合 - Google Patents
緊急車両のオーディオ及びビジュアル検出のポスト融合 Download PDFInfo
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Description
図1は、本開示の一実施形態による自律運転ネットワーク構成を示すブロック図である。図1を参照すると、ネットワーク構成100は、ネットワーク102を介して1つ以上のサーバ103~104に通信可能に結合され得る自律運転車両(ADV)101を含む。示されているADVは1つであるが、複数のADVがネットワーク102を介して互いに及び/又はサーバ103~104に結合され得る。ネットワーク102は、有線又は無線の、ローカルエリアネットワーク(LAN)、インターネットなどのワイドエリアネットワーク(WAN)、セルラーネットワーク、衛星ネットワーク又はそれらの組み合わせなどの任意のタイプのネットワークであり得る。サーバ(複数可)103~104は、ウェブサーバ又はクラウドサーバ、アプリケーションサーバ、バックエンドサーバ、又はそれらの組み合わせなどの、任意の種類のサーバ又は一群のサーバであり得る。サーバ103~104は、データ分析サーバ、コンテンツサーバ、交通情報サーバ、地図・特定地点(MPOI)サーバ、又は位置サーバなどであり得る。
図4は、一実施形態による緊急車両検出システム400の例を示す。
本願は、2021年1月14日に出願された「緊急車両のオーディオ及びビジュアル検出を融合するための機械学習モデル」と題された米国特許出願第17/149638号に関連する。本願は、その全体が参照により本明細書に組み込まれる。
Claims (18)
- 自律運転車両(ADV)を運転するためにコンピュータが実行する方法であって、
前記ADVの自律運転システム(ADS)で、1つ以上のオーディオ取込デバイスを使用して取り込まれたオーディオ信号のストリームと、前記ADVの周囲環境から前記ADVに取り付けられた1つ以上の画像取込デバイスを使用して取り込まれた一連の画像フレームとを受信し、
前記ADSによって第1のニューラルネットワークモデルを使用して、取り込まれたオーディオ信号のストリームの少なくとも一部がサイレン音からであるという第1の確率を決定し、
前記ADSによって第2のニューラルネットワークモデルを使用して、前記一連の画像フレームの少なくとも1つの画像フレームが緊急車両からであるという第2の確率を決定し、
前記ADSによって前記第1の確率及び前記第2の確率に基づいて、緊急車両が前記周囲環境に存在すると決定し、
前記第1のニューラルネットワークモデルを使用して、前記ADVと前記サイレン音の音源との間の角度、及び前記音源の移動方向を決定し、
前記第2のニューラルネットワークモデルを使用して、前記少なくとも1つの画像フレームを囲むバウンディングボックスのサイズ、及び、前記少なくとも1つの画像フレームを取り込むために使用される画像取込デバイスの1つ以上の外因性パラメータに基づいて、前記ADVと前記緊急車両との距離を決定し、前記外因性パラメータには、複数のカメラ配置におけるカメラ間の相対的な回転及び並進が含まれる、方法。 - 前記第1の確率が第1の閾値を超えている場合、
前記第2の確率が第2の閾値を超えている場合、又は、
前記第1の確率が前記第1の閾値を超え、前記第2の確率が前記第2の閾値を超えている場合、
緊急車両が前記周囲環境に存在すると決定する、請求項1に記載の方法。 - 緊急車両が前記周囲環境に存在するとの決定に応答して、前記サイレン音の音源と前記ADVとの間の前記角度、前記音源の前記移動方向、及び、前記緊急車両から前記ADVまでの前記距離を融合して、前記緊急車両の位置及び前記緊急車両の移動方向を決定する、請求項2に記載の方法。
- 前記緊急車両の前記位置及び前記移動方向に基づいて、前記ADVの位置の決定に応答して、前記ADVを制御して、前記ADVを操舵して現在の運転車線から出すこと、又は前記ADVを制動して減速することのうちの少なくとも1つを行う、請求項3に記載の方法。
- 前記第1のニューラルネットワークモデルを、複数の緊急車両から収集された緊急車両サイレンを表すオーディオデータで訓練し、前記第2のニューラルネットワークモデルを、前記オーディオデータの収集と同時的に収集されたビジュアルデータで訓練する、請求項1に記載の方法。
- 前記第1のニューラルネットワークモデル及び前記第2のニューラルネットワークモデルは夫々、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1つ以上のオーディオ取込デバイスは1つ以上のマイクロフォンを含み、前記1つ以上の画像取込デバイスは1つ以上のカメラを含む、請求項1に記載の方法。
- 命令が記憶されている非一時的な機械可読媒体であって、
前記命令は、プロセッサによって実行されると、前記プロセッサに自律運転車両(ADV)を運転する処理を行わせ、前記処理を行わせる際に、
前記ADVの自律運転システム(ADS)で、1つ以上のオーディオ取込デバイスを使用して取り込まれたオーディオ信号のストリームと、前記ADVの周囲環境から前記ADVに取り付けられた1つ以上の画像取込デバイスを使用して取り込まれた一連の画像フレームとを受信させ、
前記ADSによって第1のニューラルネットワークモデルを使用して、取り込まれたオーディオ信号のストリームの少なくとも一部がサイレン音からであるという第1の確率を決定させ、
前記ADSによって第2のニューラルネットワークモデルを使用して、前記一連の画像フレームの少なくとも1つの画像フレームが緊急車両からであるという第2の確率を決定させ、
前記ADSによって前記第1の確率及び前記第2の確率に基づいて、緊急車両が前記周囲環境に存在すると決定させ、
前記処理を行わせる際に、
前記第1のニューラルネットワークモデルを使用して、前記ADVと前記サイレン音の音源との間の角度、及び前記音源の移動方向を決定させ、
前記第2のニューラルネットワークモデルを使用して、前記少なくとも1つの画像フレームを囲むバウンディングボックスのサイズ、及び、前記少なくとも1つの画像フレームを取り込むために使用される画像取込デバイスの1つ以上の外因性パラメータに基づいて、前記ADVと前記緊急車両との距離を決定させ、前記外因性パラメータには、複数のカメラ配置におけるカメラ間の相対的な回転及び並進が含まれる、機械可読媒体。 - 前記処理を行わせる際に、
前記第1の確率が第1の閾値を超えている場合、
前記第2の確率が第2の閾値を超えている場合、又は、
前記第1の確率が前記第1の閾値を超え、前記第2の確率が前記第2の閾値を超えている場合、
緊急車両が前記周囲環境に存在すると決定させる、請求項8に記載の機械可読媒体。 - 前記処理を行わせる際に、
緊急車両が前記周囲環境に存在するとの決定に応答して、前記サイレン音の前記音源と前記ADVとの間の前記角度、前記音源の前記移動方向、及び、前記緊急車両から前記ADVまでの前記距離を融合して、前記緊急車両の位置及び前記緊急車両の移動方向を決定させる、請求項9に記載の機械可読媒体。 - 前記処理を行わせる際に、
前記緊急車両の前記位置及び前記移動方向に基づいて、前記ADVの位置の決定に応答して、前記ADVを制御させ、前記ADVを操舵して現在の運転車線から出すこと、又は前記ADVを制動して減速することのうちの少なくとも1つを行わせる、請求項10に記載の機械可読媒体。 - 前記第1のニューラルネットワークモデルは、複数の緊急車両から収集された緊急車両サイレンを表すオーディオデータで訓練されており、前記第2のニューラルネットワークモデルは、前記オーディオデータの収集と同時的に収集されたビジュアルデータで訓練されている、請求項8に記載の機械可読媒体。
- 前記第1のニューラルネットワークモデル及び前記第2のニューラルネットワークモデルは夫々、畳み込みニューラルネットワークである、請求項8に記載の機械可読媒体。
- 前記1つ以上のオーディオ取込デバイスは1つ以上のマイクロフォンを含み、前記1つ以上の画像取込デバイスは1つ以上のカメラを含む、請求項8に記載の機械可読媒体。
- プロセッサと、
前記プロセッサに結合されて命令を記憶するメモリと
備えており、
前記命令は、前記プロセッサによって実行されると、前記プロセッサに自律運転車両(ADV)を運転する処理を行わせ、前記処理を行わせる際に、
前記ADVの自律運転システム(ADS)で、1つ以上のオーディオ取込デバイスを使用して取り込まれたオーディオ信号のストリームと、前記ADVの周囲環境から前記ADVに取り付けられた1つ以上の画像取込デバイスを使用して取り込まれた一連の画像フレームとを受信させ、
前記ADSによって第1のニューラルネットワークモデルを使用して、オーディオ信号の前記ストリームの少なくとも一部がサイレン音からであるという第1の確率を決定させ、
前記ADSによって第2のニューラルネットワークモデルを使用して、前記一連の取り込まれた画像フレームの少なくとも1つの画像フレームが緊急車両からであるという第2の確率を決定させ、
前記ADSによって前記第1の確率及び前記第2の確率に基づいて、緊急車両が前記周囲環境に存在すると決定させ、
前記処理を行わせる際に、
前記第1のニューラルネットワークモデルを使用して、前記ADVと前記サイレン音の音源との間の角度、及び前記音源の移動方向を決定させ、
前記第2のニューラルネットワークモデルを使用して、前記少なくとも1つの画像フレームを囲むバウンディングボックスのサイズ、及び、前記少なくとも1つの画像フレームを取り込むために使用される画像取込デバイスの1つ以上の外因性パラメータに基づいて、前記ADVと前記緊急車両との距離を決定させ、前記外因性パラメータには、複数のカメラ配置におけるカメラ間の相対的な回転及び並進が含まれる、データ処理システム。 - 前記処理を行わせる際に、
前記第1の確率が第1の閾値を超えている場合、
前記第2の確率が第2の閾値を超えている場合、又は、
前記第1の確率が前記第1の閾値を超え、前記第2の確率が前記第2の閾値を超えている場合、
緊急車両が前記周囲環境に存在すると決定させる、請求項15に記載のデータ処理システム。 - 前記処理を行わせる際に、
緊急車両が前記周囲環境に存在するとの決定に応答して、前記サイレン音の前記音源と前記ADVとの間の前記角度、前記音源の前記移動方向、及び、前記緊急車両から前記ADVまでの前記距離を融合させて、前記緊急車両の位置及び前記緊急車両の移動方向を決定させる、請求項16に記載のデータ処理システム。 - コンピュータ上で動作しているときに、請求項1~7のいずれか1つに記載の方法を前記コンピュータに実行させるためのコンピュータプログラム。
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