JPWO2019180506A5 - System and method - Google Patents
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Description
更に、例示的な実施形態を本明細書において説明したが、あらゆる実施形態の範囲は、本開示に基づいて当業者により理解されるような均等な要素、変更形態、省略形態、組合せ(例えば、様々な実施形態にわたる態様の)、適合形態及び/又は代替形態を有する。特許請求の範囲での限定は、特許請求の範囲に利用される言語に基づいて広く解釈されるべきであり、本明細書に記載される例又は本願の実行中の例に限定されない。例は、非排他的として解釈されるべきである。更に、開示される方法のステップは、ステップの順序替え及び/又はステップの挿入又は削除を含め、任意の方法で変更し得る。従って、本明細書及び例が単なる例示として見なされることが意図され、真の範囲及び趣旨は、以下の特許請求の範囲及びその全範囲の均等物により示される。
(項目1)
ホスト車両をナビゲートするためのシステムであって、
前記ホスト車両の環境を表す少なくとも1つの画像を画像捕捉デバイスから受信することと、
前記ホスト車両のナビゲーション目標を達成するための計画されたナビゲーション動作を少なくとも1つの運転ポリシに基づいて決定することと、
前記少なくとも1つの画像を分析して前記ホスト車両の前記環境内の目標車両を識別することと、
前記計画されたナビゲーション動作が行われた場合に生じることになる前記ホスト車両と前記目標車両との間の次の状態の距離を決定することと、
前記ホスト車両の最大ブレーキ能力、前記ホスト車両の最大加速能力及び前記ホスト車両の現在の速度を決定することと、
前記ホスト車両の前記現在の最大ブレーキ能力、前記ホスト車両の前記現在の最大加速能力及び前記ホスト車両の前記現在の速度に基づいて前記ホスト車両の現在の停止距離を決定することと、
前記目標車両の現在の速度を決定し、且つ前記目標車両の少なくとも1つの認識された特性に基づいて前記目標車両の最大ブレーキ能力を仮定することと、
前記ホスト車両の前記決定された現在の停止距離が、前記目標車両の前記現在の速度及び前記目標車両の前記仮定された最大ブレーキ能力に基づいて決定される目標車両の移動距離に、前記決定された次の状態の距離を加算したもの未満である場合、前記計画されたナビゲーション動作を実施することと、
を行うようにプログラムされる少なくとも1つの処理デバイスを含むシステム。
(項目2)
前記ホスト車両の前記現在の停止距離は、前記ホスト車両の前記決定された現在の速度から開始して、前記ホスト車両の前記最大加速能力で所定の期間にわたって前記ホスト車両が移動し得る距離に対応する加速距離を含む、項目1に記載のシステム。
(項目3)
前記所定の期間は、前記ホスト車両に関連する反応時間である、項目2に記載のシステム。
(項目4)
前記ホスト車両の前記最大ブレーキ能力は、検知される路面の状態に基づいて決定される、項目1に記載のシステム。
(項目5)
前記ホスト車両の前記最大ブレーキ能力は、検知される気象条件に基づいて決定される、項目1に記載のシステム。
(項目6)
前記目標車両の速度は、前記少なくとも1つの画像の分析に基づいて決定される、項目1に記載のシステム。
(項目7)
前記目標車両の速度は、前記ホスト車両に関連するライダシステム又はレーダシステムの少なくとも1つからの出力の分析に基づいて決定される、項目1に記載のシステム。
(項目8)
前記目標車両の前記認識された特性は、車両の種類を含む、項目1に記載のシステム。
(項目9)
前記目標車両の前記認識された特性は、車両のサイズである、項目1に記載のシステム。
(項目10)
前記目標車両の前記認識された特性は、車両のモデルを含む、項目1に記載のシステム。
(項目11)
前記目標車両の前記認識された特性は、前記少なくとも1つの画像の分析に基づいて決定される、項目1に記載のシステム。
(項目12)
前記目標車両の前記少なくとも1つの特性は、ライダ出力又はレーダ出力の少なくとも1つに基づいて決定される、項目1に記載のシステム。
(項目13)
前記計画されたナビゲーション動作は、レーン変更操作、合流操作、追い越し操作、追走距離低減操作又はスロットル維持動作の少なくとも1つを含む、項目1に記載のシステム。
(項目14)
前記少なくとも1つの処理デバイスは、前記ホスト車両の前記決定された現在の停止距離が、目標車両の移動距離に、前記決定された次の状態の距離を加算したものよりも少なくとも所定の最小距離だけ少ない場合、前記計画されたナビゲーション動作を実施するように構成され、前記目標車両の移動距離は、前記目標車両の前記現在の速度及び前記目標車両の前記仮定された最大ブレーキ能力に基づいて決定される、項目1に記載のシステム。
(項目15)
前記所定の最小距離は、前記ホスト車両と他の車両との間で維持される所定の分離距離に対応する、項目14に記載のシステム。
(項目16)
前記所定の分離距離は、少なくとも1メートルである、項目15に記載のシステム。
(項目17)
ホスト車両をナビゲートするためのシステムであって、
前記ホスト車両の環境を表す少なくとも1つの画像を画像捕捉デバイスから受信することと、
前記ホスト車両のナビゲーション目標を達成するための計画されたナビゲーション動作を少なくとも1つの運転ポリシに基づいて決定することと、
前記少なくとも1つの画像を分析して前記ホスト車両の前記環境内の目標車両を識別することと、
前記計画されたナビゲーション動作が行われた場合に生じることになる前記ホスト車両と前記目標車両との間の次の状態の距離を決定することと、
前記ホスト車両の現在の速度を決定することと、
前記目標車両の現在の速度を決定し、且つ前記目標車両の少なくとも1つの認識された特性に基づいて前記目標車両の最大制動率の能力を仮定することと、
前記ホスト車両の前記決定された現在の速度について及び前記ホスト車両の最大制動率の能力未満である所定の最大下の制動率において、前記目標車両の前記現在の速度及び前記目標車両の前記仮定された最大制動率の能力に基づいて決定される目標車両の移動距離に、前記決定された次の状態の距離を加算したもの未満であるホスト車両の停止距離内で前記ホスト車両が停止され得る場合、前記計画されたナビゲーション動作を実施することと、
を行うようにプログラムされる少なくとも1つの処理デバイスを含むシステム。
(項目18)
前記所定の最大下の制動率は、前記ホスト車両が停止されるまで又はブレーキ条件がもはや存在しないと決定されるまで、前記所定の最大下の制動率でホスト車両のブレーキが常にかけられるモードを含むユーザ選択可能ブレーキモードに基づいて決定される、項目17に記載のシステム。
(項目19)
前記所定の最大下の制動率は、ブレーキ条件が存在すると決定される期間の少なくとも一部にわたり、前記所定の最大下の制動率でホスト車両のブレーキが常にかけられ、その後、前記ホスト車両の最大制動率で前記ホスト車両のブレーキがかけられるモードを含むユーザ選択可能ブレーキモードに基づいて決定される、項目17に記載のシステム。
(項目20)
前記所定の最大下の制動率は、前記所定の最大下の制動率で開始して、前記ホスト車両の最大制動率まで漸進的に高めてホスト車両のブレーキがかけられるモードを含むユーザ選択可能ブレーキモードに基づいて決定される、項目17に記載のシステム。
(項目21)
前記所定の最大下の制動率は、前記ホスト車両の前記最大制動率の能力に関連する減速率の50%までの減速率に関連する、項目17に記載のシステム。
(項目22)
前記所定の最大下の制動率は、前記ホスト車両の前記最大制動率の能力に関連する減速率の25%までの減速率に関連する、項目17に記載のシステム。
(項目23)
前記ホスト車両の停止距離は、前記ホスト車両の前記現在の速度及び前記ホスト車両の前記所定の最大下の制動率に基づいて決定される、項目17に記載のシステム。
(項目24)
前記ホスト車両の停止距離は、所定の期間にわたって前記ホスト車両の最大加速能力で前記ホスト車両が移動し得る距離に対応する加速距離と、前記ホスト車両の前記最大制動率の能力で前記ホスト車両の前記現在の速度からゼロ速度まで減速しながら前記ホスト車両が移動し得る距離に対応する最大制動率距離との和よりも大きい、項目17に記載のシステム。
(項目25)
前記所定の期間は、前記ホスト車両に関連する反応時間である、項目24に記載のシステム。
(項目26)
前記ホスト車両の前記最大制動率の能力は、検知される路面の状態に基づいて決定される、項目17に記載のシステム。
(項目27)
前記ホスト車両の前記最大制動率の能力は、検知される気象条件に基づいて決定される、項目17に記載のシステム。
(項目28)
前記目標車両の速度は、前記少なくとも1つの画像の分析に基づいて決定される、項目17に記載のシステム。
(項目29)
前記目標車両の速度は、前記ホスト車両に関連するライダシステム又はレーダシステムの少なくとも1つからの出力の分析に基づいて決定される、項目17に記載のシステム。
(項目30)
前記目標車両の前記認識された特性は、車両の種類を含む、項目17に記載のシステム。
(項目31)
前記目標車両の前記認識された特性は、車両のサイズである、項目17に記載のシステム。
(項目32)
前記目標車両の前記認識された特性は、車両のモデルを含む、項目17に記載のシステム。
(項目33)
前記目標車両の前記認識された特性は、前記少なくとも1つの画像の分析に基づいて決定される、項目17に記載のシステム。
(項目34)
前記目標車両の前記少なくとも1つの特性は、ライダ出力又はレーダ出力の少なくとも1つに基づいて決定される、項目17に記載のシステム。
(項目35)
前記計画されたナビゲーション動作は、レーン変更操作、合流操作、追い越し操作、追走距離低減操作又はスロットル維持動作の少なくとも1つを含む、項目17に記載のシステム。
(項目36)
前記少なくとも1つの処理デバイスは、前記決定されたホスト車両の停止距離が、前記目標車両の前記現在の速度及び前記目標車両の前記仮定された最大制動率の能力に基づいて決定される目標車両の移動距離に、前記決定された次の状態の距離を加算したものよりも少なくとも所定の最小距離だけ少ない場合、前記計画されたナビゲーション動作を実施するように構成される、項目17に記載のシステム。
(項目37)
前記所定の最小距離は、前記ホスト車両と他の車両との間で維持される所定の分離距離に対応する、項目36に記載のシステム。
(項目38)
前記所定の分離距離は、少なくとも1メートルである、項目37に記載のシステム。
(項目39)
前記ホスト車両の停止距離は、前記所定の最大下の制動率で前記ホスト車両がブレーキをかけられる第1の距離と、前記ホスト車両の前記最大制動率の能力で前記ホスト車両がブレーキをかけられる第2の距離とを含む、項目17に記載のシステム。
(項目40)
前記少なくとも1つの処理デバイスは、前記第2の距離にわたって前記ホスト車両の前記最大制動率の能力で前記ホスト車両のブレーキをかける前に、前記第1の距離にわたって前記所定の最大下の制動率で前記ホスト車両にブレーキをかけさせるように構成される、項目39に記載のシステム。
(項目41)
ホスト車両をナビゲートするためのシステムであって、
前記ホスト車両の環境を表す少なくとも1つの画像を画像捕捉デバイスから受信することと、
前記ホスト車両のナビゲーション目標を達成するための計画されたナビゲーション動作を少なくとも1つの運転ポリシに基づいて決定することと、
前記少なくとも1つの画像を分析して前記ホスト車両の前記環境内の目標車両を識別することと、
前記計画されたナビゲーション動作が行われた場合に生じることになる前記ホスト車両と前記目標車両との間の次の状態の距離を決定することと、
前記ホスト車両の現在の速度を決定することと、
前記目標車両の現在の速度を決定し、且つ前記目標車両の少なくとも1つの認識された特性に基づいて前記目標車両の最大制動率の能力を仮定することと、
前記ホスト車両の前記決定された現在の速度について及び所定の制動率プロファイルについて、前記目標車両の前記現在の速度及び前記目標車両の前記仮定された最大制動率の能力に基づいて決定される目標車両の移動距離に、前記決定された次の状態の距離を加算したもの未満であるホスト車両の停止距離内で前記ホスト車両が停止され得る場合、前記計画されたナビゲーション動作を実施することであって、前記所定の制動率プロファイルは、前記ホスト車両の最大下の制動率から最大制動率まで漸進的に増加する、実施することと、
を行うようにプログラムされる少なくとも1つの処理デバイスを含むシステム。
(項目42)
前記所定の制動率プロファイルは、前記ホスト車両の前記最大下の制動率から前記最大制動率まで線形に増加する、項目41に記載のシステム。
(項目43)
前記所定の制動率プロファイルは、前記ホスト車両の前記最大下の制動率から前記最大制動率まで非線形に増加する、項目41に記載のシステム。
(項目44)
ホスト車両のブレーキをかけるためのシステムであって、
前記ホスト車両の環境を表す出力を少なくとも1つのセンサから受信することと、
前記ホスト車両の前記環境内の目標車両を前記出力に基づいて検出することと、
前記ホスト車両の現在の速度及び前記ホスト車両と前記目標車両との間の現在の距離を決定することと、
前記ホスト車両の前記現在の速度及び前記ホスト車両と前記目標車両との間の前記現在の距離に少なくとも基づいて、ブレーキ条件が存在するかどうかを決定することと、
ブレーキ条件が存在すると決定される場合、前記ホスト車両の最大下の制動率で始まる区分を含み、且つ前記ホスト車両の最大制動率まで漸進的に増加する所定のブレーキプロファイルに従って、前記ホスト車両に関連するブレーキデバイスを適用させることと、
を行うようにプログラムされる少なくとも1つの処理デバイスを含むシステム。
(項目45)
前記ホスト車両の前記最大制動率が達成されると、前記少なくとも1つのプロセッサは、前記ブレーキ条件の存在がなくなるまで前記ホスト車両の前記最大制動率で前記ホスト車両の前記ブレーキデバイスの適用を継続するように構成される、項目44に記載のシステム。
(項目46)
前記漸進的増加は、非線形である、項目44に記載のシステム。
(項目47)
前記漸進的増加は、線形である、項目44に記載のシステム。
(項目48)
人間のドライバーによるホスト車両の制御を選択的に置換するための自律システムであって、
前記ホスト車両の環境を表す少なくとも1つの画像を画像捕捉デバイスから受信することと、
前記少なくとも1つの画像の分析に基づいて前記ホスト車両の前記環境内の少なくとも1つの障害物を検出することと、
前記ホスト車両に関連するスロットル制御、ブレーキ制御又は操舵制御の少なくとも1つに対するドライバーの入力を監視することと、
前記少なくとも1つの障害物に対する近接緩衝域内で前記ホスト車両がナビゲートすることを前記ドライバーの入力が生じさせることになるかどうかを決定することと、
前記少なくとも1つの障害物に対する前記近接緩衝域内で前記ホスト車両がナビゲートすることを前記ドライバーの入力が生じさせないであろうと前記少なくとも1つの処理デバイスが決定する場合、前記ドライバーの入力がホスト車両の1つ又は複数の動作制御システムの対応する変更を生じさせることを可能にすることと、
前記少なくとも1つの障害物に対する前記近接緩衝域内で前記ホスト車両がナビゲートすることを前記ドライバーの入力が生じさせることになると前記少なくとも1つの処理デバイスが決定する場合、前記ドライバーの入力が前記ホスト車両の1つ又は複数の動作制御システムの前記対応する変更を生じさせるのを防ぐことと、
を行うようにプログラムされる少なくとも1つの処理デバイスを含む自律システム。
(項目49)
前記少なくとも1つの障害物は、目標車両を含み、及び前記目標車両に対する前記近接緩衝域は、前記ホスト車両の検出された現在の速度、前記ホスト車両の最大制動率の能力、前記目標車両の決定された現在の速度及び前記目標車両の仮定された最大制動率の能力に基づいて決定され、前記目標車両に対する前記近接緩衝域は、前記ホスト車両の最大加速能力に基づいて更に決定され、それにより、前記近接緩衝域は、少なくとも、前記ホスト車両に関連する反応時間にわたって前記ホスト車両の前記最大加速能力で加速された場合に前記ホスト車両が移動する距離として決定されるホスト車両の加速距離、前記ホスト車両の前記最大制動率の能力において前記ホスト車両の前記現在の速度をゼロまで低減するのに必要な距離として決定されるホスト車両の停止距離及び前記目標車両の前記仮定された最大制動率の能力において前記目標車両の前記現在の速度をゼロまで低減するのに必要な距離として決定される目標車両の停止距離の和を含む、項目48に記載のシステム。
(項目50)
前記少なくとも1つの障害物は、目標車両を含み、及び前記目標車両に対する前記近接緩衝域は、前記ホスト車両の検出された現在の速度、前記ホスト車両の最大制動率の能力、前記目標車両の決定された現在の速度及び前記目標車両の仮定された最大制動率の能力に基づいて決定され、前記目標車両に対する前記近接緩衝域は、前記ホスト車両の前記最大制動率の能力未満である所定の最大下の制動率に基づいて更に決定され、それにより、前記近接緩衝域は、少なくとも、前記ホスト車両の前記所定の最大下のブレーキ能力において前記ホスト車両の前記現在の速度をゼロまで低減するのに必要な距離として決定されるホスト車両の停止距離及び前記目標車両の前記仮定された最大ブレーキ能力において前記目標車両の前記現在の速度をゼロまで低減するのに必要な距離として決定される目標車両の停止距離の和を含む、項目49に記載のシステム。
(項目51)
前記目標車両は、前記ホスト車両の前にあると決定され、及び前記少なくとも1つの処理デバイスは、前記ドライバーの入力が前記目標車両と前記ホスト車両との間の縦方向距離の変化を生じさせることになると決定するように構成される、項目49に記載のシステム。
(項目52)
前記目標車両は、前記ホスト車両と異なるレーン内にあると決定され、及び前記少なくとも1つの処理デバイスは、前記ドライバーの入力が前記ホスト車両の横移動を生じさせることになり、それにより、前記横移動後に前記目標車両が前記ホスト車両の前になると決定するように構成される、項目49に記載のシステム。
(項目53)
前記目標車両は、前記ホスト車両と異なるレーン内にあると決定され、及び前記少なくとも1つの処理デバイスは、前記ドライバーの入力が前記ホスト車両の横移動を生じさせることになり、それにより、前記横移動後に前記ホスト車両が前記目標車両の前になると決定するように構成される、項目49に記載のシステム。
(項目54)
前記近接緩衝域は、所定の横方向距離閾値に対応する、項目48に記載のシステム。
(項目55)
前記目標車両に対する前記近接緩衝域は、前記ホスト車両と前記目標車両との間で維持される所定の最小距離に基づいて更に決定される、項目49に記載のシステム。
(項目56)
前記少なくとも1つの障害物は、道路内の歩行者又は物体を含み、及び前記少なくとも1つの障害物に対する前記近接緩衝域は、少なくとも、前記ホスト車両と前記少なくとも1つの障害物との間で維持される最小距離を含む、項目48に記載のシステム。
(項目57)
前記少なくとも1つの障害物は、歩行者を含み、及び前記歩行者に対する前記近接緩衝域は、前記ホスト車両の現在の速度に基づいて決定され、及び前記近接緩衝域は、ホスト車両の速度が増加することで増加する、項目48に記載のシステム。
(項目58)
前記スロットル制御は、アクセルペダルを含み、前記ブレーキ制御は、ブレーキペダルを含み、及び前記操舵制御は、ハンドルを含み、前記ドライバーの入力は、前記アクセルペダルを押し下げること、前記ブレーキペダルを押し下げること、前記ブレーキペダルの押し下げがないこと、前記ハンドルを回すこと、又は前記ハンドルを回さないことの少なくとも1つを含む、項目48に記載のシステム。
(項目59)
前記ホスト車両の1つ又は複数の制御システムは、前記ホスト車両の進行方位を制御するための少なくとも1つの操舵アクチュエータ、ホスト車両のブレーキデバイスを適用させるためのブレーキアクチュエータ又はホスト車両のスロットルを適用させるためのアクセルアクチュエータを含む、項目58に記載のシステム。
(項目60)
前記ホスト車両の1つ又は複数の動作制御システムの前記対応する変更を前記ドライバーの入力が生じさせるのを防ぐことは、前記ハンドルに対するドライバーの入力が前記少なくとも1つの操舵アクチュエータによる対応する応答を生じさせるのを防ぐこと、前記ブレーキペダルに対するドライバーの入力が前記ブレーキアクチュエータによる対応する応答を生じさせるのを防ぐこと、又は前記アクセルペダルに対するドライバーの入力が前記アクセルアクチュエータによる対応する応答を生じさせるのを防ぐことの少なくとも1つを含む、項目59に記載のシステム。
(項目61)
前記ドライバーの入力が前記ホスト車両の1つ又は複数の動作制御システムの前記対応する変更を生じさせるのを防ぐために、前記少なくとも1つの処理デバイスは、前記スロットル制御、前記ブレーキ制御又は前記操舵制御の少なくとも1つの動作を防ぐように構成される、項目48に記載のシステム。
(項目62)
前記ドライバーの入力が前記ホスト車両の1つ又は複数の動作制御システムの前記対応する変更を生じさせるのを防ぐために、前記少なくとも1つの処理デバイスは、前記スロットル制御、前記ブレーキ制御又は前記操舵制御の少なくとも1つの動作性を無効にするように構成される、項目48に記載のシステム。
(項目63)
前記ドライバーの入力が前記ホスト車両の1つ又は複数の動作制御システムの前記対応する変更を生じさせるのを防ぐために、前記少なくとも1つの処理デバイスは、前記ドライバーの入力に応じた前記スロットル制御、前記ブレーキ制御又は前記操舵制御の少なくとも1つの動作を防ぎ、且つ前記スロットル制御、前記ブレーキ制御又は前記操舵制御の少なくとも1つにインパルス力を加えるように構成される、項目48に記載のシステム。
(項目64)
前記少なくとも1つの処理デバイスは、前記少なくとも1つの障害物に対する近接緩衝域内で前記ホスト車両がナビゲートすることを生じさせないであろうドライバーの入力が受信されるまで、前記スロットル制御、前記ブレーキ制御又は前記操舵制御の少なくとも1つの動作を防ぎ続け、且つ前記スロットル制御、前記ブレーキ制御又は前記操舵制御の少なくとも1つに前記インパルス力を加え続けるように構成される、項目63に記載のシステム。
(項目65)
前記少なくとも1つの処理デバイスは、前記ホスト車両の1つ又は複数の動作制御システムの前記対応する変更を前記ドライバーの入力が生じさせるのを前記少なくとも1つの処理デバイスが防ぐ間隔中、前記ホスト車両のナビゲーションを自律的に制御するように構成される、項目48に記載のシステム。
(項目66)
前記少なくとも1つの処理デバイスは、前記少なくとも1つの障害物に対する近接緩衝域内で前記ホスト車両がナビゲートすることを生じさせないであろうドライバーの入力が受信された後、前記ホスト車両のナビゲーション制御をドライバーに返すように構成される、項目65に記載のシステム。
(項目67)
人間のドライバーによる制御を選択的に置換するための前記自律システムを無効にするためのシステムオーバーライド制御を更に含み、前記システムオーバーライド制御は、前記スロットル制御、前記ブレーキ制御及び前記操舵制御と異なる、項目48に記載のシステム。
(項目68)
前記少なくとも1つの処理デバイスは、人間のドライバーによる制御を選択的に置換するための前記自律システムが前記システムオーバーライド制御の動作を通して無効にされているときを追跡するように構成される、項目67に記載のシステム。
(項目69)
前記ホスト車両の前記環境に対して異なる視野をそれぞれ有する複数の画像捕捉デバイスを更に含み、前記少なくとも1つの処理デバイスは、前記複数の画像捕捉デバイスのそれぞれから1つ又は複数の画像を受信し、且つ前記複数の画像捕捉デバイスのいずれかから受信された前記1つ又は複数の画像の分析に基づいて前記ホスト車両の前記環境内の前記少なくとも1つの障害物を検出するように構成される、項目48に記載のシステム。
(項目70)
前記複数の画像捕捉デバイスの少なくとも1つは、前記ホスト車両の側部の前記ホスト車両の前記環境を表す画像を捕捉するように構成される、項目69に記載のシステム。
(項目71)
前記複数の画像捕捉デバイスの少なくとも1つは、前記ホスト車両の後方の前記ホスト車両の前記環境を表す画像を捕捉するように構成される、項目69に記載のシステム。
(項目72)
自律ホスト車両を、前記ホスト車両の少なくとも1つのナビゲーション目標に従ってナビゲートするためのナビゲーションシステムであって、
前記ホスト車両の環境に対する前記ホスト車両の動作の少なくとも1つの側面を示すセンサ出力を1つ又は複数のセンサから受信することであって、前記センサ出力は、前記センサ出力が基づく測定値又はデータの取得が得られるデータ取得時点よりも後であり、且つ前記少なくとも1つのプロセッサによって前記センサ出力が受信される第2の時点よりも前である第1の時点において生成される、受信することと、
前記受信されたセンサ出力及び前記データ取得時点と動作予測時点との間の時間間隔にわたってホスト車両の動作の少なくとも1つの側面がどのように変化するかの推定に少なくとも部分的に基づいて、ホスト車両の動作の前記少なくとも1つの側面の予測を前記動作予測時点について生成することと、
前記ホスト車両の前記少なくとも1つのナビゲーション目標に少なくとも部分的に基づいて、及びホスト車両の動作の前記少なくとも1つの側面の前記生成された予測に基づいて前記ホスト車両の計画されたナビゲーション動作を決定することと、
前記計画されたナビゲーション動作の少なくとも一部を実施するためのナビゲーションコマンドを生成することと、
前記第2の時点よりも後であり、且つ少なくとも1つの作動システムの構成要素が、前記受信されたコマンドに応答する作動時点よりも前又はそれとほぼ同じである第3の時点において、前記少なくとも1つの作動システムが前記ナビゲーションコマンドを受信するように前記ホスト車両の前記少なくとも1つの作動システムに前記ナビゲーションコマンドを提供することと、
を行うようにプログラムされる少なくとも1つのプロセッサを含み、
前記動作予測時点は、前記データ取得時点後であり、且つ前記作動時点よりも前であるか又はそれと等しい、ナビゲーションシステム。
(項目73)
前記動作予測時点は、前記第3の時点にほぼ対応する、項目72に記載のナビゲーションシステム。
(項目74)
前記動作予測時点は、前記第2の時点にほぼ対応する、項目72に記載のナビゲーションシステム。
(項目75)
前記動作予測時点は、前記作動時点にほぼ対応する、項目72に記載のナビゲーションシステム。
(項目76)
前記1つ又は複数のセンサは、速度センサ、加速度計、カメラ、ライダシステム又はレーダシステムを含む、項目72に記載のナビゲーションシステム。
(項目77)
ホスト車両の動作の少なくとも1つの側面の前記予測は、前記動作予測時点における前記ホスト車両の速度又は加速度の少なくとも1つの予測を含む、項目72に記載のナビゲーションシステム。
(項目78)
ホスト車両の動作の少なくとも1つの側面の前記予測は、前記動作予測時点における前記ホスト車両の経路の予測を含む、項目72に記載のナビゲーションシステム。
(項目79)
前記動作予測時点における前記ホスト車両の前記経路の前記予測は、前記ホスト車両の目標進行方向を含む、項目78に記載のナビゲーションシステム。
(項目80)
前記1つ又は複数のセンサは、カメラを含み、及び前記動作予測時点における前記ホスト車両の前記経路の前記予測は、前記カメラによって捕捉される少なくとも1つの画像に基づく、項目78に記載のナビゲーションシステム。
(項目81)
前記動作予測時点における前記ホスト車両の前記経路の前記予測は、前記ホスト車両の決定された速度及び前記ホスト車両が移動する道路区分のマップ内に含まれる前記ホスト車両の目標軌道に少なくとも基づく、項目78に記載のナビゲーションシステム。
(項目82)
前記目標軌道は、前記道路区分の少なくとも1つのレーンに沿った好ましい経路を表す所定の三次元スプラインを含む、項目81に記載のナビゲーションシステム。
(項目83)
ホスト車両の動作の少なくとも1つの側面の前記予測は、決定されたブレーキペダルの位置、決定されたスロットルの位置、ホスト車両の動作に逆らう決定された空気抵抗、摩擦又は前記ホスト車両が移動する道路区分の勾配の少なくとも1つに基づく、項目72に記載のナビゲーションシステム。
(項目84)
前記動作予測時点におけるホスト車両の動作の少なくとも1つの側面の前記予測は、前記1つ又は複数のセンサに関連するデータ取得速度と、前記少なくとも1つのプロセッサが前記ナビゲーションコマンドを生成する速度に関連する制御速度との間の不一致を考慮する、項目72に記載のナビゲーションシステム。
(項目85)
前記計画されたナビゲーション動作は、前記ホスト車両の速度の変更又は進行方位の変更の少なくとも1つを含む、項目72に記載のナビゲーションシステム。
(項目86)
前記少なくとも1つの作動システムは、スロットル作動システム、ブレーキ作動システム又は操舵作動システムの1つ又は複数を含む、項目72に記載のナビゲーションシステム。
(項目87)
前記ホスト車両の前記ナビゲーション目標は、第1の位置から第2の位置への移行を含む、項目72に記載のナビゲーションシステム。
(項目88)
前記ホスト車両の前記ナビゲーション目標は、前記ホスト車両によって占有されている現在のレーンから隣接レーンへのレーンの変更を含む、項目72に記載のナビゲーションシステム。
(項目89)
前記ホスト車両の前記ナビゲーション目標は、前記ホスト車両と検出された目標車両との間の近接緩衝域を維持することを含み、前記近接緩衝域は、前記ホスト車両の検出された現在の速度、前記ホスト車両の最大制動率の能力、前記目標車両の決定された現在の速度及び前記目標車両の仮定された最大制動率の能力に基づいて決定され、前記目標車両に対する前記近接緩衝域は、前記ホスト車両の最大加速能力に基づいて更に決定され、それにより、前記近接緩衝域は、少なくとも、前記ホスト車両に関連する反応時間にわたって前記ホスト車両の前記最大加速能力で加速された場合に前記ホスト車両が移動する距離として決定されるホスト車両の加速距離、前記ホスト車両の前記最大制動率の能力において前記ホスト車両の前記現在の速度をゼロまで低減するのに必要な距離として決定されるホスト車両の停止距離及び前記目標車両の前記仮定された最大制動率の能力において前記目標車両の前記現在の速度をゼロまで低減するのに必要な距離として決定される目標車両の停止距離の和を含む、項目72に記載のナビゲーションシステム。
(項目90)
ホスト車両の動作の少なくとも1つの側面の前記予測は、前記ホスト車両に関連する所定の関数に基づき、前記所定の関数は、前記ホスト車両の決定された現在の速度及び前記ホスト車両の決定されたブレーキペダルの位置又は決定されたスロットルの位置に基づいて前記ホスト車両の将来の速度及び加速度の予測を可能にする、項目72に記載のナビゲーションシステム。
(項目91)
前記動作予測時点は、前記データ取得時点の少なくとも100ミリ秒後である、項目72に記載のナビゲーションシステム。
(項目92)
前記動作予測時点は、前記データ取得時点の少なくとも200ミリ秒後である、項目72に記載のナビゲーションシステム。
(項目93)
前記ナビゲーションコマンドは、前記ホスト車両の速度を制御するためのペダルコマンド又は前記ホスト車両の進行方向を制御するためのヨー率コマンドの少なくとも1つを含む、項目72に記載のナビゲーションシステム。
Moreover, although exemplary embodiments have been described herein, the scope of any embodiment is the equivalent elements, modifications, abbreviations, combinations (eg, eg) as will be understood by those of skill in the art based on the present disclosure. It has (aspects across various embodiments), conforming and / or alternative embodiments. The limitations of the claims should be broadly construed based on the language used in the claims and are not limited to the examples described herein or in practice of the present application. The example should be interpreted as non-exclusive. Further, the steps of the disclosed method may be modified in any way, including reordering the steps and / or inserting or deleting the steps. Accordingly, the specification and examples are intended to be taken as mere examples, and the true scope and intent are set forth by the following claims and their full scope equivalents.
(Item 1)
A system for navigating the host vehicle
Receiving at least one image representing the environment of the host vehicle from the image capture device and
Determining planned navigation behavior to achieve the host vehicle's navigation objectives based on at least one driving policy.
Analyzing the at least one image to identify the target vehicle in the environment of the host vehicle.
Determining the distance of the next state between the host vehicle and the target vehicle that would occur if the planned navigation operation were performed.
Determining the maximum braking capacity of the host vehicle, the maximum acceleration capacity of the host vehicle, and the current speed of the host vehicle.
Determining the current stopping distance of the host vehicle based on the current maximum braking capacity of the host vehicle, the current maximum acceleration capacity of the host vehicle and the current speed of the host vehicle.
Determining the current speed of the target vehicle and assuming the maximum braking capacity of the target vehicle based on at least one recognized characteristic of the target vehicle.
The determined current stop distance of the host vehicle is determined to be the travel distance of the target vehicle determined based on the current speed of the target vehicle and the assumed maximum braking capacity of the target vehicle. If it is less than the sum of the distances in the following states, the planned navigation operation is performed and the planned navigation operation is performed.
A system that includes at least one processing device that is programmed to do so.
(Item 2)
The current stop distance of the host vehicle corresponds to a distance that the host vehicle can travel over a predetermined period at the maximum acceleration capacity of the host vehicle, starting from the determined current speed of the host vehicle. The system according to item 1, which includes the acceleration distance to be performed.
(Item 3)
The system according to item 2, wherein the predetermined period is a reaction time associated with the host vehicle.
(Item 4)
The system according to item 1, wherein the maximum braking capacity of the host vehicle is determined based on the detected road surface condition.
(Item 5)
The system according to item 1, wherein the maximum braking capacity of the host vehicle is determined based on the detected weather conditions.
(Item 6)
The system according to item 1, wherein the speed of the target vehicle is determined based on the analysis of the at least one image.
(Item 7)
The system of item 1, wherein the speed of the target vehicle is determined based on analysis of outputs from at least one of the rider or radar systems associated with the host vehicle.
(Item 8)
The system of item 1, wherein the recognized characteristic of the target vehicle includes the type of vehicle.
(Item 9)
The system of item 1, wherein the recognized characteristic of the target vehicle is the size of the vehicle.
(Item 10)
The system of item 1, wherein the recognized characteristic of the target vehicle includes a model of the vehicle.
(Item 11)
The system of item 1, wherein the recognized characteristics of the target vehicle are determined based on analysis of the at least one image.
(Item 12)
The system of item 1, wherein the at least one characteristic of the target vehicle is determined based on at least one of a rider output or a radar output.
(Item 13)
The system according to item 1, wherein the planned navigation operation includes at least one of a lane change operation, a merging operation, an overtaking operation, a follow-up distance reduction operation, or a throttle maintenance operation.
(Item 14)
In the at least one processing device, the determined current stop distance of the host vehicle is at least a predetermined minimum distance than the travel distance of the target vehicle plus the distance of the determined next state. If less, it is configured to perform the planned navigation movement and the distance traveled by the target vehicle is determined based on the current speed of the target vehicle and the assumed maximum braking capacity of the target vehicle. The system according to item 1.
(Item 15)
The system of item 14, wherein the predetermined minimum distance corresponds to a predetermined separation distance maintained between the host vehicle and another vehicle.
(Item 16)
The system of item 15, wherein the predetermined separation distance is at least 1 meter.
(Item 17)
A system for navigating the host vehicle
Receiving at least one image representing the environment of the host vehicle from the image capture device and
Determining planned navigation behavior to achieve the host vehicle's navigation objectives based on at least one driving policy.
Analyzing the at least one image to identify the target vehicle in the environment of the host vehicle.
Determining the distance of the next state between the host vehicle and the target vehicle that would occur if the planned navigation operation were performed.
Determining the current speed of the host vehicle
Determining the current speed of the target vehicle and assuming the maximum braking rate capability of the target vehicle based on at least one recognized characteristic of the target vehicle.
The assumed current speed of the target vehicle and the assumed of the target vehicle at the determined current speed of the host vehicle and at a braking rate below a predetermined maximum that is less than the capacity of the maximum braking rate of the host vehicle. When the host vehicle can be stopped within the stop distance of the host vehicle, which is less than the sum of the travel distance of the target vehicle determined based on the ability of the maximum braking rate and the distance of the determined next state. To carry out the planned navigation operation and
A system that includes at least one processing device that is programmed to do so.
(Item 18)
The predetermined lower braking rate is a mode in which the host vehicle is always braked at the predetermined lower maximum braking rate until the host vehicle is stopped or it is determined that the braking conditions no longer exist. 17. The system of item 17, which is determined based on the user selectable brake mode including.
(Item 19)
The predetermined lower braking rate is such that the host vehicle is always braked at the predetermined lower maximum braking rate for at least a portion of the period in which the braking conditions are determined to be present, and then the host vehicle's maximum. 17. The system of item 17, wherein the braking rate is determined based on a user selectable braking mode, including a mode in which the host vehicle is braked.
(Item 20)
The predetermined lower braking rate is a user-selectable brake including a mode in which the host vehicle is braked by starting with the predetermined maximum braking rate and gradually increasing to the maximum braking rate of the host vehicle. Item 17. The system according to item 17, which is determined based on the mode.
(Item 21)
17. The system of item 17, wherein the braking rate below a predetermined maximum is related to a deceleration rate up to 50% of the deceleration rate associated with the ability of the host vehicle to have the maximum braking rate.
(Item 22)
17. The system of item 17, wherein the braking rate below a predetermined maximum is related to a deceleration rate up to 25% of the deceleration rate associated with the ability of the host vehicle to have the maximum braking rate.
(Item 23)
17. The system of item 17, wherein the stop distance of the host vehicle is determined based on the current speed of the host vehicle and the braking rate below the predetermined maximum of the host vehicle.
(Item 24)
The stop distance of the host vehicle is the acceleration distance corresponding to the distance that the host vehicle can move at the maximum acceleration capacity of the host vehicle over a predetermined period, and the capacity of the maximum braking rate of the host vehicle of the host vehicle. Item 17. The system according to item 17, which is larger than the sum of the maximum braking rate distance corresponding to the distance that the host vehicle can move while decelerating from the current speed to zero speed.
(Item 25)
24. The system of item 24, wherein the predetermined period is a reaction time associated with the host vehicle.
(Item 26)
17. The system of item 17, wherein the maximum braking rate capability of the host vehicle is determined based on the detected road surface condition.
(Item 27)
17. The system of item 17, wherein the maximum braking rate capability of the host vehicle is determined based on the detected weather conditions.
(Item 28)
17. The system of item 17, wherein the speed of the target vehicle is determined based on the analysis of the at least one image.
(Item 29)
17. The system of item 17, wherein the speed of the target vehicle is determined based on analysis of output from at least one of the rider or radar systems associated with the host vehicle.
(Item 30)
17. The system of item 17, wherein the recognized characteristic of the target vehicle includes the type of vehicle.
(Item 31)
17. The system of item 17, wherein the recognized characteristic of the target vehicle is the size of the vehicle.
(Item 32)
17. The system of item 17, wherein the recognized characteristic of the target vehicle comprises a model of the vehicle.
(Item 33)
17. The system of item 17, wherein the recognized characteristics of the target vehicle are determined based on analysis of the at least one image.
(Item 34)
17. The system of item 17, wherein the at least one characteristic of the target vehicle is determined based on at least one of a rider output or a radar output.
(Item 35)
17. The system of item 17, wherein the planned navigation operation comprises at least one of a lane change operation, a merging operation, an overtaking operation, a follow-up distance reduction operation or a throttle maintenance operation.
(Item 36)
The at least one processing device is a target vehicle whose stopping distance of the determined host vehicle is determined based on the current speed of the target vehicle and the capacity of the assumed maximum braking rate of the target vehicle. 17. The system of item 17, configured to perform the planned navigation operation if it is at least a predetermined minimum distance less than the distance traveled plus the distance of the determined next state.
(Item 37)
36. The system of item 36, wherein the predetermined minimum distance corresponds to a predetermined separation distance maintained between the host vehicle and another vehicle.
(Item 38)
37. The system of item 37, wherein the predetermined separation distance is at least 1 meter.
(Item 39)
The stop distance of the host vehicle is a first distance at which the host vehicle is braked at the predetermined maximum braking rate, and the host vehicle is braked at the capacity of the maximum braking rate of the host vehicle. 17. The system of item 17, including with a second distance.
(Item 40)
The at least one processing device is at the predetermined lower braking rate over the first distance before braking the host vehicle at the host vehicle's maximum braking rate capability over the second distance. 39. The system of item 39, which is configured to brake the host vehicle.
(Item 41)
A system for navigating the host vehicle
Receiving at least one image representing the environment of the host vehicle from the image capture device and
Determining planned navigation behavior to achieve the host vehicle's navigation objectives based on at least one driving policy.
Analyzing the at least one image to identify the target vehicle in the environment of the host vehicle.
Determining the distance of the next state between the host vehicle and the target vehicle that would occur if the planned navigation operation were performed.
Determining the current speed of the host vehicle
Determining the current speed of the target vehicle and assuming the maximum braking rate capability of the target vehicle based on at least one recognized characteristic of the target vehicle.
The target vehicle, which is determined for the determined current speed of the host vehicle and for the predetermined braking rate profile, based on the current speed of the target vehicle and the assumed maximum braking rate capability of the target vehicle. If the host vehicle can be stopped within the stop distance of the host vehicle, which is less than the sum of the distance traveled by and the distance of the determined next state, the planned navigation operation is to be performed. , The predetermined braking rate profile is carried out by gradually increasing from the lower maximum braking rate to the maximum braking rate of the host vehicle.
A system that includes at least one processing device that is programmed to do so.
(Item 42)
41. The system of item 41, wherein the predetermined braking rate profile linearly increases from the lower maximum braking rate of the host vehicle to the maximum braking rate.
(Item 43)
41. The system of item 41, wherein the predetermined braking rate profile increases non-linearly from the lower maximum braking rate of the host vehicle to the maximum braking rate.
(Item 44)
It is a system for applying the brakes of the host vehicle.
Receiving an output representing the environment of the host vehicle from at least one sensor
To detect the target vehicle in the environment of the host vehicle based on the output,
Determining the current speed of the host vehicle and the current distance between the host vehicle and the target vehicle.
Determining whether braking conditions are present, at least based on the current speed of the host vehicle and the current distance between the host vehicle and the target vehicle.
If it is determined that a braking condition exists, it is associated with the host vehicle according to a predetermined braking profile that includes a section beginning with the lower maximum braking rate of the host vehicle and gradually increases to the maximum braking rate of the host vehicle. Applying the braking device to
A system that includes at least one processing device that is programmed to do so.
(Item 45)
When the maximum braking rate of the host vehicle is achieved, the at least one processor continues to apply the braking device of the host vehicle at the maximum braking rate of the host vehicle until the existence of the braking condition disappears. 44. The system of item 44.
(Item 46)
44. The system of item 44, wherein the gradual increase is non-linear.
(Item 47)
44. The system of item 44, wherein the gradual increase is linear.
(Item 48)
An autonomous system that selectively replaces control of the host vehicle by a human driver.
Receiving at least one image representing the environment of the host vehicle from the image capture device and
To detect at least one obstacle in the environment of the host vehicle based on the analysis of the at least one image.
Monitoring the driver's input to at least one of the throttle control, brake control or steering control associated with the host vehicle.
Determining whether the driver's input would cause the host vehicle to navigate within the proximity buffer to the at least one obstacle.
If the driver's input determines that the driver's input will not cause the host vehicle to navigate within the proximity buffer area to the at least one obstacle, the driver's input is of the host vehicle. To be able to make the corresponding changes in one or more motion control systems,
If the driver's input determines that the driver's input will result in the host vehicle navigating within the proximity buffer area to the at least one obstacle, the driver's input is the host vehicle. To prevent the corresponding changes in one or more of the motion control systems from occurring.
An autonomous system that includes at least one processing device that is programmed to do so.
(Item 49)
The at least one obstacle includes the target vehicle, and the proximity buffer area with respect to the target vehicle is the detected current speed of the host vehicle, the ability of the host vehicle to have a maximum braking rate, the determination of the target vehicle. Determined based on the current speed determined and the assumed maximum braking rate capability of the target vehicle, the proximity buffer area to the target vehicle is further determined based on the maximum acceleration capability of the host vehicle, thereby. The proximity buffer region is the acceleration distance of the host vehicle, which is determined as the distance the host vehicle travels when accelerated at the maximum acceleration capacity of the host vehicle over at least the reaction time associated with the host vehicle. Of the stop distance of the host vehicle and the assumed maximum braking rate of the target vehicle, which is determined as the distance required to reduce the current speed of the host vehicle to zero in the capacity of the maximum braking rate of the host vehicle. 48. The system of item 48, comprising the sum of the stopping distances of the target vehicle, which is determined as the distance required to reduce the current speed of the target vehicle to zero in capacity.
(Item 50)
The at least one obstacle includes the target vehicle, and the proximity buffer area with respect to the target vehicle is the detected current speed of the host vehicle, the ability of the host vehicle to have a maximum braking rate, and the determination of the target vehicle. Determined based on the current speed determined and the assumed maximum braking rate capability of the target vehicle, the proximity buffer area to the target vehicle is a predetermined maximum that is less than the maximum braking rate capability of the host vehicle. Further determined based on the braking rate below, the proximity buffering area is at least to reduce the current speed of the host vehicle to zero at the host vehicle's predetermined maximum braking capacity below. The stop distance of the host vehicle determined as the required distance and the target vehicle determined as the distance required to reduce the current speed of the target vehicle to zero at the assumed maximum braking capacity of the target vehicle. 49. The system of item 49, comprising the sum of stopping distances.
(Item 51)
The target vehicle is determined to be in front of the host vehicle, and the at least one processing device causes the driver's input to cause a change in the longitudinal distance between the target vehicle and the host vehicle. 49. The system of item 49, configured to determine that.
(Item 52)
The target vehicle is determined to be in a different lane than the host vehicle, and the at least one processing device causes the driver's input to cause lateral movement of the host vehicle, thereby the lateral movement. 49. The system of item 49, configured to determine that the target vehicle is in front of the host vehicle after movement.
(Item 53)
The target vehicle is determined to be in a different lane than the host vehicle, and the at least one processing device causes the driver's input to cause lateral movement of the host vehicle, thereby the lateral movement. 49. The system of item 49, configured to determine that the host vehicle is in front of the target vehicle after movement.
(Item 54)
28. The system of item 48, wherein the proximity buffer area corresponds to a predetermined lateral distance threshold.
(Item 55)
49. The system of item 49, wherein the proximity buffer area to the target vehicle is further determined based on a predetermined minimum distance maintained between the host vehicle and the target vehicle.
(Item 56)
The at least one obstacle includes a pedestrian or object in the road, and the proximity buffer area for the at least one obstacle is maintained at least between the host vehicle and the at least one obstacle. 48. The system of item 48, including the minimum distance.
(Item 57)
The at least one obstacle includes a pedestrian, and the proximity buffer area for the pedestrian is determined based on the current speed of the host vehicle, and the proximity buffer area increases the speed of the host vehicle. Item 48. The system according to item 48, which is increased by doing so.
(Item 58)
The throttle control includes an accelerator pedal, the brake control includes a brake pedal, and the steering control includes a steering wheel, and the driver's input is to push down the accelerator pedal, to push down the brake pedal. 48. The system of item 48, comprising no depressing of the brake pedal, turning the handle, or not turning the handle.
(Item 59)
One or more control systems of the host vehicle may apply at least one steering actuator to control the direction of travel of the host vehicle, a brake actuator to apply the brake device of the host vehicle, or a throttle of the host vehicle. 58. The system of item 58, comprising an accelerator actuator for.
(Item 60)
Preventing the driver's input from causing the corresponding changes in one or more motion control systems of the host vehicle causes the driver's input to the handle to produce a corresponding response by the at least one steering actuator. Preventing the driver's input to the brake pedal from causing the corresponding response by the brake actuator, or preventing the driver's input to the accelerator pedal from producing the corresponding response by the accelerator actuator. 59. The system of item 59, comprising at least one of prevention.
(Item 61)
In order to prevent the driver's input from causing the corresponding changes in one or more motion control systems of the host vehicle, the at least one processing device may be a throttle control, a brake control or a steering control. 48. The system of item 48, configured to prevent at least one operation.
(Item 62)
In order to prevent the driver's input from causing the corresponding changes in one or more motion control systems of the host vehicle, the at least one processing device may be a throttle control, a brake control or a steering control. 48. The system of item 48, configured to disable at least one operability.
(Item 63)
In order to prevent the driver's input from causing the corresponding changes in one or more motion control systems of the host vehicle, the at least one processing device is the throttle control in response to the driver's input. 48. The system of item 48, configured to prevent at least one operation of brake control or said steering control and to apply an impulse force to at least one of said throttle control, said brake control or said steering control.
(Item 64)
The at least one processing device may receive said throttle control, said brake control or until received driver input that would not cause the host vehicle to navigate within the proximity buffer area to said at least one obstacle. 63. The system of item 63, wherein the system is configured to continue to prevent at least one operation of the steering control and to continue to apply the impulse force to at least one of the throttle control, the brake control or the steering control.
(Item 65)
The at least one processing device is of the host vehicle during an interval during which the at least one processing device prevents the driver's input from causing the corresponding changes in one or more motion control systems of the host vehicle. 48. The system of item 48, configured to autonomously control navigation.
(Item 66)
The at least one processing device controls the navigation of the host vehicle after receiving a driver's input that would not cause the host vehicle to navigate within the proximity buffer area to the at least one obstacle. 65. The system of item 65, configured to return to.
(Item 67)
The system override control further includes a system override control for disabling the autonomous system for selectively replacing control by a human driver, wherein the system override control is different from the throttle control, the brake control and the steering control. 48.
(Item 68)
Item 67, wherein the at least one processing device is configured to track when the autonomous system for selectively replacing control by a human driver is disabled through the operation of the system override control. The system described.
(Item 69)
Further including a plurality of image capture devices each having a different field of view for the environment of the host vehicle, the at least one processing device receives one or more images from each of the plurality of image capture devices. And an item configured to detect the at least one obstacle in the environment of the host vehicle based on the analysis of the one or more images received from any of the plurality of image capture devices. 48.
(Item 70)
69. The system of item 69, wherein at least one of the plurality of image capture devices is configured to capture an image representing the environment of the host vehicle on the side of the host vehicle.
(Item 71)
69. The system of item 69, wherein at least one of the plurality of image capture devices is configured to capture an image representing the environment of the host vehicle behind the host vehicle.
(Item 72)
A navigation system for navigating an autonomous host vehicle according to at least one navigation goal of the host vehicle.
A sensor output indicating at least one aspect of the operation of the host vehicle with respect to the environment of the host vehicle is received from one or more sensors, wherein the sensor output is a measurement or data based on the sensor output. Receiving, which is generated at a first time point, which is later than the time point at which the acquisition is obtained and before the second time point at which the sensor output is received by the at least one processor.
The host vehicle is at least partially based on an estimate of how at least one aspect of the host vehicle's behavior changes over the time interval between the received sensor output and the data acquisition time point and the motion prediction time point. To generate a prediction of the at least one aspect of the motion of the motion for the motion prediction time point.
The planned navigation behavior of the host vehicle is determined based at least in part on the at least one navigation target of the host vehicle and on the generated prediction of the at least one aspect of the movement of the host vehicle. That and
Generating navigation commands to perform at least some of the planned navigation behavior,
At least one at a third time point that is after the second time point and at least one component of the working system is before or about the same as the working time point in response to the received command. Providing the navigation command to the at least one operating system of the host vehicle so that one operating system receives the navigation command.
Includes at least one processor programmed to do
A navigation system in which the motion prediction time point is after the data acquisition time point and before or equal to the operation time point.
(Item 73)
The navigation system according to item 72, wherein the operation prediction time point corresponds substantially to the third time point.
(Item 74)
The navigation system according to item 72, wherein the operation prediction time point corresponds substantially to the second time point.
(Item 75)
The navigation system according to item 72, wherein the operation prediction time point corresponds substantially to the operation time point.
(Item 76)
72. The navigation system of item 72, wherein the one or more sensors includes a speed sensor, an accelerometer, a camera, a rider system or a radar system.
(Item 77)
72. The navigation system of item 72, wherein the prediction of at least one aspect of the motion of the host vehicle comprises at least one prediction of the speed or acceleration of the host vehicle at the time of the motion prediction.
(Item 78)
72. The navigation system of item 72, wherein the prediction of at least one aspect of the movement of the host vehicle includes prediction of the route of the host vehicle at the time of the movement prediction.
(Item 79)
The navigation system according to item 78, wherein the prediction of the route of the host vehicle at the time of the operation prediction includes a target traveling direction of the host vehicle.
(Item 80)
58. The navigation system of item 78, wherein the one or more sensors comprises a camera, and said prediction of said path of said host vehicle at the time of said motion prediction is based on at least one image captured by said camera. ..
(Item 81)
The prediction of the route of the host vehicle at the time of the motion prediction is at least based on the determined speed of the host vehicle and the target trajectory of the host vehicle included in the map of the road division in which the host vehicle travels. 78. The navigation system.
(Item 82)
81. The navigation system of item 81, wherein the target track comprises a predetermined three-dimensional spline representing a preferred route along at least one lane of the road segment.
(Item 83)
The prediction of at least one aspect of the movement of the host vehicle is a determined brake pedal position, a determined throttle position, a determined aerodynamic drag, friction or the road on which the host vehicle travels against the movement of the host vehicle. 72. The navigation system according to item 72, which is based on at least one of the gradients of the division.
(Item 84)
The prediction of at least one aspect of the behavior of the host vehicle at the time of the motion prediction relates to the data acquisition speed associated with the one or more sensors and the speed at which the at least one processor generates the navigation command. 72. The navigation system of item 72, which takes into account discrepancies with the control speed.
(Item 85)
72. The navigation system of item 72, wherein the planned navigation operation comprises at least one change in speed or direction of travel of the host vehicle.
(Item 86)
72. The navigation system of item 72, wherein the at least one actuation system comprises one or more of a throttle actuation system, a brake actuation system or a steering actuation system.
(Item 87)
72. The navigation system of item 72, wherein the navigation target of the host vehicle comprises a transition from a first position to a second position.
(Item 88)
72. The navigation system of item 72, wherein the navigation target of the host vehicle comprises changing a lane from the current lane occupied by the host vehicle to an adjacent lane.
(Item 89)
The navigation target of the host vehicle comprises maintaining a proximity buffer area between the host vehicle and the detected target vehicle, wherein the proximity buffer area is the detected current speed of the host vehicle, said. The proximity buffer area to the target vehicle is determined based on the maximum braking rate capability of the host vehicle, the determined current speed of the target vehicle and the assumed maximum braking rate capability of the target vehicle, and the proximity buffer area to the target vehicle is the host. Further determined based on the vehicle's maximum acceleration capacity, whereby the proximity buffer area is determined by the host vehicle when it is accelerated by the host vehicle's maximum acceleration capacity for at least the reaction time associated with the host vehicle. The acceleration distance of the host vehicle, which is determined as the distance traveled, and the stoppage of the host vehicle, which is determined as the distance required to reduce the current speed of the host vehicle to zero in the capacity of the maximum braking rate of the host vehicle. Item 72, including the sum of the stop distances of the target vehicle, which is determined as the distance required to reduce the current speed of the target vehicle to zero in the distance and the capacity of the assumed maximum braking rate of the target vehicle. The navigation system described in.
(Item 90)
The prediction of at least one aspect of the operation of the host vehicle is based on a predetermined function associated with the host vehicle, which is the determined current speed of the host vehicle and the determination of the host vehicle. 72. The navigation system of item 72, which allows prediction of future speed and acceleration of said host vehicle based on the position of the brake pedal or the position of the determined throttle.
(Item 91)
The navigation system according to item 72, wherein the motion prediction time point is at least 100 milliseconds after the data acquisition time point.
(Item 92)
The navigation system according to item 72, wherein the motion prediction time point is at least 200 milliseconds after the data acquisition time point.
(Item 93)
72. The navigation system according to item 72, wherein the navigation command includes at least one of a pedal command for controlling the speed of the host vehicle or a yaw rate command for controlling the traveling direction of the host vehicle.
Claims (29)
前記ホスト車両の環境を表す少なくとも1つの画像を画像捕捉デバイスから受信することと、 Receiving at least one image representing the environment of the host vehicle from the image capture device and
前記少なくとも1つの画像の分析に基づいて前記ホスト車両の前記環境における少なくとも1つの障害物を検出することと、 To detect at least one obstacle in the environment of the host vehicle based on the analysis of the at least one image.
前記ホスト車両に関連するスロットル制御、ブレーキ制御又は操舵制御の少なくとも1つに対するドライバーの入力を監視することと、 Monitoring the driver's input to at least one of the throttle control, brake control or steering control associated with the host vehicle.
前記少なくとも1つの障害物に対する近接緩衝域内で前記ホスト車両がナビゲートすることを前記ドライバーの入力が生じさせることになるかどうかを決定することと、 Determining whether the driver's input would cause the host vehicle to navigate within the proximity buffer to the at least one obstacle.
前記少なくとも1つの障害物に対する前記近接緩衝域内で前記ホスト車両がナビゲートすることを前記ドライバーの入力が生じさせないであろうと前記少なくとも1つの処理デバイスが決定する場合、前記ドライバーの入力がホスト車両の1つ又は複数の動作制御システムにおける対応する変更を生じさせることを可能にすることと、 If the driver's input determines that the driver's input will not cause the host vehicle to navigate within the proximity buffer area to the at least one obstacle, the driver's input is of the host vehicle. To be able to make corresponding changes in one or more motion control systems,
前記少なくとも1つの障害物に対する前記近接緩衝域内で前記ホスト車両がナビゲートすることを前記ドライバーの入力が生じさせることになると前記少なくとも1つの処理デバイスが決定する場合、前記ドライバーの入力が前記ホスト車両の1つ又は複数の動作制御システムにおける前記対応する変更を生じさせるのを防ぐことと、 If the driver's input determines that the driver's input will result in the host vehicle navigating within the proximity buffer area to the at least one obstacle, the driver's input is the host vehicle. To prevent the corresponding changes in one or more of the motion control systems of
を行うようにプログラムされる少なくとも1つの処理デバイスを含み、 Includes at least one processing device programmed to do
前記少なくとも1つの障害物は、目標車両を含み、 The at least one obstacle includes the target vehicle and
前記目標車両に対する前記近接緩衝域は、前記ホスト車両の検出された現在の速度と、前記ホスト車両の最大制動率の能力と、前記目標車両の決定された現在の速度と、前記目標車両の仮定された最大制動率の能力とに基づいて決定され、 The proximity buffer area with respect to the target vehicle includes the detected current speed of the host vehicle, the maximum braking rate capability of the host vehicle, the determined current speed of the target vehicle, and the assumption of the target vehicle. Determined based on the maximum braking rate capacity and
前記近接緩衝域は、前記ホスト車両の最大加速能力に基づいてさらに決定され、それにより、前記近接緩衝域は少なくとも、 The proximity buffer area is further determined based on the maximum acceleration capability of the host vehicle, whereby the proximity buffer area is at least.
前記ホスト車両に関連する反応時間にわたり前記ホスト車両の前記最大加速能力で加速された場合、前記ホスト車両が移動する距離として決定される、前記ホスト車両の加速距離と、 The acceleration distance of the host vehicle, which is determined as the distance traveled by the host vehicle when accelerated by the maximum acceleration capacity of the host vehicle over the reaction time associated with the host vehicle.
前記ホスト車両の前記最大制動率の能力で、前記ホスト車両の前記現在の速度をゼロに低減するのに必要な距離として決定される、前記ホスト車両の停止距離と、 The stopping distance of the host vehicle and the stopping distance of the host vehicle, which is determined by the capacity of the maximum braking rate of the host vehicle as the distance required to reduce the current speed of the host vehicle to zero.
前記目標車両の前記仮定された最大制動率の能力で、前記目標車両の前記現在の速度をゼロに低減するのに必要な距離として決定される、前記目標車両の停止距離と、 The stopping distance of the target vehicle and the stopping distance of the target vehicle, which is determined by the capacity of the assumed maximum braking rate of the target vehicle as the distance required to reduce the current speed of the target vehicle to zero.
の合計を含む、システム。 The system, including the total of.
前記少なくとも1つの処理デバイスは、前記ドライバーの入力が前記目標車両と前記ホスト車両との間の縦方向距離における変化を生じさせることになると決定するように構成される、請求項1または2に記載のシステム。 The first or second claim, wherein the at least one processing device is configured to determine that the driver's input will result in a change in the longitudinal distance between the target vehicle and the host vehicle. System.
前記少なくとも1つの処理デバイスは、前記ドライバーの入力が前記ホスト車両の横移動を生じさせることになり、それにより、前記横移動の後に前記目標車両が前記ホスト車両の前になると決定するように構成される、 The at least one processing device is configured such that the input of the driver causes the lateral movement of the host vehicle, thereby determining that the target vehicle is in front of the host vehicle after the lateral movement. Be done,
請求項1から3のいずれか一項に記載のシステム。 The system according to any one of claims 1 to 3.
前記少なくとも1つの処理デバイスは、前記ドライバーの入力が前記ホスト車両の横移動を生じさせることになり、それにより、前記横移動の後に前記ホスト車両が前記目標車両の前になると決定するように構成される、 The at least one processing device is configured such that the input of the driver will result in lateral movement of the host vehicle, thereby determining that the host vehicle will be in front of the target vehicle after the lateral movement. Be done,
請求項1から3のいずれか一項に記載のシステム。 The system according to any one of claims 1 to 3.
前記少なくとも1つの障害物に対する前記近接緩衝域は、少なくとも、前記ホスト車両と前記少なくとも1つの障害物との間で維持される最小距離を含む、 The proximity buffer area for the at least one obstacle includes at least the minimum distance maintained between the host vehicle and the at least one obstacle.
請求項1から7のいずれか一項に記載のシステム。 The system according to any one of claims 1 to 7.
前記歩行者に対する前記近接緩衝域は、前記ホスト車両の現在の速度に基づいて決定され、前記近接緩衝域は、前記ホスト車両の速度が増加することで増加する、 The proximity buffer area for the pedestrian is determined based on the current speed of the host vehicle, and the proximity buffer area increases as the speed of the host vehicle increases.
請求項1から8のいずれか一項に記載のシステム。 The system according to any one of claims 1 to 8.
前記ブレーキ制御は、ブレーキペダルを含み、 The brake control includes a brake pedal and includes a brake pedal.
前記操舵制御は、ハンドルを含み、 The steering control includes a steering wheel and includes a steering wheel.
前記ドライバーの入力は、前記アクセルペダルを押し下げること、前記ブレーキペダルを押し下げること、前記ブレーキペダルの押し下げがないこと、前記ハンドルを回すこと、又は前記ハンドルを回さないこと、の少なくとも1つを含む、請求項1から9のいずれか一項に記載のシステム。 The driver's input includes at least one of depressing the accelerator pedal, depressing the brake pedal, not depressing the brake pedal, turning the steering wheel, or not turning the steering wheel. , The system according to any one of claims 1 to 9.
前記システムオーバーライド制御は、前記スロットル制御、前記ブレーキ制御及び前記操舵制御と異なる、 The system override control is different from the throttle control, the brake control and the steering control.
請求項1から18のいずれか一項に記載のシステム。 The system according to any one of claims 1 to 18.
前記少なくとも1つの処理デバイスは、前記複数の画像捕捉デバイスのそれぞれから1つ又は複数の画像を受信し、且つ前記複数の画像捕捉デバイスのいずれかから受信された前記1つ又は複数の画像の分析に基づいて、前記ホスト車両の前記環境における前記少なくとも1つの障害物を検出するように構成される、 The at least one processing device receives one or more images from each of the plurality of image capture devices, and analyzes the one or more images received from any of the plurality of image capture devices. Based on, configured to detect said at least one obstacle in said environment of said host vehicle.
請求項1から20のいずれか一項に記載のシステム。 The system according to any one of claims 1 to 20.
前記少なくとも1つの画像の分析に基づいて、前記ホスト車両の前記環境における少なくとも1つの障害物を検出する段階と、 A step of detecting at least one obstacle in the environment of the host vehicle based on the analysis of the at least one image.
前記ホスト車両に関連するスロットル制御、ブレーキ制御又は操舵制御の少なくとも1つに対するドライバーの入力を監視する段階と、 A step of monitoring the driver's input to at least one of throttle control, brake control or steering control associated with the host vehicle.
前記少なくとも1つの障害物に対する近接緩衝域内で前記ホスト車両がナビゲートすることを、前記ドライバーの入力が生じさせることになるかどうかを決定する段階と、 A step of determining whether the driver's input will result from the host vehicle navigating within the proximity buffer to the at least one obstacle.
前記少なくとも1つの障害物に対する前記近接緩衝域内で前記ホスト車両がナビゲートすることを、前記ドライバーの入力が生じさせないであろうと前記少なくとも1つの処理デバイスが決定する場合、前記ドライバーの入力が前記ホスト車両の1つ又は複数の動作制御システムにおける対応する変更を生じさせることを可能にする段階と、 If the driver's input determines that the driver's input will not result from the host vehicle navigating within the proximity buffer to the at least one obstacle, the driver's input will be the host. The steps that make it possible to make corresponding changes in one or more motion control systems of a vehicle, and
前記少なくとも1つの障害物に対する前記近接緩衝域内で前記ホスト車両がナビゲートすることを、前記ドライバーの入力が生じさせることになると前記少なくとも1つの処理デバイスが決定する場合、前記ドライバーの入力が前記ホスト車両の1つ又は複数の動作制御システムにおける前記対応する変更を生じさせるのを防ぐ段階と、 If the at least one processing device determines that the driver's input will result in the host vehicle navigating within the proximity buffer to the at least one obstacle, the driver's input will be the host. Steps to prevent the corresponding changes in one or more motion control systems of the vehicle, and
を備え、 Equipped with
前記少なくとも1つの障害物は、目標車両を含み、 The at least one obstacle includes the target vehicle and
前記目標車両に対する前記近接緩衝域は、前記ホスト車両の検出された現在の速度と、前記ホスト車両の最大制動率の能力と、前記目標車両の決定された現在の速度と、前記目標車両の仮定された最大制動率の能力とに基づいて決定され、 The proximity buffer area with respect to the target vehicle includes the detected current speed of the host vehicle, the maximum braking rate capability of the host vehicle, the determined current speed of the target vehicle, and the assumption of the target vehicle. Determined based on the maximum braking rate capacity and
前記近接緩衝域は、前記ホスト車両の最大加速能力に基づいてさらに決定され、それにより、前記近接緩衝域は少なくとも、 The proximity buffer area is further determined based on the maximum acceleration capability of the host vehicle, whereby the proximity buffer area is at least.
前記ホスト車両に関連する反応時間にわたり前記ホスト車両の前記最大加速能力で加速された場合、前記ホスト車両が移動する距離として決定される、前記ホスト車両の加速距離と、 The acceleration distance of the host vehicle, which is determined as the distance traveled by the host vehicle when accelerated by the maximum acceleration capacity of the host vehicle over the reaction time associated with the host vehicle.
前記ホスト車両の前記最大制動率の能力で、前記ホスト車両の前記現在の速度をゼロに低減するのに必要な距離として決定される、前記ホスト車両の停止距離と、 The stopping distance of the host vehicle and the stopping distance of the host vehicle, which is determined by the capacity of the maximum braking rate of the host vehicle as the distance required to reduce the current speed of the host vehicle to zero.
前記目標車両の前記仮定された最大制動率の能力で、前記目標車両の前記現在の速度をゼロに低減するのに必要な距離として決定される、前記目標車両の停止距離と、 The stopping distance of the target vehicle and the stopping distance of the target vehicle, which is determined by the capacity of the assumed maximum braking rate of the target vehicle as the distance required to reduce the current speed of the target vehicle to zero.
の合計を含む、人間の前記ドライバーによる前記ホスト車両の制御を選択的に置換するための方法。 A method for selectively replacing the control of the host vehicle by the human driver, including the sum of the above.
前記少なくとも1つの処理デバイスは、前記ドライバーの入力が前記目標車両と前記ホスト車両との間の縦方向距離における変化を生じさせることになると決定するように構成される、請求項24または25に記載の方法。 24 or 25, wherein the at least one processing device is configured to determine that the driver's input will result in a change in the longitudinal distance between the target vehicle and the host vehicle. the method of.
前記ホスト車両の環境を表す少なくとも1つの画像を画像捕捉デバイスから受信する段階と、 The stage of receiving at least one image representing the environment of the host vehicle from the image capture device, and
前記少なくとも1つの画像の分析に基づいて前記ホスト車両の前記環境における少なくとも1つの障害物を検出する段階と、 A step of detecting at least one obstacle in the environment of the host vehicle based on the analysis of the at least one image.
前記ホスト車両に関連するスロットル制御、ブレーキ制御又は操舵制御の少なくとも1つに対するドライバーの入力を監視する段階と、 A step of monitoring the driver's input to at least one of throttle control, brake control or steering control associated with the host vehicle.
前記少なくとも1つの障害物に対する近接緩衝域内で前記ホスト車両がナビゲートすることを、前記ドライバーの入力が生じさせることになるかどうかを決定する段階と、 A step of determining whether the driver's input will result from the host vehicle navigating within the proximity buffer to the at least one obstacle.
前記少なくとも1つの障害物に対する前記近接緩衝域内で前記ホスト車両がナビゲートすることを、前記ドライバーの入力が生じさせないであろうと前記少なくとも1つの処理デバイスが決定する場合、前記ドライバーの入力が前記ホスト車両の1つ又は複数の動作制御システムにおける対応する変更を生じさせることを可能にする段階と、 If the driver's input determines that the driver's input will not result from the host vehicle navigating within the proximity buffer to the at least one obstacle, the driver's input will be the host. The steps that make it possible to make corresponding changes in one or more motion control systems of a vehicle, and
前記少なくとも1つの障害物に対する前記近接緩衝域内で前記ホスト車両がナビゲートすることを、前記ドライバーの入力が生じさせることになると前記少なくとも1つの処理デバイスが決定する場合、前記ドライバーの入力が前記ホスト車両の1つ又は複数の動作制御システムにおける前記対応する変更を生じさせるのを防ぐ段階と、 If the at least one processing device determines that the driver's input will result in the host vehicle navigating within the proximity buffer to the at least one obstacle, the driver's input will be the host. Steps to prevent the corresponding changes in one or more motion control systems of the vehicle, and
を備える操作を実行する命令を格納するコンピューター可読非一時的メモリを有し、 Has computer-readable non-temporary memory that stores instructions to perform operations
前記少なくとも1つの障害物は、目標車両を含み、 The at least one obstacle includes the target vehicle and
前記目標車両に対する前記近接緩衝域は、前記ホスト車両の検出された現在の速度と、前記ホスト車両の最大制動率の能力と、前記目標車両の決定された現在の速度と、前記目標車両の仮定された最大制動率の能力とに基づいて決定され、 The proximity buffer area with respect to the target vehicle includes the detected current speed of the host vehicle, the maximum braking rate capability of the host vehicle, the determined current speed of the target vehicle, and the assumption of the target vehicle. Determined based on the maximum braking rate capacity and
前記近接緩衝域は、前記ホスト車両の最大加速能力に基づいてさらに決定され、それにより、前記近接緩衝域は少なくとも、 The proximity buffer area is further determined based on the maximum acceleration capability of the host vehicle, whereby the proximity buffer area is at least.
前記ホスト車両に関連する反応時間にわたり前記ホスト車両の前記最大加速能力で加速された場合、前記ホスト車両が移動する距離として決定される、前記ホスト車両の加速距離と、 The acceleration distance of the host vehicle, which is determined as the distance traveled by the host vehicle when accelerated by the maximum acceleration capacity of the host vehicle over the reaction time associated with the host vehicle.
前記ホスト車両の前記最大制動率の能力で、前記ホスト車両の前記現在の速度をゼロに低減するのに必要な距離として決定される、前記ホスト車両の停止距離と、 The stopping distance of the host vehicle and the stopping distance of the host vehicle, which is determined by the capacity of the maximum braking rate of the host vehicle as the distance required to reduce the current speed of the host vehicle to zero.
前記目標車両の前記仮定された最大制動率の能力で、前記目標車両の前記現在の速度をゼロに低減するのに必要な距離として決定される、前記目標車両の停止距離と、 The stopping distance of the target vehicle and the stopping distance of the target vehicle, which is determined by the capacity of the assumed maximum braking rate of the target vehicle as the distance required to reduce the current speed of the target vehicle to zero.
の合計を含む、システム。 The system, including the total of.
前記システムオーバーライド制御は、前記スロットル制御、前記ブレーキ制御及び前記操舵制御と異なる、 The system override control is different from the throttle control, the brake control and the steering control.
請求項27に記載のシステム。 The system according to claim 27.
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