KR20130129931A - 자율주행 차량을 위한 진단 및 정비 - Google Patents

자율주행 차량을 위한 진단 및 정비 Download PDF

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KR20130129931A
KR20130129931A KR1020137011657A KR20137011657A KR20130129931A KR 20130129931 A KR20130129931 A KR 20130129931A KR 1020137011657 A KR1020137011657 A KR 1020137011657A KR 20137011657 A KR20137011657 A KR 20137011657A KR 20130129931 A KR20130129931 A KR 20130129931A
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vehicle
processor
movement
sensors
component
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KR1020137011657A
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KR101637634B1 (ko
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드미트리 에이. 돌고브
크리스토퍼 폴 우름손
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구글 인코포레이티드
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Abstract

차량(101)을 제어하는 시스템 및 방법이 제공된다. 일 실시형태에서, 이 시스템 및 방법은, 차량(101)의 부품(180)에서의 마모의 양을 결정하고, 그리고 마모의 양 및 차량(101)을 둘러싼 환경(209)으로부터 획득된 정보(예를 들어, 차량의 경로에서의 또 다른 차량 또는 특정 위치(510)에서 정지하도록 하는 요건)에 근거하여, 부품(180)에서의 후속 마모를 경감시키도록 차량(101)을 조종한다.

Description

자율주행 차량을 위한 진단 및 정비{DIAGNOSIS AND REPAIR FOR AUTONOMOUS VEHICLES}
관련 출원에 대한 상호 참조
본 출원은 미국 특허출원 번호 제13/248,674호(발명의 명칭: "DIAGNOSIS AND REPAIR FOR AUTONOMOUS VEHICLES", 2011년 9월 29일 출원); 미국 가출원 번호 제61/390,094호(발명의 명칭: "AUTONOMOUS VEHICLES", 2010년 10월 5일 출원); 그리고 미국 가출원 번호 제61/391,271호(발명의 명칭: "AUTONOMOUS VEHICLES", 2010년 10월 8일 출원)의 우선권 혜택을 주장하며, 이러한 특허문헌들의 전체 개시내용은 참조로 본 명세서에 통합된다.
자율주행 차량들은 수동 모드(manual mode)(이러한 수동 모드에서 조작자는 차량의 움직임에 대해 고도의 제어를 수행함)에서 혹은 자율주행 모드(autonomous mode)(이러한 자율주행 모드에서 차량은 본질적으로 스스로 구동됨)에서 구동되도록 구성될 수 있다. 이러한 차량들은 승객들을 일 위치에서 또 다른 위치로 운송하는데 도움을 주기 위해 다양한 컴퓨팅 시스템들을 사용한다. 일부 자율주행 차량들은, 파일럿(pilot), 운전자, 혹은 승객과 같은 조작자로부터의 어떤 초기 입력 또는 연속적인 입력을 요구할 수 있다. 다른 시스템들, 예를 들어, 자동운행 시스템들(autopilot systems)은 그 시스템이 관여된 경우에만 사용될 수 있는바, 이 시스템은 조작자로 하여금 수동 모드로부터 자율주행 모드로 스위칭하여 이들 사이의 어느 모드에 있게 해준다.
자율 운행 능력을 갖는 차량은, 안전상 위험을 식별하고 다양한 운행 상황에 대처하기 위한 대응조치를 발생시키기 위해 차량 동작, 주변 물체, 및 도로 상태를 모니터링하는 센서들로부터 신호 입력들을 수신하도록 구성될 수 있다. 자율주행 차량은 또한 다양한 정보 소스들(예를 들어, 셀룰러 네트워크, 인공위성, 뿐만 아리라 사용자 입력, 예컨대 사용자의 신원, 목적지 및 운행 요청의 경로 그리고 차량 동작 설정치)로부터 데이터를 수집 및 기록할 수 있다.
자율적인 운행 능력을 갖는 차량은 또한, 다양한 잠재적 위험 상황을 검출하여 사용자에게 경고하도록 구성될 수 있다. 잠재적 위험 상황은 예를 들어, 차량이 급커브에 접근하는 것, 보행자 가까이 접근하는 것, 빙판길 가까이 접근하는 것 등을 포함할 수 있다. 이러한 차량은 또한, 이와 같은 위험들을 피하기 위한 능동적 조치를 취하는 메커니즘을 갖도록 구성될 수 있다(예를 들어, 차량을 감속시키는 것, 브레이크를 적용시키는 것, 등).
일 실시형태에서, 차량을 조종하는 방법이 제공된다. 이 방법은 차량을 둘러싼 환경의 특성을 검출하는 것과, 그리고 차량의 부품(component)에 대한 손상(damage)의 양을 검출하는 것을 포함하며, 여기서 서로 다른 조종(maneuver)들은 부품에 서로 다르게 영향을 미칠 것으로 예측될 수 있는바, 이에 따라 부품 손상에 서로 다르게 영향을 미칠 것으로 예측될 수 있다. 프로세서는 검출된 환경의 특성과 검출된 손상의 양에 근거하여 제 1 조종과 제 2 조종 중 하나의 조종을 선택한다. 그 다음에 차량은 선택된 조종에 따라 움직인다.
또 다른 실시형태에서, 시스템은 프로세서와 센서들을 포함한다. 하나의 센서는 프로세서와 통신하며 차량의 부품에 대한 물리적 손상의 존재를 검출하도록 구성된다. 또 다른 센서는 프로세서와 통신하며 차량의 외부에 있는 물체들의 존재를 검출하도록 구성되고, 여기서 물체들은 차량의 움직임에서의 변경을 요구한다(예를 들어, 물체 둘레로 움직이도록 조정하는 것, 혹은 물체에 근접시 정지하는 것). 메모리는 프로세서에 의해 액세스가능한 명령들을 포함한다. 명령들은 두 개의 센서들로부터 수신된 출력에 근거하여 외부 물체에 대한 차량의 움직임을 변경시키는 것을 포함한다.
또 다른 실시형태에서, 차량을 제어하는 방법이 제공되며, 이 방법은, 차량의 부품에서의 마모를 결정하는 것과; 차량의 지리적 위치(geographic position)를 결정하는 것과; 차량의 경로에서의 교통 요건들을 결정하는 것과; 그리고 결정된 마모 및 결정된 거리에 근거하여 제 1 조종과 제 2 조종 중 하나의 조종을 프로세서로 선택하는 것을 포함한다. 제 1 조종과 제 2 조종 간의 적어도 하나의 차이는, 가속율, 감속율, 및 방향으로 구성된 그룹으로부터 선택된다. 차량은 선택된 조종에 따라 움직인다.
또 다른 실시형태에서, 차량의 움직임을 제어하기 위한 제어 부품들을 포함하는 차량이 제공된다. 이 부품들은 승객과 프로세서로부터의 커맨드(command)들에 응답한다. 환경 센서(environment sensor)들이 차량의 외부 환경을 검출하며, 부품 센서들이 차량의 내부에 있는 부품들의 물리적 특성을 검출하고, 이러한 물리적 특성은 차량의 동작에 근거하여 변한다. 프로세서가 제어 부품들, 환경 센서들, 및 부품 센서들과 통신하고 아울러 명령들을 실행시키는바, 여기서 명령들은, 환경 센서들로부터의 출력을 수신하는 것과, 부품 센서들로부터의 출력을 수신하는 것과, 제어 부품들에 제공될 제 1 커맨드 혹은 제 2 커맨드를 환경 센서들 및 부품 센서들로부터의 출력에 근거하여 선택하는 것과, 그리고 선택된 커맨드를 제어 부품들에 제공하는 것을 포함한다.
또 다른 실시형태에서, 차량의 움직임을 제어하는 시스템이 제공되며, 이 시스템은 프로세서와, 프로세서에 의해 액세스가능한 메모리와, 그리고 메모리에 포함되며 프로세서에 의해 실행가능한 명령들을 포함한다. 명령들은, 차량의 지리적 위치를 위치별 차량 움직임 제약들에 대비하여 결정하는 것과, 차량의 제 1 부품의 손상 여부를 결정하는 것과, 제 1 부품이 손상되지 않았다고 결정되는 경우 위치별 움직임 제약을 따르도록 차량을 움직이게 차량의 제 2 부품에 제 1 명령을 제공하는 것과, 그리고 제 1 부품이 손상되었다고 결정되는 경우 위치별 움직임 제약을 따르도록 차량을 움직이게 제 2 부품에 제 2 명령을 제공하는 것을 포함한다. 제 2 명령에 의해 지시된 움직임은 제 1 커맨드에 의해 지시된 움직임과는 다르다.
도 1은 시스템의 기능 구성도이다.
도 2는 차량의 센서들의 기능 구성도이다.
도 3은 차량의 모니터링되는 부품들 및 센서들의 기능 구성도이다.
도 4는 차량의 내부를 나타낸 도면이다.
도 5는 위치별 차량 움직임 제약의 검출에 응답하는 차량 움직임을 나타낸 도면이다.
도 6은 위치별 차량 움직임 제약의 검출에 응답하는 차량 움직임을 나타낸 도면이다.
도 7은 위치별 차량 움직임 제약의 검출에 응답하는 차량 움직임을 나타낸 도면이다.
도 8은 흐름도이다.
간략한 개요(Short Summary)
일 실시형태에서, 차량을 자율적으로 움직이는 시스템 및 방법이 제공되며, 여기서 센서들은 부품의 손상 여부를 결정하고, 프로세서는 손상의 존재에 근거하여 그리고 부품에 대한 후속 손상을 경감시키기 위해 차량을 다르게 조종한다.
차량 소개(Vehicle Introduction)
도 1은 차량(101)의 자율 운행 시스템(autonomous driving system)의 가능한 일 실시형태를 나타낸다. 본 발명의 특정 실시형태가 특정 타입의 차량들과 관련되어 특히 유용하지만, 차량(101)은 임의 타입의 차량일 수 있다. 가능한 차량들은, 단지 예시적 관점에서, 자동차, 트럭, 오토바이, 버스, 보트, 비행기, 헬리콥터, 잔디 깎는 기계, 레저 차량, 놀이 공원 차량, 전차(trams), 골프 카트(golf carts), 기차, 및 트롤리(trolleys)를 포함한다.
차량(101)은 자율주행 차량 컴퓨터 시스템(130)을 포함할 수 있으며, 이 컴퓨터 시스템(130)은 센서들(140), 차량의 움직임을 제어하는 부품들(150), 사용자 입력(160), 및 사용자 표시기들(170)과 통신한다.
컴퓨터 시스템(Computer System)
컴퓨터 시스템(130)은 프로세서(131), 메모리(132), 및 범용 컴퓨터에 전형적으로 존재하는 다른 컴포넌트들을 포함하는 컴퓨터를 포함할 수 있다.
메모리(132)는 프로세서(131)에 의해 액세스가능한 정보(프로세서(131)에 의해 실행될 수 있거나 그렇지 않으면 사용될 수 있는 명령들(133) 및 데이터(134)를 포함함)를 저장한다. 메모리(132)는 프로세서에 의해 액세스가능한 정보를 저장할 수 있는 임의의 유형을 가질 수 있는바, 여기에는 (하드-드라이브, 메모리 카드, ROM, RAM, DVD 혹은 다른 광학 디스크뿐만 아니라 다른 기입-가능 메모리 및 판독-전용 메모리와 같은 전자적 디바이스를 통해 판독될 수 있는 데이터를 저장하는) 컴퓨터-판독가능 매체 혹은 다른 매체가 포함될 수 있다. 시스템 및 방법은 앞서 언급된 것의 서로 다른 조합을 포함할 수 있고, 그럼으로써 명령들 및 데이터의 서로 다른 부분들이 서로 다른 타입의 매체들에 저장되게 된다.
명령들(133)은 프로세서에 의해 (머신 코드(machine code)와 같이) 직접적으로 혹은 (스크립트들(scripts)과 같이) 간접적으로 실행될 임의 세트의 명령들일 수 있다. 예를 들어, 명령들은 컴퓨터-판독가능 매체에 컴퓨터 코드로서 저장될 수 있다. 이러한 점에서, 용어 "명령" 및 "프로그램"은 본 명세서에서 상호교환가능하게 사용될 수 있다. 명령들은 프로세서에 의한 직접 프로세싱을 위해 오브젝트 코드 포맷(object code format)으로 저장될 수 있거나, 혹은 (요구시 해석되는 독립형 소스 코드 모듈들(independent source code modules)의 스크립트들 혹은 컬렉션들(collections)을 포함하는) 임의의 다른 컴퓨터 언어로 저장될 수 있다. 명령들의 기능, 방법 및 루틴이 아래에서 더 상세히 설명된다.
데이터(134)는 명령들(133)에 따라 프로세서(131)에 의해 검색, 저장, 혹은 수정될 수 있다. 예를 들어, 비록 본 시스템 및 방법이 임의의 특정 데이터 구조로 한정되는 것은 아니지만, 데이터는 컴퓨터 레지스터들(computer registers)에 저장될 수 있거나, 복수의 상이한 필드들과 레코드들, XML 문서들 혹은 플랫 파일들(flat files)을 갖는 테이블로서 관계형 데이터베이스(relational database)에 저장될 수 있다. 데이터는 또한 임의의 컴퓨터-판독가능 포맷으로 포맷될 수 있다. 단지 예시적인 추가 예에서, 영상 데이터는 그래픽 도시를 위한 컴퓨터 명령들뿐만 아니라, 무손실(예를 들어, BMP) 혹은 손실(예를 들어, JPEG) 그리고 비트맵 혹은 벡터기반(예를 들어, SVG)으로 압축되거나 압축해제되는 포맷들에 따라 저장되는 픽셀들의 그리드(grid)들로 구성된 비트맵들로서 저장될 수 있다. 데이터는 숫자, 설명 텍스트, 소유권 코드(proprietary codes), 동일한 메모리 혹은 상이한 메모리들(다른 네트워크 위치들을 포함함)의 다른 영역들에 저장된 데이터에 대한 참조, 또는 관련 데이터를 계산하기 위해 임의의 기능에 의해 사용되는 정보와 같은 그러한 관련 정보를 식별하기에 충분한 임의의 정보를 포함할 수 있다.
프로세서(131)는 인텔사(Intel Corporation) 또는 AMD(Advanced Micro Devices)로부터의 프로세서들과 같은 임의의 종래 프로세서일 수 있다. 대안적으로, 프로세서는 ASIC과 같은 전용 디바이스일 수 있다. 비록 도 1이 중앙 제어(130)의 프로세서, 메모리, 및 다른 요소들을 동일 블록 내에 있는 것으로서 기능적으로 나타내고 있지만, 본 발명의 기술분야에서 통상의 기술을 가진 자들은 이러한 프로세서 및 메모리가 동일한 물리적 하우징(housing) 내에 있을 수도 있고 없을 수도 있는 복수의 프로세서들 및 메모리들을 실제로 포함할 수 있음을 이해할 것이다. 예를 들어, 프로세서(131)와 메모리(132)는 동일 컴퓨터 내에 있는 것이 아니라 별개의 디바이스들 내에 있을 수 있다. 프로세서(131) 및 메모리(132)를 차량(101) 내에 위치시킨 것이 이로울 수 있지만, 다양한 프로세스들이 차량 외부에서 수행될 수 있고, 다양한 데이터가 차량 외부에 저장될 수 있다. 예를 들어, 만약 차량(101)에 의해 사용되거나 요구되는 프로세서 또는 메모리가 외부 디바이스에 있다면, 차량(101)은 필요한 정보를 무선으로 획득할 수 있다. 따라서, 비록 본 명세서에서의 프로세서 혹은 메모리의 언급이 프로세서 및 메모리가 차량(101)에 부착되어 있음을 가정하고 있지만, 이러한 언급은 병렬로 동작할 수 있거나 동작지 않는 아울러 차량(101)에 부착되어 차량 내에 위치할 수 있거나 위치하지 않는 프로세서들 혹은 컴퓨터들 혹은 메모리들의 집합의 언급을 포함하고 있음을 이해해야 한다.
맵 데이터(Map data)
데이터(134)는 맵-관련 데이터(map-related data)(135)를 포함할 수 있다. 거리 및 거리의 교차로의 지리적 위치를 저장하는 것 외에도, 맵 데이터는 또한, (정지 표지판 및 제한 속도의 지리적 위치와 같은) 교통 규칙 및 위치별 규칙과 관련된 정보를 포함할 수 있다. 더욱이, 맵 데이터는 고도와 관련된 정보(예를 들어, 언덕의 경사가 결정될 수 정보)를 포함할 수 있다.
운행 제어(Navigation controls)
도 1에 제시된 바와 같이, 차량(101)은 차량의 운행을 제어하는 것과 관련된 다양한 부품들(150)을 포함할 수 있다. 예를 들어, 차량은 조향장치(steering)(151), (예를 들어, 가속기(accelerator)에 의해 동작되는) 쓰로틀(throttle)(152), 브레이크(brakes)(153) 및 변속기(transmission)(154)를 포함할 수 있다.
모니터링되는 부품들(Monitored Components)
도 2에 제시된 바와 같이, 차량은 또한 다양한 내부 및 외부 센서들(140)을 포함할 수 있으며, 센서들(140)은 자율주행 차량 컴퓨터 시스템(130)에 데이터를 제공한다.
반면, 환경 센서들(209)은 차량을 둘러싼 환경에 대한 데이터를 제공하고, 승객 센서들(250)은 차량 내의 승객들(195)에 대한 정보를 제공하고, 차량 부품 센서들(230)은 차량 부품들의 물리적 특성들에 대한 정보를 제공한다. 예를 들어, 도 3에 제시된 바와 같이, 연료 레벨 센서(231)는 연료 탱크(181)가 보유하고 있는 가솔린의 양을 모니터링할 수 있고, 오일 압력 센서(232)는 엔진(182) 내의 오일 압력의 양을 모니터링할 수 있고, 브레이크 마모 센서(233)는 브레이크(153)에서의 마모의 양을 모니터링할 수 있고, 공기압 센서(235)는 타이어(184) 내의 압력의 양을 모니터링할 수 있고, 그리고 트레드 마모 센서들(tread wear sensors)(234)은 타이어의 트레드를 모니터링할 수 있다. 차량은 다른 센서들을 또한 포함할 수 있는바, 예컨대, 배터리 레벨 센서, 엔진 온도 센서, 중량 분포 센서 및 조향 정렬 센서를 포함할 수 있다. 일부 실시형태들에서, 시스템 및 방법은 시간 경과에 따른 센서들의 출력에서의 변화를 나타내는 정보를 저장할 수 있고 이러한 정보에 의존할 수 있다(즉, 서로 다른 시간에서의 연료 레벨의 로그(log) 또는 어떤 선택된 시기에 걸친 평균 연료 레벨).
다양한 센서들이 차량의 계속되는 정상 동작에 근거하여 손상을 받을 확률이 높은 부품들을 모니터링할 수 있다. 예를 들어, 브레이크 패드들이 마모되어 결국 교체를 필요로 함이 예측될 수 있다. 데이터(134)는 이러한 부품들뿐만 아니라 다른 부품들의 과거 차량 유지 보수에 관한 상세한 정보(예를 들어, 브레이크 및 타이어가 언제 교체되었는지)를 포함할 수 있다. 일 실시형태에서, 센서들(230)은 차량이 동작함에 따라 변할 확률이 높은 자동차 내에 있는(예를 들어, 후드(hood) 아래에 있는) 부품들의 물리적 특성에서의 변화를 검출한다.
환경 센서들(Environmental Sensors)
환경 센서들(140)은 차량으로 하여금 승객들뿐만 아니라 주변 환경에 있는 사람들 혹은 물건에 대한 안전을 최대화시키며 운행이 이루어지도록 하기 위해 주변 환경을 이해하고 잠재적으로 이에 대응할 수 있게 한다. 센서들은 보행자들 및 다른 차량들과 같은 물체의 움직임을 또한 식별, 추적 및 예측하기 위해 사용될 수 있다. 더욱이, 센서들은 권고사항들을 제공하기 위해 사용될 수 있다. 차량은 도 2에 제시되지 않은 다른 센서들을 포함할 수 있다.
지리적 위치결정 부품(Geographic Location Component)
지리적 위치결정 부품(210)은 차량(101)의 지리적 위치 및 방위를 결정하기 위해 사용된다. 예를 들어, 이 부품(210)은 차량의 위도, 경도 및 고도를 결정하기 위한 GPS 수신기(211)를 포함할 수 있다. 본 명세서에서의 차량의 위치에 관한 언급이 위도/경도/고도 좌표들에서의 위치를 종종 말하지만, 차량의 위치를 나타내는 데이터는 또한, 물체들로부터의 차량의 거리와 같은 다른 기준 체계와 관련될 수 있다. 어떤 기준 체계들은 다른 것들보다 더 적은 노이즈 하에 있을 수 있다.
관성 유도(Inertial guidance)
지리적 위치결정 부품은 또한 관성 유도 시스템(212)을 포함할 수 있고, 관성 유도 시스템(212)은 또한 가속도계(213) 및 자이로스코프(gyroscope)(214)를 포함할 수 있다. 관성 유도 시스템(212)은 디바이스의 현재 방위 및 임의 방향에서의 속도 변화를 결정할 수 있다. 예를 들어, 관성 유도 시스템(212)은 언제 차량이 방향전환을 하고 있는지를 검출할 수 있다. 이것은 또한, 속도 및 방향에서의 변화에 근거하여 시작 위치에 대한 자동차의 현재 위치를 추정할 수 있다.
복수의 소스들(Multiple sources)
다른 디바이스들이 또한, 차량(101)의 위치를 결정하기 위해 사용될 수 있다. 예를 들어, 만약 외부 물체 검출기(220)가 물체를 식별함과 아울러 차량에 대한 물체의 위치를 식별한다면, 그리고 만약 프로세서(131)가 물체의 지리적 위치를 식별하는 기존 데이터에 액세스할 수 있다면, 프로세서(131)는 차량의 지리적 위치를 식별할 수 있다. 시스템은 또한, 셀 폰 타워 전송(cell phone tower transmissions) 또는 더 작은 무선 네트워크의 존재에 근거하여 위치를 3각측량(triangulate)할 수 있다. 프로세서는 다양한 부품들 및 검출기들로부터의 정보를 결합할 수 있거나 가장 정확한 소스를 선택할 수 있으며, 이에 따라 차량의 지리적 위치를 결정할 수 있다.
외부 물체 검출기(External object detector)
차량은 다른 차량들, 도로에서의 장애물, 교통 신호, 표지판, 나무 등과 같은 차량의 외부에 있는 물체들을 검출하기 위한 외부 물체 검출 시스템(220)을 포함할 수 있다. 검출 시스템(220)은 레이저(221), 레이더(222), 카메라(223), 소나(sonar)(224), 혹은 다른 검출 디바이스들을 포함할 수 있다.
레이저(Laser)
차량(101)은 차량지붕 혹은 다른 편리한 위치에 장착되는 레이저(221)를 포함할 수 있다. 일 실시형태에서, 레이저는 축을 중심으로 회전하며 피치(pitch)를 변경시킴으로써 차량과 (이러한 차량과 대면하고 있는) 물체 표면 간의 거리를 측정할 수 있다. 레이저는 또한 표면 질감(texture) 혹은 반사도(reflectivity)에서의 변화를 식별하기 위해 사용될 수 있다. 따라서, 레이저는 도색되지 않은 어두운 포장면에서 반사된 광의 양과 도색된 차선 라인에 의해 반사되는 광의 양을 구분함으로써 차선 라인을 검출하도록 구성될 수 있다.
레이더(Radar)
센서들(140)은 또한 적응형 순항 제어 시스템들을 위해 사용되는 것들과 같은 다양한 레이더 검출 유닛들(222)을 포함할 수 있다. 레이더 검출 유닛들은 자동차의 전면 및 후면뿐만 아니라 전면 범퍼의 양측에 위치할 수 있다. 외부 물체의 상대적 위치를 결정하기 위해 레이더를 사용하는 것 외에도, 종래의 속도 검출기와 같이 다른 목적을 위해 다른 타입의 레이더가 또한 사용될 수 있다. 단파 레이더가 도로에 쌓인 눈의 깊이를 결정하고 노면의 상태 및 위치를 결정하기 위해 사용될 수 있다.
카메라(Cameras)
센서들 중 하나는 또한, 하나 이상의 카메라들(223)을 포함할 수 있다. 만약 복수의 카메라들이 사용되고 서로 간의 거리가 알려져 있다면, 카메라들에 의해 촬영된 다양한 물체들까지의 거리를 계산하기 위해 서로 다른 영상들로부터 시차(parallax)가 사용될 수 있다. 카메라에 의해 촬영된 영상들로부터 콘텐츠가 또한 추출될 수 있다. 예를 들어, 만약 차량의 현재 속도가 50 mph이고 그리고 카메라를 사용함으로써 그리고 광학적-문자 인식을 사용함으로써 제한 속도가 35 mph임을 표시하는 표지판을 곧 통과할 것임이 검출된다면, 차량은 자동으로 감속을 행할 수 있다. 더욱이, 물체의 유형을 결정하기 위해 패턴 매칭 및 다른 특징 검출 알고리즘들이 사용될 수 있다. 이것은 (카메라들(223)로 정지 표지판의 존재를 결정하는 것 그리고 레이저(221)로 정지 표지판의 위치를 결정하여 차량이 어디서 정지할 필요가 있는지를 결정하는 것과 같은) 차량의 조종과 관련된 위치별 정보를 결정하기 위해 다른 정보와 결합될 수 있다.
주변 상태 센서(Ambient state sensors)
주변 센서들(240)은, 외부 물체 검출과 특별히 관련되지 않은 환경적 측면들을 결정할 수 있다(예를 들어, 주변 공기의 온도, 습도, 혹은 분진을 검출하기 위한 공기 품질 센서들).
사용자의 상태 센서(User's state sensors)
센서들(140)은 또한 자동차 내의 운전자 및 다른 승객들과 같은 사용자의 상태를 결정하기 위한 센서들을 포함할 수 있다. 예를 들어, 승객 센서들(250)은 운자자가 졸고 있는지 여부를 결정하기 위해 사용되는 비디오 카메라를 포함할 수 있다. 다른 센서들은 내부 온도, 습도, 좌석 및 거울 위치, 중량 측정 그리고 탑승자들(운전자 및 승객들)의 분포와 같은 자동차 내부의 상태를 결정할 수 있다.
도 2에서 제시되지 않았고 본 명세서에서 설명되지는 않았지만, 본 시스템 및 방법은 다른 타입의 센서들을 또한 포함할 수 있는바, 여기에는 능동 및 수동 적외선 센서들 및 무선 주파수 센서들이 포함되지만 이러한 것으로만 한정되는 것은 아니다.
자율성(Autonomous)
센서들은 센서 결정들을 컴퓨터 시스템(130)에 출력할 수 있다. 본 시스템 및 방법은 컴퓨터 시스템과 센서들 간의 다양한 데이터 구성들을 허용한다. 센서들은 상대적으로 가공되지 않은 낮은 수준의 형태로 데이터를 제공할 수 있거나, 혹은 감지된 정보를 독립적으로 프로세싱하여 상대적으로 높은 수준의 데이터를 제공할 수 있다. 이러한 센서들 중 많은 센서들은 컴퓨터에 의해 프로세싱되는 데이터를 실시간으로 제공하는바, 즉, 센서들은 자신의 출력을 계속 업데이트할 수 있거나 혹은 업데이트된 출력을 컴퓨터 시스템(130)에 요구가 있으면 제공할 수 있다. 따라서, 센서들 중 일부는, 자체 내장 속도 레이더 검출기와 같은 중앙 제어의 프로세서에 의해 직접 프로세싱될 수 있는 정보를 즉석에서 제공할 수 있다. 다른 센서들은 프로세서로 하여금 일정 범위의 시간에 걸쳐 센서로부터 수신된 데이터를 프로세싱하도록 요구할 수 있다(예를 들어, 레이저(221)의 출력에 근거하여 물체의 위치에서 변화들을 비교함으로써 물체의 속도를 결정하는 것).
차량의 움직임을 제어하는 부품들은 컴퓨터 시스템(130)으로부터의 명령들에 응답할 수 있다. 예를 들어, 컴퓨터 시스템(130)이 관여된 경우, 컴퓨터 시스템(130)은 자동차의 조향, 가속, 및 감속을 자동으로 행하도록 부품들(150) 중 일부 혹은 모두를 제어할 수 있다. 센서들로부터의 데이터는 중앙 제어(130)로 하여금 감지된 환경에 응답하여 차량의 과거-현재 방향 혹은 속도가 수정돼야하는지 여부를 결정할 수 있게 한다. 예를 들어, 만약 차량이 완전한 자율주행 모드에서 동작하고 있다면, 컴퓨터 시스템(130)은 차량이 (예를 들어, 엔진에 공급되는 연료 혹은 다른 에너지를 증가시킴으로써) 가속, (예를 들어, 엔진에 공급되는 연료를 감소시킴으로써 혹은 브레이크를 적용함으로써) 감속, 및 (예를 들어, 2개의 앞바퀴를 돌림으로써) 방향 변경을 행하도록 지시할 수 있다. 목적지가 제공되는 경우, 컴퓨터는 또한, 사람의 추가적 도움없이 경로를 선택 및 운행할 수 있다.
이와 관련하여, 컴퓨터 시스템(130)은 센서들로부터의 정보에 응답하여 자동차를 조종할 수 있다(예를 들어, 외부 물체와 충돌을 피하기 위해 외부 물체 검출기(220)를 사용하는 것 그리고 물체를 피하기 위해 지리적 위치결정 부품(210)에 의해 제공되는 데이터를 사용하는 것). 예컨대, 컴퓨터가 만약 임의의 물체가 차량의 의도된 경로를 막고 있음을 결정한다면, 컴퓨터는 차량을 감속시킬 수 있고, 차량이 장애물을 돌아 움직이도록 조종할 수 있다.
차량은 또한 하나 이상의 자율 운행 모드를 활성화시키거나 혹은 비활성화시키기 위한 다양한 사용자 입력 디바이스들을 구비할 수 있다. 일부 실시형태에서, 운전자는 핸들(steering wheel)을 돌림으로써, 가속기 혹은 브레이크를 누름으로써, 또는 그렇지 않으면 프로세서의 제어 하에 기능을 제어하는 부품들을 동작시킴으로써 컴퓨터 시스템으로부터 차량의 제어권을 획득할 수 있다.
사용자 입력(User Input)
도 4는 자율주행 차량의 내부의 예시적인 디자인을 나타낸다. 자율주행 차량은 비자율주행 차량의 모든 특징들, 예를 들어, 핸들(310)과 같은 조향 장치, 네비게이션 디스플레이(315)와 같은 운행 표시 장치, 그리고 기어 변속기(gear shifter)(320)와 같은 기어 선택기 장치를 포함할 수 있다.
도 1 및 도 3에 제시된 바와 같이, 차량은 사용자로 하여금 컴퓨터 시스템(130)에 정보를 제공할 수 있게 하는 하나 이상의 사용자 입력 디바이스들(160)을 포함할 수 있다. 승객(390)과 같은 사용자는 터치 스크린(317) 혹은 버튼 입력들(319)을 사용하여 네비게이션 시스템에 목적지(예를 들어, 오크(Oak) 스트리트(Street) 123)를 입력할 수 있다. 또 다른 예에서, 컴퓨터 시스템은 사용자의 음성 커맨드로부터 목적지를 추출할 수 있다. 사용자 입력 디바이스들(160)은 또한 컴퓨터 시스템들과 함께 전형적으로 사용되는 다른 디바이스들을 포함할 수 있는바, 예를 들어, 키보드, 마이크로폰(microphone), 포인팅 디바이스(pointing device)(예컨대, 트랙볼(trackball) 혹은 마우스)를 포함할 수 있다.
사용자 출력(User Output)
차량은 또한 사용자에게 정보를 전달하기 위한 다양한 디바이스들(170)을 포함할 수 있다. 예를 들어, 차량(101)의 내부는 전자적 디스플레이(325)(예를 들어, 정보를 디스플레이하도록 동작가능한 스크린, 소형 LCD 터치-스크린 또는 임의의 다른 전기적 디바이스를 구비한 모니터)를 포함할 수 있다. 차량(101)의 현재 상태를 표시하기 위해 상태바(status bar)(330)와 같은 상태 표시 장치가 또한 포함될 수 있다. 도 4의 예에서, 상태바(330)는, 차량이 현재 운행 모드(Drive mode)에 있고 시간당 2마일의 속도(2 miles per hour)로 움직이고 있음을 표시하는 "D" 및 "2 mph"를 디스플레이한다. 이와 관련하여, 차량은 전자적 디스플레이 상에 텍스트를 디스플레이할 수 있거나, 차량(101)의 일부분들을 조명할 수 있거나, 또는 다양한 다른 타입의 표시들을 제공할 수 있다. 추가적으로, 컴퓨터는 또한, 인간 혹은 자동화된 시스템이 현재 차량을 제어하고 있는지 여부를 표시하는 외부 표시기들을 구비할 수 있다(이러한 표시기들은 인간, 다른 컴퓨터, 혹은 이들 모두에 의해 판독가능함).
다른 것들 중에서, 디스플레이(325)는 차량(특히, 센서들 혹은 컴퓨터 시스템(130))의 전체 상태에 관한 다른 정보를 디스플레이할 수 있다. 디스플레이(325)는, 예를 들어, 컴퓨터의 상태, 차량 자체의 상태, 도로의 상태, 교차로의 상태뿐만 아니라 다른 물체들의 상태 그리고 정보를 포함하는 차량의 주변환경의 컴퓨터 발생 영상들을 포함할 수 있다. 컴퓨터 시스템(330)은 또한, 컴퓨터 시스템이 다양한 센서들로부터 유효한 데이터를 획득하고 있는지 여부를 표시하기 위해, 그리고 컴퓨터가 자동차의 방향이나 속도 또는 방향과 속도 모두를 부분적으로 제어하고 있는지 아니면 전체적으로 제어하고 있는지 여부를 표시하기 위해, 그리고 어떠한 오류가 존재하는지 여부 등을 표시하기 위해 시각적 혹은 청각적 신호들을 사용할 수 있다.
방법-소개(Method-introduction)
도 8에 예시된 동작들에 추가하여, 본 시스템 및 방법에 따른 동작들이 이제 설명된다. 다양한 동작들이 서로 다른 순서로 혹은 동시에 처리될 수 있으며, 각각의 동작은 다른 동작들로 구성될 수 있다.
조종(Maneuvering)
목적지까지 차량을 자율적으로 조종하기 위해 그리고 충돌 가능성을 감소시키기 위해서, 차량은 센서 데이터를 계속 사용하여 교통 신호, 사람들, 다른 차량들, 및 다른 물체들과 같은 물체들을 식별할 수 있다. 차량(101)은 이러한 데이터를 사용하여 어떻게 차량을 움직일지를 결정할 수 있다(예를 들어, 다른 차량들에 의한 방향전환 혹은 교통 체증에 근거하여 감속을 행하는 것, 우회 경로를 택하는 것, 혹은 사슴과 같은 물체를 피하기 위해 회피 동작을 취하는 것). 차량은, 예를 들어, 신호에 의한 방향전환 혹은 차선 변경에 의해 교통 신호 혹은 다른 물체가 어디서 나타나 동작할지를 결정하기 위해 맵 데이터 혹은 다른 정보를 사용할 수 있다.
마모 경감(Mitigate Wear)
차량은, 마모 및 다른 타입의 손상을 검출하기 위해 차량 부품 센서들(230)을 사용할 수 있고, 그리고 이러한 손상을 경감시키도록 차량(101)을 조종하기 위해 환경 센서들(209)을 사용할 수 있다. 도 5의 예에서, 차량(101)은 외부 물체 검출기(220)를 사용하여 정지 표지판(510)의 존재 및 정지 표지판(510)으로부터의 거리를 검출한다. 더욱이, 컴퓨터 시스템(131)은 브레이크 마모 검출기(233)를 점검하고, 브레이크(183)가 양호한 상태에 있는지를 결정한다. 이러한 것에 근거하여, 컴퓨터 시스템(131)은 안정된 제동 거리(braking distance)가 거리(530)라고 결정할 수 있다. 도 6은 동일한 상황에 대처하는 것이지만, 이 경우는 컴퓨터 시스템(131)는, 브레이크(183)가 과도한 마모 상태를 보여준다고 결정한다. 결과적으로, 브레이크가 정상적으로 작동하도록 마모의 양을 감소시키기 위해, 컴퓨터 시스템(131)은 정상적인 감속율을 감소시켜야 함을 결정할 수 있다(예를 들어, 더 긴 거리(630)에 걸쳐 제동을 행하고 브레이크에 더 작은 압력을 가하도록 결정할 수 있음). 따라서, 차량은 마모가 검출된 경우 정상적인 상태에서보다 더 느린 감속율로 속도를 변경시킨다.
이와 관련하여, 차량은 손상이 검출된 이후 오랫동안 차량 부품에 대한 손상을 보상할 수 있다. 예를 들어, 컴퓨터 시스템(130)은, 차량이 제동을 필요로 하기 이전에 브레이크가 마모되었음을 결정할 수 있고 제동을 다시 필요로 할 때까지 운행 동작을 변경시키지 않는다.
더욱이, 본 시스템 및 방법은 손상된 부품과 동일한 타입이 아닌 일부 차량 부품들에 명령을 발행할 수 있다. 예를 들어, 컴퓨터 시스템(130)은 맵 데이터(135)에 근거하여 언덕 아래에 정지 표지판이 있는 긴 언덕을 막 내려가려 한다고 결정할 수 있다. 브레이크(153)가 과도한 마모를 겪고 있다면, 컴퓨터 시스템은 쓰로틀(152)로 하여금 차량(101)에 의해 달성되는 속도를 최소화시키기 위해(이에 따라 차량이 언덕 아래에서 안전하게 정지하기 위해 제동을 행해야만 하는 양을 최소화시키기 위해) 정상적인 상황에서보다 엔진에 더 적은 연료를 제공하도록 명령할 수 있다. 이와 관련하여, 본 시스템 및 방법은, 위치별 교통 규칙 정보를 평가함으로써, 그 다음에 (손상된 부품이 관여하기 전에 또 다른 타입의 부품에 명령을 발행하여) 차량의 움직임을 변경시킴으로써, 일 타입의 부품에 대한 손상을 보상할 수 있다.
일 실시형태에서, 본 시스템 및 방법은 또한, 부품에 대한 기존 손상을 경감시킬 수 있는 조종을 결정하는 프로세스에서 맵-관련 데이터에 의존한다. 예를 들어, 도 7에 제시된 바와 같이, 차량은 GPS 인공위성(710)으로부터 자신의 위도/경도 위치를 결정할 수 있고, 그리고, 맵 데이터(135)에 저장된 정지 표지판들의 위도/경도 위치에 근거하여 정지 표지판(510)까지의 거리(520)를 계산할 수 있으며, 그리고 브레이크가 마모되지 않았을 경우 가질 수 있는 것보다 더 긴 제동 거리(630)에 걸쳐 더 적은 브레이크 압력을 가할 수 있다. 따라서, 프로세서는 차량의 지리적 위치, 차량에 적용되는 요건들의 지리적 위치를 결정할 수 있고, 그리고 관련 부품에 대한 손상을 경감시키기 위해 이러한 정보에 근거하여 차량을 조종할 수 있다.
차량의 제동 방식을 변경시키는 것에 추가하여, 차량은 또한, 상이하게 가속시키는 것 혹은 방향을 바꾸는 것과 같이, 다른 방식으로 조종 방법을 변경시킬 수 있다. 예를 들어, 차량은 만약 측정된 오일 압력이 과도하게 높다면 더 느리게 가속을 행할 수 있다. 차량은 또한 마모를 경감시키기 위해 다소 빡빡하게 방향전환을 할 수 있다.
차량은 또한, 운행 동작에서의 차량의 변화와, 그리고 부품이 갖는 문제에 관해 사용자에게 경고 혹은 정비 권고를 발행할 수 있다. 예를 들어, 권고는 도 3에 제시된 디스플레이(325) 상에서 보여질 수 있다.
간접적 손상 검출(Indirect Damage Detection)
차량은 또한, 차량 부품의 상태를 결정하기 위해 다른 시스템 및 방법을 사용할 수 있다. 예를 들어, 차량은 예측된 제동 거리와 비교하여 차량이 얼마나 더 멀리까지 가서 정지했는지를 모니터링할 수 있다. 만약 그 거리가 예측된 거리보다 더 길다면(예를 들어, 과거보다 더 길다면), 컴퓨터 시스템은 브레이크가 마모되었다고 결정할 수 있고 더 빨리 제동을 시작할 수 있다. 시스템 및 방법은 또한, 정비 서비스 기록에 근거하여 부품의 상태를 추정할 수 있다. 이와 관련하여, 프로세서는 정비 기록을 위해 데이터(134) 혹은 외부 데이터베이스(예를 들어, 차량이 무선으로 통신하고 있는 서버)에 쿼리(query)를 행할 수 있고, 마지막 정비 이후 시간의 경과에 근거하여 부품에 관한 마모를 추정할 수 있다.
조종에 영향을 미치는 다른 인자(Other Factors Affecting Maneuvering)
본 시스템 및 방법은 차량이 조종되는 방식을 변경시키기 위해 다른 정보에 의존할 수 있다. 예를 들어, 차량은 중량 분포를 감지할 수 있고 차량 상의 적재(loading) 및/또는 중량 분포에서의 변경에 응답하여 차량조종을 조정할 수 있다. 차량은 또한, 단지 한 명의 사용자가 차량에 있는 경우 4명의 승객들이 탑승한 경우와는 다르게 움직일 수 있거나, 혹은 가벼운 화물을 갖는 경우 뒤에 트레일러(trailer)를 끄는 경우와는 다르게 움직일 수 있다. 차량은 또한, 날씨 또는 도로 상태와 같은 관측된 환경 변화에 맞춰 운행을 조정할 수 있다.
차량의 성능 및 상태에서의 변화의 패턴들을 모델링하는 것뿐만 아니라, 운행 환경에서의 변화의 패턴들을 모델링하는 것이, 자율 운행 컴퓨터 시스템(310)에 수행될 수 있다. 대안적으로, 소정의 모델들이 자율 운행 시스템 내에 저장될 수 있다. 컴퓨터 시스템(131)은 관측된 데이터를 프로세싱할 수 있고, 이것을 모델들에 맞출 수 있으며, 이에 따라 보상 신호들을 발행할 수 있다.
자체-정비(Self-Repair)
더욱이, 자율주행 차량은 부품을 정비하기 위해 필요한 조치들을 취할 수 있다. 예를 들어, 차량(101)이 어떤 사람에 의해서도 사용되고 있지 않을 때, 차량(101)은 자율적으로 직접적인 인간의 도움 없이 정비 설비로 운행할 수 있고, 정비가 필요한 부품을 정비 설비에 통지할 수 있으며, 정비가 끝나면 본래의 위치로 되돌아 올 수 있다.
비한정적 사례들(Not limited to examples)
도면에서 제시되고 설명된 데이터의 샘플 값들, 타입들, 및 구성들은 단지 예시적 목적으로 제공되는 것임을 또한 이해해야 한다. 이와 관련하여, 본 발명의 실시형태에 따른 시스템 및 방법은 다양한 타입의 센서, 통신 디바이스, 사용자 인터페이스, 차량 제어 시스템, 데이터 값, 데이터 타입 및 구성을 포함할 수 있다. 본 시스템 및 방법은 (예를 들어, 서로 다른 서버 혹은 데이터베이스를 통해) 서로 다른 시간에 그리고 서로 다른 엔티티에 의해 제공 및 수신될 수 있다(예를 들어, 일부 값들은 서로 다른 소스로부터 제공될 수 있거나 사전에 제안될 수 있음).
앞서 설명된 특징들의 이러한 변형 및 결합 그리고 다른 변형 및 결합은 본 특허청구범위에 의해 정의되는 바와 같은 시스템 및 방법으로부터 벗어남이 없이 활용될 수 있기 때문에, 예시적 실시예에 관한 앞서의 설명은 특허청구범위에 의해 정의되는 바와 같은 본 발명의 한정적 의미가 아닌 예시적 의미로 고려돼야만 한다. 본 발명의 예들(뿐만 아니라 "와 같은", "예를 들어", "포함하는" 등과 같은 문구로 제시된 표현들)의 제공이 본 발명을 이러한 특정 예로만 한정시키려는 것으로서 해석돼서는 안 되며, 오히려 이러한 예는 가능한 많은 실시형태들 중 단지 일부만을 예시하려는 의도로 제공되는 것임을 또한 이해해야 한다. 반대의 의미로 명백히 표현되지 않는다면, 주어진 실시예, 대안예, 혹은 사례에서의 모든 특징은 본 명세서의 다른 실시예, 대안예, 혹은 사례에서도 사용될 수 있다.
산업상 이용가능성
본 발명은 상업상 이용가능성이 매우 넓으며, 차량, 차량 센서, 그리고 차량의 움직임을 자율적으로 제어하기 위한 시스템을 포함하지만 이러한 것에만 한정되지 않는다.

Claims (20)

  1. 차량을 조종하는 방법으로서,
    상기 차량을 둘러싼 환경의 특성을 검출하는 단계와;
    상기 차량의 부품(component)에 대한 손상(damage)의 양을 검출하는 단계와, 상기 손상에 있어서의 증가는 서로 다른 조종들(different maneuvers)에 의해 영향을 받으며;
    프로세서에 의해, 상기 검출된 환경의 특성과 상기 검출된 손상의 양에 근거하여 제 1 조종과 제 2 조종 중 하나의 조종을 선택하는 단계와; 그리고
    상기 선택된 조종에 따라 상기 차량을 움직이는 단계를 포함하는 것을 특징으로 하는 차량을 조종하는 방법.
  2. 제1항에 있어서,
    상기 제 1 조종은 상기 차량에 손상이 없을 때 선택되고, 상기 제 2 조종은 손상이 검출될 때 일어나는 것을 특징으로 하는 차량을 조종하는 방법.
  3. 제1항에 있어서,
    상기 환경의 특성을 검출하는 단계는 상기 차량의 외부에 있는 물체를 검출하고 상기 물체에 응답하여 조종을 행하는 것을 포함하는 것을 특징으로 하는 차량을 조종하는 방법.
  4. 제3항에 있어서,
    상기 물체는 정지 표지판(stop sign)인 것을 특징으로 하는 차량을 조종하는 방법.
  5. 제1항에 있어서,
    상기 환경의 특성을 검출하는 단계는 교통 요건(traffic requirement)을 검출하는 것을 포함하는 것을 특징으로 하는 차량을 조종하는 방법.
  6. 제1항에 있어서,
    상기 차량은 프로세서로부터의 명령들에 응답하여 상기 선택된 조종에 따라 자율적으로 움직이는 것을 특징으로 하는 차량을 조종하는 방법.
  7. 제1항에 있어서,
    상기 부품은 브레이크(brakes)를 포함하고, 상기 손상은 브레이크 마모(brake wear)를 포함하는 것을 특징으로 하는 차량을 조종하는 방법.
  8. 제1항에 있어서,
    상기 조종의 수행 이후 상기 차량이 자율적으로 정비 시설(repair facility)로 이동하는 단계를 더 포함하는 것을 특징으로 하는 차량을 조종하는 방법.
  9. 시스템으로서,
    프로세서와;
    상기 프로세서와 통신하며 차량의 부품에 대한 물리적 손상의 존재를 검출하도록 되어 있는 제 1 센서와;
    상기 프로세서와 통신하며 상기 차량의 외부에 있는 물체의 존재를 검출하도록 되어 있는 제 2 센서와, 여기서 상기 물체는 상기 차량의 움직임에서의 변경을 요구하고; 그리고
    메모리를 포함하여 구성되며,
    상기 메모리는 상기 프로세서에 의해 액세스가능한 명령들을 포함하고, 상기 명령들은 상기 제 1 센서로부터 수신된 출력 및 상기 제 2 센서로부터 수신된 출력에 근거하여 상기 외부에 있는 물체에 대한 상기 차량의 움직임을 변경시키는 것을 포함하는 것을 특징으로 하는 시스템.
  10. 제9항에 있어서,
    상기 부품은 브레이크인 것을 특징으로 하는 시스템.
  11. 제9항에 있어서,
    상기 부품은 타이어(tire)인 것을 특징으로 하는 시스템.
  12. 제9항에 있어서,
    상기 명령들은 또한 상기 부품에 대한 손상의 검출 여부에 따라 제 1 움직임과 제 2 움직임 중 하나를 선택하는 것을 포함하는 것을 특징으로 하는 시스템.
  13. 제9항에 있어서,
    상기 제 1 움직임과 상기 제 2 움직임 간의 차이는 속도 변화율인 것을 특징으로 하는 시스템.
  14. 차량을 제어하는 방법으로서,
    상기 차량의 부품에서의 마모를 결정하는 단계와;
    상기 차량의 지리적 위치(geographic position)를 결정하는 단계와;
    상기 차량의 경로에서의 교통 요건들을 결정하는 단계와;
    프로세서가, 상기 결정된 마모 및 상기 결정된 거리에 근거하여 제 1 조종과 제 2 조종 중 하나의 조종을 선택하는 단계와, 여기서 상기 제 1 조종과 상기 제 2 조종 간의 적어도 하나의 차이는, 가속율, 감속율, 및 방향으로 구성된 그룹으로부터 선택되며; 그리고
    상기 선택된 조종에 따라 상기 차량을 움직이는 단계를 포함하는 것을 특징으로 하는 차량을 제어하는 방법.
  15. 제14항에 있어서,
    상기 지리적 위치를 지리적 위치들에서의 교통 요건들 및 상기 차량의 위치 검출에 근거하여 결정하는 단계를 더 포함하는 것을 특징으로 하는 차량을 제어하는 방법.
  16. 제14항에 있어서,
    상기 차량의 부품에서의 마모는 브레이크 마모를 포함하는 것을 특징으로 하는 차량을 제어하는 방법.
  17. 제14항에 있어서,
    상기 마모를 결정하는 단계는 상기 부품이 마지막으로 정비된 이후 경과된 시간의 길이에 근거하여 상기 마모를 추정하는 것을 포함하는 것을 특징으로 하는 차량을 제어하는 방법.
  18. 제14항에 있어서,
    상기 선택된 조종에 따라 상기 차량을 움직인 이후, 승객들이 상기 차량에 존재하는지 여부를 결정하고 승객들이 상기 차량에 존재하지 않을 때 상기 프로세서의 제어 하에서 상기 자동차를 정비 시설로 움직이는 단계를 더 포함하는 것을 특징으로 하는 차량을 제어하는 방법.
  19. 차량으로서,
    상기 차량의 움직임을 제어하는 제어 부품들과, 여기서 상기 부품들은 승객과 프로세서로부터의 커맨드(command)들에 응답하며;
    상기 차량의 외부 환경을 검출하는 환경 센서(environment sensor)들과;
    상기 차량의 내부에 있는 부품들의 물리적 특성을 검출하는 부품 센서들과, 여기서 상기 물리적 특성은 상기 차량의 동작에 근거하여 변하고;
    상기 제어 부품들, 상기 환경 센서들, 및 상기 부품 센서들과 통신하는 프로세서와; 그리고
    상기 프로세서에 의해 액세스가능한 명령들을 포함하여 구성되며,
    상기 명령들은, 상기 환경 센서들로부터의 출력을 수신하는 것과, 상기 부품 센서들로부터의 출력을 수신하는 것과, 상기 제어 부품들에 제공될 제 1 커맨드 혹은 제 2 커맨드를 상기 환경 센서들 및 상기 부품 센서들로부터의 상기 출력에 근거하여 선택하는 것과, 그리고 상기 선택된 커맨드를 상기 제어 부품들에 제공하는 것을 포함하는 것을 특징으로 하는 차량.
  20. 차량의 움직임을 제어하는 시스템으로서,
    프로세서와;
    상기 프로세서에 의해 액세스가능한 메모리와;
    상기 메모리에 포함되며 상기 프로세서에 의해 실행가능한 명령들을 포함하여 구성되고,
    상기 명령들은,
    상기 차량의 지리적 위치를 위치별 차량 움직임 제약들에 대비하여 결정하는 것과,
    상기 차량의 제 1 부품의 손상 여부를 결정하는 것과,
    상기 제 1 부품이 손상되지 않았다고 결정되는 경우 상기 위치별 움직임 제약을 따르도록 상기 차량을 움직이게 상기 차량의 제 2 부품에 제 1 명령을 제공하는 것과, 그리고
    상기 제 1 부품이 손상되었다고 결정되는 경우 상기 위치별 움직임 제약을 따르도록 상기 차량을 움직이게 상기 제 2 부품에 제 2 명령을 제공하는 것을 포함하며, 여기서 상기 제 2 명령에 의해 지시된 움직임은 상기 제 1 커맨드에 의해 지시된 움직임과는 다른 것을 특징으로 하는 차량의 움직임을 제어하는 시스템.
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US13/248,674 US8874305B2 (en) 2010-10-05 2011-09-29 Diagnosis and repair for autonomous vehicles
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