JP7356542B2 - 無人車両運転ポリシーの調整方法及び装置、電子機器、記憶媒体ならびにコンピュータプログラム - Google Patents
無人車両運転ポリシーの調整方法及び装置、電子機器、記憶媒体ならびにコンピュータプログラム Download PDFInfo
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Description
Claims (13)
- 無人車両運転ポリシーの調整方法であって、
無人車両が、車外カメラ及び個人用ウェアラブルデバイスの少なくとも一方により前記無人車両の前方の予め設定された範囲内に少なくとも1つの歩行者が検出されたことに応じて、前記少なくとも1つの歩行者の感情を検出することと、
前記無人車両の運転ポリシー調整手段が、前記少なくとも1つの歩行者に特定感情を表現する対象歩行者を検出したことに応じて、前記特定感情に基づいて現在の運転ポリシーを調整することと、
前記運転ポリシー調整手段が前記特定感情に基づいて現在の運転ポリシーを調整する前に、前記車外カメラ及び前記個人用ウェアラブルデバイスの少なくとも一方により、前記対象歩行者が前記無人車両を注視しているか否かが検出されることと、
前記無人車両が、前記車外カメラ及び前記個人用ウェアラブルデバイスの少なくとも一方により前記対象歩行者が前記無人車両を注視していないことが検出されたことに応じて、前記対象歩行者が視覚障害者であるか否かを検出することと、を含み、
前記運転ポリシー調整手段が、前記車外カメラ及び前記個人用ウェアラブルデバイスの少なくとも一方により前記対象歩行者が視覚障害者であると検出されたことに応じて、前記特定感情に基づいて現在の運転ポリシーを調整する操作を実行する、無人車両運転ポリシーの調整方法。 - 請求項1に記載の方法において、
前記運転ポリシー調整手段が前記特定感情に基づいて現在の運転ポリシーを調整することは、
前記特定感情が、前記対象歩行者が前記無人車両に恐れを感じていることを示す場合、前記無人車両の運転制御手段が、前記無人車両を、前記対象歩行者から離れる側に車線変更するように制御することと、
前記特定感情が、前記対象歩行者が焦っていることを示す場合、前記運転制御手段が、前記無人車両を、速度を増やして通行する、または停車しかつ歩行者の先行を合図するように制御することとの少なくとも1つを含む、無人車両運転ポリシーの調整方法。 - 請求項2に記載の方法において、
前記運転制御手段が、前記無人車両を、前記対象歩行者から離れる側に車線変更するように制御することは、
前記無人車両の車速が最低速度制限に等しい場合、前記運転制御手段が、前記無人車両を、前記対象歩行者から離れる側に車線変更するように制御するだけのことと、
前記無人車両の車速が最低速度制限より高い場合、前記運転制御手段が、前記無人車両を、前記対象歩行者から離れる側に減速して車線変更するように制御することと、の少なくとも1つを含む、無人車両運転ポリシーの調整方法。 - 請求項2に記載の方法において、
前記運転制御手段が、前記無人車両を、速度を増やして通行する、または停車しかつ歩行者の先行を合図するように制御することは、
前記無人車両の車速が最高速度制限より低い場合、前記運転制御手段が、前記無人車両を、速度を増やして通行するように制御すること、または、
前記無人車両の車速が最高速度制限に等しい場合、前記運転制御手段が、前記無人車両を、停車しかつ歩行者の先行を合図するように制御することを含む、無人車両運転ポリシーの調整方法。 - 請求項1に記載の方法において、
前記無人車両が前記少なくとも1つの歩行者の感情を検出することは、
前記車外カメラが採集した画像データ及び/または前記少なくとも1つの歩行者の前記個人用ウェアラブルデバイスが報告したデータに基づいて、前記少なくとも1つの歩行者の感情を検出することを含む、無人車両運転ポリシーの調整方法。 - 無人車両運転ポリシーの調整装置であって、
無人車両の前方の予め設定された範囲内に少なくとも1つの歩行者を検出したことに応じて、前記少なくとも1つの歩行者の感情を検出する第1の検出モジュールと、
前記少なくとも1つの歩行者に特定感情を表現する対象歩行者を検出したことに応じて、前記特定感情に基づいて、前記無人車両の現在の運転ポリシーを調整する調整モジュールと、
前記調整モジュールが前記特定感情に基づいて前記無人車両の現在の運転ポリシーを調整する前に、前記対象歩行者が前記無人車両を注視しているか否かを検出する第2の検出モジュールと、
前記第2の検出モジュールにより前記対象歩行者が前記無人車両を注視していないことが検出されたことに応じて、前記対象歩行者が視覚障害者であるか否かを検出する第3の検出モジュールと、を含み、
前記第3の検出モジュールにより前記対象歩行者が視覚障害者であることが検出されたことに応じて、前記調整モジュールは、前記特定感情に基づいて、前記無人車両の現在の運転ポリシーを調整する操作を実行する、無人車両運転ポリシーの調整装置。 - 請求項6に記載の装置において、
前記調整モジュールは、
前記特定感情が、前記対象歩行者が前記無人車両に恐れを感じていることを示す場合、前記無人車両を、前記対象歩行者から離れる側に車線変更するように制御する第1の制御手段と、
前記特定感情が、前記対象歩行者が焦っていることを示す場合、前記無人車両を、速度を増やして通行する、または停車しかつ歩行者の先行を合図するように制御する第2の制御手段と、の少なくとも1つにより対応する操作を実行するために用いられる、無人車両運転ポリシーの調整装置。 - 請求項7に記載の装置において、
前記第1の制御手段は、
前記無人車両の車速が最低速度制限に等しい場合、前記無人車両を、前記対象歩行者から離れる側に車線変更するように制御するだけの操作と、
前記無人車両の車速が最低速度制限より高い場合、前記無人車両を、前記対象歩行者から離れる側に減速して車線変更するように制御する操作と、の少なくとも1つを実行するために用いられる、無人車両運転ポリシーの調整装置。 - 請求項7に記載の装置において、
前記第2の制御手段は、さらに、
前記無人車両の車速が最高速度制限より低い場合、前記無人車両を、速度を増やして通行するように制御する、または、
前記無人車両の車速が最高速度制限に等しい場合、前記無人車両を、停車しかつ歩行者の先行を合図するように制御するために用いられる、無人車両運転ポリシーの調整装置。 - 請求項6に記載の装置において、
前記第1の検出モジュールは、さらに、
前記無人車両が採集した画像データ及び/または前記少なくとも1つの歩行者の個人用ウェアラブルデバイスが報告したデータに基づいて、前記少なくとも1つの歩行者の感情を検出するために用いられる、無人車両運転ポリシーの調整装置。 - 少なくとも1つのプロセッサと、
前記少なくとも1つのプロセッサと通信接続されたメモリとを備え、
前記メモリには、前記少なくとも1つのプロセッサにより実行可能な命令を記憶しており、
前記命令は、前記少なくとも1つのプロセッサが請求項1~5のいずれか一項に記載の方法を実行することができるように、前記少なくとも1つのプロセッサにより実行される電子機器。 - コンピュータにより読取可能な、コンピュータ命令が記憶された非一時的な記憶媒体であって、
前記コンピュータ命令は、前記コンピュータに請求項1~5のいずれか一項に記載の方法を実行させる記憶媒体。 - プロセッサにより実行される場合、請求項1~5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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