JP7597808B2 - 統計モデルを用いる衝突モニタリング - Google Patents

統計モデルを用いる衝突モニタリング Download PDF

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JP7597808B2
JP7597808B2 JP2022527669A JP2022527669A JP7597808B2 JP 7597808 B2 JP7597808 B2 JP 7597808B2 JP 2022527669 A JP2022527669 A JP 2022527669A JP 2022527669 A JP2022527669 A JP 2022527669A JP 7597808 B2 JP7597808 B2 JP 7597808B2
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Prior art keywords
vehicle
determining
probability
estimated position
estimated
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Japanese (ja)
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JP2023502598A (ja
JP2023502598A5 (https=
Inventor
スコット クレゴ アンドリュー
ガセムザデコシグロウディ アリ
アヌラーグ モダラバラサ サイ
クリスチャン レシュカ アンドレアス
レヴァン ベヘバハーニー シアーヴォシュ
チン リンチャオ
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ズークス インコーポレイテッド
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Priority claimed from US16/682,971 external-priority patent/US11697412B2/en
Priority claimed from US16/683,005 external-priority patent/US11648939B2/en
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Publication of JP2023502598A5 publication Critical patent/JP2023502598A5/ja
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/04—Traffic conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • 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
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Human Computer Interaction (AREA)
  • General Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
JP2022527669A 2019-11-13 2020-11-12 統計モデルを用いる衝突モニタリング Active JP7597808B2 (ja)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US16/683,005 2019-11-13
US16/682,971 US11697412B2 (en) 2019-11-13 2019-11-13 Collision monitoring using statistic models
US16/683,005 US11648939B2 (en) 2019-11-13 2019-11-13 Collision monitoring using system data
US16/682,971 2019-11-13
PCT/US2020/060197 WO2021097070A1 (en) 2019-11-13 2020-11-12 Collision monitoring using statistic models

Publications (3)

Publication Number Publication Date
JP2023502598A JP2023502598A (ja) 2023-01-25
JP2023502598A5 JP2023502598A5 (https=) 2023-10-05
JP7597808B2 true JP7597808B2 (ja) 2024-12-10

Family

ID=75912837

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JP2022527669A Active JP7597808B2 (ja) 2019-11-13 2020-11-12 統計モデルを用いる衝突モニタリング

Country Status (4)

Country Link
EP (1) EP4059003A4 (https=)
JP (1) JP7597808B2 (https=)
CN (1) CN114730521A (https=)
WO (1) WO2021097070A1 (https=)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2612632B (en) * 2021-11-08 2024-04-03 Jaguar Land Rover Ltd Control system for a vehicle and method thereof
US12187287B1 (en) 2022-03-23 2025-01-07 Zoox, Inc. Autonomous vehicle interaction memory
US12187288B1 (en) * 2022-03-23 2025-01-07 Zoox, Inc. Autonomous vehicle interaction and profile sharing
US20230316821A1 (en) * 2022-03-29 2023-10-05 Populus Technologies, Inc. Fleet tracking and behavior modification in geographic areas of interest

Citations (4)

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Publication number Priority date Publication date Assignee Title
JP2008250492A (ja) 2007-03-29 2008-10-16 Toyota Motor Corp 運転者危険度取得装置
JP2012022527A (ja) 2010-07-14 2012-02-02 Denso Corp 車両位置推定装置、および車両位置推定プログラム
JP2017182565A (ja) 2016-03-31 2017-10-05 株式会社Ｓｕｂａｒｕ 車両状態監視装置
JP2018090123A (ja) 2016-12-05 2018-06-14 マツダ株式会社 車両制御装置

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Publication number Priority date Publication date Assignee Title
US8509982B2 (en) * 2010-10-05 2013-08-13 Google Inc. Zone driving
US8457827B1 (en) * 2012-03-15 2013-06-04 Google Inc. Modifying behavior of autonomous vehicle based on predicted behavior of other vehicles
US9656667B2 (en) * 2014-01-29 2017-05-23 Continental Automotive Systems, Inc. Method for minimizing automatic braking intrusion based on collision confidence
WO2015155833A1 (ja) * 2014-04-08 2015-10-15 三菱電機株式会社 衝突防止装置
DE112014006561T5 (de) * 2014-04-10 2017-02-16 Mitsubishi Electric Corporation Routenvorausberechunungseinrichtung
JP6409680B2 (ja) * 2015-05-29 2018-10-24 株式会社デンソー 運転支援装置、運転支援方法
JP6481520B2 (ja) * 2015-06-05 2019-03-13 トヨタ自動車株式会社 車両の衝突回避支援装置
US10496766B2 (en) * 2015-11-05 2019-12-03 Zoox, Inc. Simulation system and methods for autonomous vehicles
US10029682B2 (en) * 2016-01-22 2018-07-24 Toyota Motor Engineering & Manufacturing North America, Inc. Surrounding vehicle classification and path prediction
US10699305B2 (en) * 2016-11-21 2020-06-30 Nio Usa, Inc. Smart refill assistant for electric vehicles
US10481044B2 (en) * 2017-05-18 2019-11-19 TuSimple Perception simulation for improved autonomous vehicle control

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008250492A (ja) 2007-03-29 2008-10-16 Toyota Motor Corp 運転者危険度取得装置
JP2012022527A (ja) 2010-07-14 2012-02-02 Denso Corp 車両位置推定装置、および車両位置推定プログラム
JP2017182565A (ja) 2016-03-31 2017-10-05 株式会社Ｓｕｂａｒｕ 車両状態監視装置
JP2018090123A (ja) 2016-12-05 2018-06-14 マツダ株式会社 車両制御装置

Also Published As

Publication number Publication date
WO2021097070A1 (en) 2021-05-20
CN114730521A (zh) 2022-07-08
JP2023502598A (ja) 2023-01-25
EP4059003A4 (en) 2023-11-22
EP4059003A1 (en) 2022-09-21

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