JP7458704B2 - ロボット車両のための内部安全システム - Google Patents
ロボット車両のための内部安全システム Download PDFInfo
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- JP7458704B2 JP7458704B2 JP2018544032A JP2018544032A JP7458704B2 JP 7458704 B2 JP7458704 B2 JP 7458704B2 JP 2018544032 A JP2018544032 A JP 2018544032A JP 2018544032 A JP2018544032 A JP 2018544032A JP 7458704 B2 JP7458704 B2 JP 7458704B2
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- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
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Description
本出願は、2015年11月4日に出願された米国特許出願第14/932,954号明細書の継続出願であり、これは、2015年11月4日に出願された「Autonomous Vehicle Fleet Service and System」と題されている米国特許出願第14/932,959号明細書、2015年11月4日に出願された「Adaptive Mapping to Navigate Autonomous Vehicles Responsive to Physical Environment Changes」と題されている米国特許出願第14/932,963号明細書、および2015年11月4日に出願された「Robotic Vehicle Active Safety Systems and Methods」と題されている米国特許出願第14/932,962号明細書に関連しており、これらのすべては、すべての目的のためにそれらの全体が参照によって本明細書に組み込まれている。
Claims (10)
- 自律車両の内部安全システムをアクティブ化するための方法であって、
第1の検知として、自律車両の座席が占有されているということを検知するステップと、
第2の検知として、前記座席と結合されているシートベルトが締められているということを検知するステップと、
前記シートベルトと結合されているベルトテンショナーによって、前記第1の検知および前記第2の検知に基づいて第1の張力を前記シートベルトに加えるステップと、
前記自律車両を目的地へ向けて自律的に進行させるステップと、
複数の安全関連事象のうちの1つの発生を識別するステップであって、前記複数の安全関連事象は、制動の発生、衝突が予測されること、および加速の発生を含む、ステップと、
前記ベルトテンショナーによって、前記発生に少なくとも部分的に基づいて前記第1の張力を第2の張力へ増大させるステップと、
運転システムによって、前記安全関連事象が、前記衝突が予測されることであるときの交差ポイントにおいて衝撃を与えられることになる向きに前記自律車両を操縦するステップと、
前記ベルトテンショナーによって、前記進行の間の前記第2の張力を必要としない状況のもとで、前記第2の張力を前記第1の張力へ低減させるステップと
を備えることを特徴とする方法。 - 前記自律車両が前記目的地に到着したということを検知するステップであって、
前記自律車両のローカライザシステムにおいて、環境における前記自律車両のロケーションに関連付けられているロケーションデータを表すデータを受信するステップと、
前記自律車両のプランナーシステムにおいて、前記ロケーションデータを表す前記データに少なくとも部分的に基づいて、前記自律車両が前記目的地に到着したということを決定するステップと
を含む、ステップをさらに備えることを特徴とする請求項1に記載の方法。 - 前記自律車両の前記座席が占有されているということを検知する前記ステップは、
前記座席と結合されている占有センサからのセンサ信号を表すデータを受信するステップと、
前記センサ信号に少なくとも部分的に基づいて、前記座席が占有されていると決定するステップと
をさらに含むことを特徴とする請求項1または2に記載の方法。 - 前記座席と結合されている前記シートベルトが締められているということを検知する前記ステップは、
前記シートベルトを締めていることを感知するように構成されているシートベルトセンサからのセンサ信号を表すデータを受信するステップと、
前記センサ信号に少なくとも部分的に基づいて、前記シートベルトが締められていると決定するステップと
をさらに含むことを特徴とする請求項1乃至3のいずれか一項に記載の方法。 - 前記ベルトテンショナーによって、前記発生に少なくとも部分的に基づいて前記第1の張力を前記第2の張力へ増大させる前記ステップは、
前記ベルトテンショナーにおいて、前記ベルトテンショナーが前記シートベルトに張力を加えるために選択されていることを示すベルトテンショナー選択信号を表すデータを受信するステップと、
前記ベルトテンショナーにおいて、前記シートベルトに張力を加えることを前記ベルトテンショナーに行わせるように構成されているトリガー信号を表すデータを受信するステップと、
前記ベルトテンショナー選択信号および前記トリガー信号に基づいて、前記シートベルトに前記張力を加えるステップと
をさらに含むことを特徴とする請求項1乃至4のいずれか一項に記載の方法。 - システムであって、
1つまたは複数のプロセッサと、
前記1つまたは複数のプロセッサによって実行されたとき、前記システムに、
自律車両の周囲の環境におけるロケーションを表すデータに少なくとも部分的に基づいて、前記環境における前記自律車両の軌道を表すデータを決定することと、
前記環境におけるオブジェクトのロケーションを表すデータを決定することと、
前記オブジェクトの前記ロケーションを表す前記データ、および前記自律車両の前記軌道を表す前記データに少なくとも部分的に基づいて、前記オブジェクトと前記自律車両との間における衝突を予測することと、
前記衝突が予測されるパラメータ範囲において前記自律車両の内部安全システムのアクティブ化をもたらすことと、
前記自律車両の前記アクティブ化された内部安全システムによって、複数の安全関連事象のうちの1つの発生に少なくとも部分的に基づいて、シートベルトの第1の張力を第2の張力へ増大させることであって、前記複数の安全関連事象は、制動の発生、前記衝突が予測されること、および加速の発生を含む、ことと、
運転システムによって、前記安全関連事象が、前記衝突が予測されることであるときの交差ポイントにおいて衝撃を与えられることになる向きに前記自律車両を操縦することと、
前記自律車両の前記アクティブ化された内部安全システムによって、前記自律車両の進行中に前記第2の張力を必要としない状況のもとで、前記第2の張力を前記第1の張力へ低減させることと
を含むオペレーションを実行させるコンピュータ実行可能命令を有するコンピュータ可読メモリと
を備えたことを特徴とするシステム。 - 前記オペレーションは、
ベルトテンショナーによって、前記自律車両の内部に配置されている座席に結合されているシートベルトに前記第2の張力を加えることであって、前記ベルトテンショナーは、前記シートベルトに結合されている、ことをさらに含むことを特徴とする請求項6に記載のシステム。 - 前記内部安全システムのアクティブ化をもたらすことは、
ベルトテンショナーによって、前記自律車両の内部に配置されている座席に結合されているシートベルトに前記第2の張力を加えることであって、前記ベルトテンショナーは、前記シートベルトに結合されている、ことを含むことを特徴とする請求項6に記載のシステム。 - 前記パラメータ範囲は、前記オブジェクトと前記自律車両との間における前記衝突に関連付けられている衝撃までの予測される時間を含むことを特徴とする請求項6乃至8のいずれか一項に記載のシステム。
- ベルトテンショナーによって、前記衝撃までの前記予測される時間の前に、前記自律車両の内部に配置されている座席に結合されているシートベルトに前記第2の張力を加えることであって、前記ベルトテンショナーは、前記シートベルトに結合されている、こと
をさらに含むことを特徴とする請求項9に記載のシステム。
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