KR20130132790A - 구역 운행 - Google Patents

구역 운행 Download PDF

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Publication number
KR20130132790A
KR20130132790A KR1020137011656A KR20137011656A KR20130132790A KR 20130132790 A KR20130132790 A KR 20130132790A KR 1020137011656 A KR1020137011656 A KR 1020137011656A KR 20137011656 A KR20137011656 A KR 20137011656A KR 20130132790 A KR20130132790 A KR 20130132790A
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South Korea
Prior art keywords
vehicle
zone
control
driver
new
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KR1020137011656A
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English (en)
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KR101817822B1 (ko
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마이클 스티븐 몬테멜로
드미트리 에이. 돌고브
크리스토퍼 폴 우름손
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구글 인코포레이티드
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    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
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Abstract

로드그래프는 도로, 차선, 교차로, 및 이러한 특징들 간의 연결과 같은 정보의 그래프 네트워크를 포함할 수 있다. 로드그래프는 또한 특정 규칙들과 관련된 하나 이상의 구역들(510)을 포함할 수 있다. 구역들(510)은 합류지점, 공사 구역, 혹은 다른 장애물과 같이 전형적으로 운행이 수월하지않은 위치를 포함할 수 있다. 일 예에서, 규칙들은 자율주행 차량(300-B)으로 하여금 차량이 일정 구역에 접근하고 있음을 운전자에게 경고하도록 요구할 수 있다. 따라서, 차량(300-B)은 운전자로 하여금 조향, 가속, 감속 등의 제어권을 획득하도록 요구할 수 있다. 또 다른 예에서, 구역들(520)은 운전자에 의해 지정될 수 있고, 그리고 가까이 있는 다른 차량에게, 예를 들어, 무선 링크 혹은 다른 네트워크를 사용하여, 방송될 수 있으며, 이에 따라 다른 차량들은 동일한 위치에서 동일한 규칙을 준수할 수 있게 되거나 혹은 또 다른 운전자가 그 위치는 자율적인 운행에 있어 불안전한 위치임을 느끼도록 적어도 다른 차량의 운전자들에게 통지할 수 있게 된다.

Description

구역 운행{ZONE DRIVING}
관련 출원에 대한 상호 참조
본 출원은 미국 특허출원 번호 제13/150,589호(발명의 명칭: "ZONE DRIVING", 2011년 6월 1일 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 운전자들을 일 위치에서 또 다른 위치로 운송하는데 도움을 주기 위해 다양한 컴퓨팅 시스템들을 사용한다. 일부 자율주행 차량들은, 파일럿(pilot), 운전자, 혹은 드리이버(driver)와 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 모드(이러한 수동 모드에서 조작자는 차량의 움직임에 대해 고도의 제어를 수행함)로부터 자율주행 모드(이러한 자율주행 모드에서 차량은 본질적으로 스스로 구동됨)로 스위칭하여 이들 사이의 어느 모드에 있게 해준다.
이러한 자율주행 차량들은 일 위치에서 또 다른 위치로 차량을 조종하기 위해 차량의 주변에서의 물체들을 검출하기 위한 센서들과 함께 매우 상세한 맵(maps)을 사용하는 것에 기반하여 위치와 위치 사이에서 자신들을 조종할 수 있다. 이것은 차량으로 하여금 사람이 특별히 안전함을 느낄 수 없는 영역을 운행하도록 하여 차량이 자기 자신을 조종할 수 있게 요구할 수 있다. 예를 들어, 운전자는, 자율주행 차량이 운행하기에 더 복잡한 것으로 고려될 수 있는, 합류지점(merges), 원형 교차로(traffic circles), 복잡한 교차로(complicated intersections) 등과 같은 영역에서 덜 안전함을 느낄 수 있다. 따라서, 운전자는 운전자가 차량을 제어해야만 하는 경우를 대비해서 차량의 위치를 계속 모니터링할 필요성을 느낄 수 있다. 이것은 자율주행 차량의 유용성을 감소시킬 수 있고 운전자의 안전 감각을 감소시킬 수 있다.
본 개시내용의 일 실시형태는 차량을 조종하기 위한 방법을 제공한다. 이 방법은, 하나 이상의 구역(zone)들을 포함하는 맵 정보(map information)에 액세스하는 단계와, 여기서 각각의 구역은 운전자에게 차량의 제어 측면(control aspect)의 제어권을 획득하도록 표시하는 규칙(rule)과 관련되어 있고; 맵 정보에 근거하여 경로(route)를 프로세서에 의해 식별하는 단계와, 여기서 경로는 차량으로 하여금 하나 이상의 구역들 중 적어도 하나의 구역을 통과하도록 요구하며; 프로세서에 의해 차량을 목적지로 조종하는 단계와; 그리고 차량이 적어도 하나의 구역의 경로를 따라 소정의 거리 내에 있을 때, 적어도 하나의 구역과 관련된 규칙을 식별하고, 식별된 규칙의 제어 측면을 식별하고, 그리고 식별된 제어 측면을 적어도 하나의 구역을 통해 제어할 필요를 운전자에게 통지하는 단계를 포함한다.
일 예에서, 식별된 제어 측면은 조향(steering), 가속(acceleration), 및 제동(braking) 중 적어도 하나를 포함한다. 또 다른 예에서, 본 방법은 또한, 식별된 제어 측면의 제어권을 운전자가 획득했음을 표시하는 정보를 수신하는 단계와; 차량이 적어도 하나의 구역을 떠나고, 식별된 제어 측면의 제어권을 운전자가 포기할 때까지 기다리는 단계와; 그리고 목적지를 향해 경로를 따라 차량을 계속 조종하는 단계를 포함한다. 또 다른 예에서, 본 방법은 또한, 목적지 위치를 식별하는 입력을 수신하는 단계를 포함하고, 경로를 식별하는 것은 또한 목적지 위치에 근거한다. 본 방법은 또한, 운전자로부터 적어도 하나의 구역을 피하도록 하는 명령들을 수신하는 단계와; 적어도 하나의 구역을 통과하지 않는 목적지로의 새로운 경로를 발생시키는 단계와; 그리고 새로운 경로를 따라 차량을 조종하는 단계를 포함한다. 또 다른 예에서, 본 방법은 또한, 식별된 제어 측면의 제어권을 운전자가 획득하지 않았을 때, 차량이 적어도 하나의 구역에 도달하는 경우, 적어도 하나의 구역을 통해 경로를 따라 차량을 조종하는 단계를 포함한다. 또 다른 예에서, 본 방법은 또한, 운전자가 차량의 소정의 제어 측면을 제어하는 것에 근거하여 제 1 위치를 식별하는 단계와; 운전자가 제어 차량의 소정의 제어 측면의 제어권을 포기하는 것에 근거하여 제 2 위치를 식별하는 단계와; 제 1 위치 및 제 2 위치에 근거하여 새로운 구역을 발생시키는 단계와; 소정의 제어 측면에 근거하여 새로운 구역에 대한 새로운 규칙을 발생시키는 단계와; 그리고 새로운 구역 및 새로운 규칙을 맵 정보와 함께 저장하는 단계를 포함한다. 본 방법은 또한, 새로운 구역 및 상기 새로운 규칙을 또 다른 차량에 전송하는 단계를 포함할 수 있다.
본 발명의 또 다른 실시형태는 프로그램의 컴퓨터 판독가능 명령들이 저장되어 있는 유형의 비일시적 컴퓨터 판독가능 저장 매체를 제공한다. 명령들은 프로세서에 의해 실행될 때 프로세서로 하여금 차량을 조종하는 방법을 수행하도록 한다. 여기서 방법은, 하나 이상의 구역들을 포함하는 맵 정보에 액세스하는 단계와, 여기서 각각의 구역은 운전자에게 차량의 제어 측면의 제어권을 획득하도록 표시하는 규칙과 관련되어 있고; 맵 정보에 근거하여 프로세서에 의해 경로를 식별하는 단계와, 여기서 경로는 차량으로 하여금 하나 이상의 구역들 중 적어도 하나의 구역을 통과하도록 요구하며; 프로세서에 의해 목적지까지 차량을 조종하는 단계와; 그리고 차량이 적어도 하나의 구역의 경로를 따라 소정의 거리 내에 있을 때, 적어도 하나의 구역과 관련된 규칙을 식별하고, 식별된 규칙의 제어 측면을 식별하고, 그리고 식별된 제어 측면을 적어도 하나의 구역을 통해 제어할 필요를 운전자에게 통지하는 단계를 포함한다.
일 예에서, 식별된 제어 측면은 조향, 가속, 및 제동 중 적어도 하나를 포함한다. 또 다른 예에서, 이 방법은 또한, 식별된 제어 측면의 제어권을 운전자가 획득했음을 표시하는 정보를 수신하는 단계와; 차량이 적어도 하나의 구역을 떠나고, 식별된 제어 측면의 제어권을 운전자가 포기할 때까지 기다리는 단계와; 그리고 경로를 따라 목적지를 향해 차량을 계속 조종하는 단계를 포함한다. 또 다른 예에서, 이 방법은 또한, 목적지 위치를 식별하는 입력을 수신하는 것을 포함하고, 경로를 식별하는 것은 또한 목적지 위치에 근거한다. 이 방법은 또한, 운전자로부터 적어도 하나의 구역을 피하도록 하는 명령들을 수신하는 단계와; 적어도 하나의 구역을 통과하지 않는 목적지로의 새로운 경로를 발생시키는 단계와; 그리고 새로운 경로를 따라 차량을 조종하는 단계를 포함한다. 또 다른 예에서, 이 방법은 또한, 식별된 제어 측면의 제어권을 운전자가 획득하지 않았을 때, 차량이 적어도 하나의 구역에 도달하는 경우, 적어도 하나의 구역을 통해 경로를 따라 차량을 조종하는 단계를 포함한다. 또 다른 예에서, 이 방법은 또한, 운전자가 차량의 소정의 제어 측면을 제어하는 것에 근거하여 제 1 위치를 식별하는 단계와; 운전자가 제어 차량의 소정의 제어 측면의 제어권을 포기하는 것에 근거하여 제 2 위치를 식별하는 단계와; 제 1 위치 및 제 2 위치에 근거하여 새로운 구역을 발생시키는 단계와; 소정의 제어 측면에 근거하여 새로운 구역에 대한 새로운 규칙을 발생시키는 단계와; 그리고 새로운 구역 및 새로운 규칙을 맵 정보와 함께 저장하는 단계를 포함한다. 이 방법은 또한, 새로운 구역 및 상기 새로운 규칙을 또 다른 차량에 전송하는 단계를 포함할 수 있다.
본 개시내용의 또 다른 실시형태는 차량을 제공한다. 본 차량은 차량의 움직임을 제어하기 위한 복수의 제어 측면들과; 하나 이상의 구역들을 포함하는 맵 정보를 저장하는 메모리와, 여기서 각각의 구역은 운전자에게 복수의 제어 측면들 중 적어도 하나의 제어 측면의 제어권을 획득하도록 표시하는 규칙과 관련되어 있고; 그리고 복수의 제어 측면들 및 메모리에 결합된 프로세서를 포함한다. 프로세서는, 맵 정보에 근거하여 경로를 식별하는 것, 여기서 경로는 차량으로 하여금 하나 이상의 구역들 중 적어도 하나의 구역을 통과하도록 요구하며; 경로를 따라 차량을 조종하는 것; 그리고 차량이 적어도 하나의 구역의 경로를 따라 소정의 거리 내에 있을 때, 적어도 하나의 구역과 관련된 규칙을 식별하고, 식별된 규칙의 제어 측면을 식별하고, 그리고 식별된 제어 측면을 적어도 하나의 구역을 통해 제어할 필요를 운전자에게 통지하는 것을 수행하도록 동작가능하다.
일 예에서, 프로세서는 또한, 식별된 제어 측면의 제어권을 운전자가 획득하지 않았을 때, 차량이 적어도 하나의 구역에 도달하는 경우, 적어도 하나의 구역을 통해 경로를 따라 차량을 조종하도록 동작가능하다. 또 다른 예에서, 프로세서는 또한, 운전자가 차량의 소정의 제어 측면을 제어하는 것에 근거하여 제 1 위치를 식별하는 것; 운전자가 차량의 소정의 제어 측면의 제어권을 포기하는 것에 근거하여 제 2 위치를 식별하는 것; 제 1 위치 및 상기 제 2 위치에 근거하여 새로운 구역을 발생시키는 것; 소정의 제어 측면에 근거하여 새로운 구역에 대한 새로운 규칙을 발생시키는 것; 그리고 새로운 구역 및 새로운 규칙을 맵 정보와 함께 저장하는 것을 수행하도록 동작가능하다. 프로세서는 또한, 새로운 구역 및 새로운 규칙을 또 다른 자율주행 차량에 전송하도록 동작가능할 수 있다. 또 다른 예에서, 식별된 제어 측면은 조향 시스템, 가속 시스템, 및 제동 시스템 중 적어도 하나를 포함한다.
본 개시내용의 또 다른 실시형태는 차량을 조종하는 방법을 제공한다. 본 방법은, 도로 상의 현재 경로를 따라 차량을 프로세서에 의해 조종하는 단계와; 운전자로 하여금 차량의 적어도 하나의 제어 측면의 제어권을 획득하도록 요구하는 규칙과 관련된 적어도 하나의 구역의 현재 경로를 따라 일정 거리 내에 차량이 있는지 여부를 결정하는 단계와; 그리고 적어도 하나의 구역의 현재 경로를 따라 일정 거리 내에 차량이 있는 경우, 적어도 하나의 제어 측면을 적어도 하나의 구역을 통해 제어할 필요를 운전자에게 통지하는 단계를 포함한다.
일 예에서, 적어도 하나의 제어 측면은 조향, 가속, 및 제동 중 적어도 하나를 포함한다. 또 다른 예에서, 본 방법은 또한, 식별된 제어 측면의 제어권을 운전자가 획득했음을 표시하는 정보를 수신하는 단계와; 차량이 적어도 하나의 구역을 떠나고, 식별된 제어 측면의 제어권을 운전자가 포기할 때까지 기다리는 단계와; 그리고 프로세서에 의해 차량을 계속 조종하는 단계를 포함한다. 또 다른 예에서, 본 방법은 또한, 적어도 하나의 제어 측면의 제어권을 운전자가 획득하지 않았을 때, 차량이 적어도 하나의 구역에 도달하는 경우, 적어도 하나의 구역을 통해 차량을 조종하는 단계를 포함한다. 또 다른 예에서, 본 방법은 또한, 운전자가 차량의 소정의 제어 측면을 제어하는 것에 근거하여 제 1 위치를 식별하는 단계와; 운전자가 차량의 소정의 제어 측면의 제어권을 포기하는 것에 근거하여 제 2 위치를 식별하는 단계와; 제 1 위치 및 제 2 위치에 근거하여 새로운 구역을 발생시키는 단계와; 소정의 제어 측면에 근거하여 새로운 구역에 대한 새로운 규칙을 발생시키는 단계와; 그리고 새로운 구역 및 새로운 규칙을 맵 정보와 함께 저장하는 단계를 포함한다. 본 방법은 또한, 새로운 구역 및 새로운 규칙을 또 다른 차량에 전송하는 단계를 포함할 수 있다.
도 1은 예시적 실시예에 따른 시스템의 기능 구성도이다.
도 2는 예시적 실시예에 따른 자율주행 차량의 내부이다.
도 3은 예시적 실시예에 따른 자율주행 차량의 외부이다.
도 4는 예시적 실시예에 따른 로드 맵이다.
도 5는 예시적 실시예에 따른 또 다른 로드 맵이다.
도 6은 예시적 실시예에 따른 또 다른 로드 맵이다.
도 7은 예시적 실시예에 따른 또 다른 로드 맵이다.
도 8은 예시적 실시예에 따른 또 다른 로드 맵이다.
도 9a 내지 도 9c는 예시적 실시예들에 따른 흐름 구성도이다.
도 10은 예시적 실시예에 따른 또 다른 예시적 로드 맵이다.
도 1에 도시된 바와 같이, 본 개시내용의 일 실시형태에 따른 자율 운행 시스템(autonomous driving system)은 다양한 컴포넌트들을 구비한 차량(101)을 포함한다. 본 개시내용의 특정 실시형태들이 특정 타입의 차량들과 관련되어 특히 유용할 수 있지만, 차량(101)은 임의 타입의 차량일 수 있는바, 여기에는 자동차, 트럭, 오토바이, 버스, 보트, 비행기, 헬리콥터, 잔디 깎는 기계, 레저 차량, 놀이 공원 차량, 경작 기계, 건설 기계, 전차(trams), 골프 카트(golf carts), 기차, 및 트롤리(trolleys)가 포함되지만 이러한 것에만 한정되는 것은 아니다. 차량은 하나 이상의 컴퓨터(예를 들어, 프로세서(120), 메모리(130), 및 범용 컴퓨터에 전형적으로 존재하는 다른 컴포넌트들을 포함하는 컴퓨터(110))를 구비할 수 있다.
메모리(130)는 프로세서(120)에 의해 액세스가능한 정보(프로세서(120)에 의해 실행될 수 있거나 그렇지 않으면 사용될 수 있는 명령들(132) 및 데이터(134)를 포함함)를 저장한다. 메모리(130)는 프로세서에 의해 액세스가능한 정보를 저장할 수 있는 임의의 타입을 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(132)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 (사전에 컴파일링(compiling)되거나 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(132)에 따라 프로세서(120)에 의해 검색, 저장, 혹은 수정될 수 있다. 예를 들어, 비록 본 청구되는 주된 내용이 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(120)는 상업적으로 입수가능한 CPU와 같은 임의의 종래 프로세서일 수 있다. 대안적으로, 프로세서는 ASIC 혹은 다른 하드웨어-기반의 프로세서와 같은 전용 디바이스일 수 있다. 비록 도 1이 컴퓨터(110)의 프로세서, 메모리, 및 다른 요소들을 동일 블록 내에 있는 것으로서 기능적으로 나타내고 있지만, 본 발명의 기술분야에서 통상의 기술을 가진 자들은 이러한 프로세서, 컴퓨터, 혹은 메모리가 동일한 물리적 하우징(housing) 내에 저장될 수도 있고 저장되지 않을 수도 있는 복수의 프로세서들, 컴퓨터들 혹은 메모리들을 실제로 포함할 수 있음을 이해할 것이다. 예를 들어, 메모리는 컴퓨터(110)와는 다른 하우징에 위치한 하드 드라이브 혹은 다른 저장 매체일 수 있다. 따라서, 프로세서 혹은 컴퓨터의 언급은 병렬로 동작할 수 있거나 동작하지 않는 프로세서들 혹은 컴퓨터들 혹은 메모리들의 집합의 언급을 포함하고 있음을 이해해야 한다. 본 명세서에서 설명되는 단계들을 수행하기 위해 단일 프로세서를 사용하는 것이 아니라, 조향 컴포넌트, 가속 및 감속 컴포넌트들과 같은 컴포넌트들 중 일부는, 컴포넌트별 기능과 관련된 계산만을 수행하는 자기 자신의 프로세서를 각각 가질 수 있다.
본 명세서에서 설명되는 다양한 실시형태에서, 프로세서는 차량으로부터 원격 위치에 있을 수 있고 무선으로 차량과 통신할 수 있다. 다른 실시형태에서, 본 명세서에 설명되는 프로세스들 중 일부는 차량 내에 배치된 프로세서 상에서 실행되며, 원격 프로세서에 의해 다른 것들이 실행되는바, 여기에는 단일 조종을 실행하기 위해 필요한 조치들을 취하는 것이 포함된다.
컴퓨터(110)는 컴퓨터와 관련하여 통상적으로 사용되는 컴포넌트들 모두일 수 있는바, 예를 들어 중앙 처리 장치(CPU), 웹 브라우저와 같은 명령 및 데이터(134)를 저장하는 메모리(예를 들어, RAM 및 내부 하드 드라이브), 전자적 디스플레이(142)(예를 들어, 스크린, 소형 LCD 터치-스크린 혹은 정보를 디스플레이하도록 동작가능한 임의의 다른 전기적 디바이스), 사용자 입력(140)(예를 들어, 마우스, 키보드, 터치스크린, 및/또는 마이크로폰), 뿐만 아니라 사람의 상태 및 욕구에 대한 명시적 정보(예를 들어, 제스처(gesture)) 혹은 암묵적 정보(예를 들어, "사람이 졸고 있다")를 수집하기 위한 다양한 센서들(예를 들어, 비디오 카메라)이 있다.
일 예에서, 컴퓨터(110)는 차량(101)에 포함되는 자율 운행 컴퓨팅 시스템일 수 있다. 도 2는 자율주행 차량의 내부의 예시적 디자인을 나타낸다. 자율주행 차량은 비자율주행 차량(non-autonomous vehicle)의 특징 모두를 포함할 수 있는바, 예를 들어, 핸들(210)과 같은 조향 장치, 네비게이션 디스플레이(215)와 같은 운행 표시 장치, 그리고 기어 변속기(gear shifter)(220)와 같은 기어 선택기 장치를 포함할 수 있다. 차량은 또한, 하나 이상의 자율 운행 모드를 활성화 혹은 비활성화하고 아울러 드라이버 혹은 운전자(290)로 하여금 자율 운행 컴퓨터(110)에게 운행 목적지와 같은 정보를 제공할 수 있도록 하기 위한, 다양한 사용자 입력 디바이스들(예를 들어, 기어 변속기(220), 터치 스크린(217), 혹은 버튼 입력(219))을 구비할 수 있다.
차량(101)은 하나 이상의 추가적인 디바이스들을 포함할 수 있다. 예를 들어, 차량은 자율주행 차량 혹은 컴퓨터의 상태에 관한 정보를 디스플레이하기 위한 디바이스(225)를 포함할 수 있다. 또 다른 예에서, 차량은 차량(101)의 현재 상태를 표시하기 위해 상태바(status bar)(230)와 같은 상태 표시 장치(138)(도 1 참조)를 포함할 수 있다. 도 2의 예에서, 상태바(230)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 일부분(예를 들어, 핸들(210))을 조명할 수 있거나, 또는 다양한 다른 타입의 표시들을 제공할 수 있다.
자율 운행 컴퓨팅 시스템은 차량의 다양한 컴포넌트들과 통신할 수 있다. 예를 들어, 도 1을 다시 참조하면, 컴퓨터(110)는 차량의 중앙 프로세서(160)와 통신할 수 있으며, 차량(101)의 움직임, 속도 등을 제어하기 위해, 차량(101)의 다양한 시스템들(예를 들어, 제동 시스템(180), 가속 시스템(182), 신호 시스템(184), 및 운행 시스템(186))로부터의 정보를 전송 및 수신할 수 있다. 추가적으로, 컴퓨터(100)가 관여하는 경우, 컴퓨터(110)는 차량(101)의 이러한 기능들 중 일부 혹은 모두를 제어할 수 있고, 이에 따라 완전하게 자율적이거나 혹은 단지 부분적으로 자율적일 수 있다. 다양한 시스템들 및 컴퓨터(110)가 차량(101) 내에 제시되었지만, 이러한 요소들은 차량(101)의 외부에 있을 수 있거나 긴 거리에 의해 물리적으로 분리될 수 있음을 이해해야 한다.
차량은 또한, 디바이스의 지리적 위치를 결정하기 위해 컴퓨터(110)와 통신하는 지리적 위치결정 컴포넌트(144)를 포함할 수 있다. 예를 들어, 위치결정 컴포넌트는 디바이스의 위도, 경도 및 고도 위치를 결정하기 위한 GPS 수신기를 포함할 수 있다. 레이저-기반 국부화 시스템(laser-based localization systems), 관성-보조 GPS(inertial-aided GPS), 혹은 카메라-기반 국부화(camera-based localization)와 같은 다른 위치결정 시스템이 또한, 차량의 위치를 식별하기 위해 사용될 수 있다. 차량의 위치는 절대적인 지리적 위치(예를 들어, 위도, 경고, 및 고도), 뿐만 아니라 상대적인 위치 정보(예를 들어, 바로 그 주변의 다른 자동차들에 대한 위치, 이것은 종종 절대적인 지리적 위치보다 더 적은 노이즈로 결정될 수 있음)를 포함할 수 있다.
차량은 또한 컴퓨터(110)와 통신하는 다른 디바이스들을 포함할 수 있는바, 예를 들어, 차량의 방향 및 속도 혹은 그 변화를 결정하기 위해 가속도계, 자이로스코프(gyroscope) 혹은 또 다른 방향/속도 검출 디바이스(146)와 같은 것을 포함할 수 있다. 단지 예를 들면, 가속 디바이스(146)는 중력 방향 혹은 그 수직인 평면에 대한 피치(pitch), 요(yaw) 혹은 롤(roll)(혹은 그 변화)을 결정할 수 있다. 디바이스는 또한 속도에서의 증가 혹은 감소 그리고 이러한 변화의 방향을 추적할 수 있다. 본 명세서에서 설명되는 바와 같은 위치 및 방위 데이터의 디바이스 제공은, 사용자, 컴퓨터(110), 다른 컴퓨터 및 이들의 조합에 자동으로 제공될 수 있다.
컴퓨터(110)는 다양한 컴포넌트들을 제어함으로써 차량의 방향 및 속도를 제어할 수 있다. 예를 들어, 만약 차량이 완전히 자율주행 모드에서 동작한다면, 컴퓨터(110)는 차량이 (예를 들어, 연료 또는 엔진에 제공되는 다른 에너지를 증가시킴으로써) 가속되도록 할 수 있고, (예를 들어, 엔진에 공급되는 연료를 감소시킴으로써 또는 브레이크를 적용시킴으로써) 감속되도록 할 수 있으며, (예를 들어, 두 개의 앞바퀴를 돌림으로써) 방향을 변경하도록 할 수 있다.
차량은 또한, 다른 차량들, 도로에서의 장애물, 교통 신호, 표지판, 나무 등과 같은 차량의 외부에 있는 물체들을 검출하기 위한 하나 이상의 물체 검출 컴포넌트들(148)을 포함할 수 있다. 검출 시스템은, 컴퓨터(110)에 의해 프로세싱될 수 있는 데이터를 기록하는, 레이저, 소나(sonar), 레이더 카메라, 또는 임의의 다른 검출 디바이스를 포함할 수 있다. 예를 들어, 만약 차량이 소형 운전자 차량이라면, 자동차는 지붕 혹은 다른 편리한 위치에 장착되는 레이저를 포함할 수 있다.
도 3에 제시된 바와 같이, 소형 운전자 차량(300)은, 차량의 전면 및 상부에 각각 장착된, 레이저(310) 및 레이저(311)를 포함할 수 있다. 레이저(310)는 150미터의 도달거리, 30도의 수직 시계, 그리고 30도의 수평 시계를 가질 수 있다. 레이저(311)는 50-80미터의 도달거리, 30도의 수직 시계, 그리고 360도의 수평 시계를 가질 수 있다. 레이저들은 다양한 물체들의 위치 및 거리를 식별하기 위해 컴퓨터가 사용할 수 있는 거리 및 강도 정보를 차량에 제공할 수 있다. 일 실시형태에서, 레이저는 축을 중심으로 회전하며 피치를 변경시킴으로써 차량과 (이러한 차량과 대면하고 있는) 물체 표면 간의 거리를 측정할 수 있다.
차량은 또한 적응형 순항 제어 시스템들을 위해 사용되는 것들과 같은 다양한 레이더 검출 유닛들을 포함할 수 있다. 레이더 검출 유닛들은 자동차의 전면 및 후면뿐만 아니라 전면 범퍼의 양측에 위치할 수 있다. 도 3의 예에서 제시된 바와 같이, 차량(300)은, 차량의 측면(도면에서는 단지 일 측면만 도시됨), 전면 및 후면 상에 위치하는 레이더 검출 유닛들(320-323)을 포함한다. 이러한 레이더 검출 유닛들 각각은 18도의 시계에 대해 200미터의 도달거리를 가질 수 있을 뿐만 아니라 56도의 시계에 대해 60미터의 도달거리를 가질 수 있다.
또 다른 예에서, 다양한 카메라들이 차량에 장착될 수 있다. 카메라들은 소정의 거리에 장착될 수 있고, 이에 따라 둘 이상의 카메라들의 영상들로부터의 시차(parallax)가 다양한 물체까지의 거리를 컴퓨팅하기 위해 사용될 수 있게 된다. 도 3에 제시된 바와 같이, 차량(300)은 백미러(rear view mirror)(미도시) 가까이에서 바람막이창(340) 아래에 장착되는 2개의 카메라들(330-331)을 포함할 수 있다. 카메라(330)는 200미터의 도달거리 및 30도의 수평 시계를 포함할 수 있고, 반면 카메라(331)는 100미터의 도달거리 및 60도의 수평 시계를 포함할 수 있다.
앞서 언급된 센서들은, 운전자, 다른 운전자들뿐만 아니라 환경 내의 물체들 혹은 사람들에 대한 안전을 최대화시키기 위해, 차량으로 하여금 환경을 평가할 수 있게 하고 가능하게는 이러한 환경에 대응할 수 있게 할 수 있다. 차량의 타입, 센서의 개수 및 타입, 센서 위치, 센서 시계, 및 센서의 센서 필드는 단지 예시적인 것임을 이해해야 한다. 다양한 다른 구성이 또한 사용될 수 있다.
앞서 설명된 센서들에 추가하여, 컴퓨터는 또한 전형적인 비-자율주행 차량의 센서들로부터의 입력을 사용할 수 있다. 예를 들어, 이러한 센서들은, 타이어 공기압 센서, 엔진 온도 센서, 브레이크 열 센서, 브레이크 패드 상태 센서, 타이어 트레드 센서, 연료 센서, 오일 레벨 및 품질 센서, (공기의 온도, 습도, 혹은 공기 내의 분진을 검출하기 위한) 공기 품질 센서 등을 포함할 수 있다.
이러한 센서들 중 많은 센서들은 컴퓨터에 의해 프로세싱되는 데이터를 실시간으로 제공하는바, 즉, 센서들은 일정 범위의 시간에 혹은 일정 범위의 시간에 걸쳐 감지되는 환경을 반영하기 위해 자신의 출력을 계속 업데이트할 수 있고, 그리고 계속적으로 혹은 요구가 있는 경우 그 업데이트된 출력을 컴퓨터에 제공하여 컴퓨터가 차량의 과거-현재 방향 또는 속도가 그 감지된 환경에 응답하여 수정돼야하는지를 결정할 수 있게 할 수 있다.
다양한 센서들에 의해 제공되는 데이터를 프로세싱하는 것에 추가하여, 컴퓨터는, 이전 시점에서 획득된 환경 데이터 그리고 그 환경 내에 차량이 존재하는지 여부에 상관없이 존속할 것으로 예상되는 환경 데이터에 의존할 수 있다. 예를 들어, 도 1을 다시 참조하면, 데이터(134)는 상세한 맵 정보(136), 예를 들어, 도로의 형상 및 입면도, 차선 라인, 교차로, 횡단보도, 제한 속도, 교통 신호, 빌딩, 표지판, 실시간 교통 정보, 혹은 이러한 다른 물체 및 정보를 식별하는 매우 상세한 맵을 포함할 수 있다. 예를 들어, 맵 정보는 다양한 도로 구간들과 관련된 명시적 제한 속도 정보를 포함할 수 있다. 제한 속도 데이터는, 예를 들어, 광학적-문자 인식을 사용하여, 제한 속도 표지판의 이전에 촬영된 영상들로부터 수작업으로 입력될 수 있거나 혹은 스캔될 수 있다. 맵 정보는 앞서 나열된 하나 이상의 물체들을 포함하는 삼차원 지형 맵을 포함할 수 있다. 예를 들어, 차량은 실시간 데이터에 근거하여 (예를 들어, 또 다른 자동차의 현재 GPS 위치를 결정하기 위해 자신의 센서들을 사용하여) 혹은 다른 데이터에 근거하여 (예를 들어, 그 다른 자동차가 방향전환 차선 내에 있는지 여부를 결정하기 위해 GPS 위치를 이전에 저장된 차선별 맵 데이터와 비교하여) 또 다른 자동차의 방향전환이 예상되는지를 결정할 수 있다.
다시 언급하면, 비록 본 명세서에서 맵 정보는 영상-기반 맵으로서 제시되지만, 맵 정보가 전체적으로 영상 기반일 필요는 없다(예를 들어, 래스터(raster)). 예를 들어, 맵 정보는 하나 이상의 로드그래프(roadgraphs)를 포함할 수 있거나, 혹은 도로, 차선, 교차로, 및 이러한 특징들 간의 연결과 같은 정보의 그래프 네트워크(graph networks)를 포함할 수 있다. 각각의 특징은 그래프 데이터로서 저장될 수 있고 지리적 위치와 같은 정보와 관련될 수 있으며, 이것이 다른 관련 특징에 링크(link)되든 혹은 안되든 상관 없는바, 예를 들어, 정지 표지판은 도로 및 교차로 등에 링크될 수 있다. 일부 예들에서, 관련 데이터는 특정 로드그래프 특징의 효율적인 참조가 가능하도록 로드그래프의 그리드 기반 인덱스(grid-based index)들을 포함할 수 있다.
예를 들어, 도 4의 맵(400)은 고가도로 섹션(overpass section)(425)에서 고속도로(420) 아래를 지나가는 2차선 도로를 포함하는 로드그래프의 일부를 예시적으로 도식화시켜 나타낸 것이다. 이 맵은 도로(410)의 동부행 차선(412), 서부행 차선(414), 및 출구 차선(416)과 같은 특징들을 포함한다. 유사하게, 고속도로(420)는 중앙분리대(422), 북부행 차선(424), 남부행 차선(426), 및 갓길(428)을 포함한다. 도로(410)의 동부행 차선은 출구 차선(416), 진입로(430), 가속 차선(440)을 통해 고속도로(420)와 연결된다. 이 맵은 또한, 이중 황색선(450) 및 차선 라인(452)과 같은 추가적인 도로 세부사항들을 포함할 수 있고, 뿐만 아니라 표지판(미도시) 혹은 다른 도로 특징들을 포함할 수 있다.
일부 예들에서, 맵 정보는 구역들을 포함할 수 있다. 각각의 구역은 특정 규칙들과 관련된 지리적위치 영역 혹은 지점을 포함할 수 있다. 구역들은 합류지점, 공사 구역, 혹은 다른 장애물과 같이 인간 및 컴퓨터에 대해 운행이 복잡하거나 수월하지않은 장소를 포함할 수 있다. 아래에서 더 상세히 설명되는 바와 같이, 구역의 규칙들은 자율주행 차량으로 하여금 운전자에게 차량이 자율적으로 운행하기에 수월하지 않을 수 있는 영역에 차량이 접근하고 있음을 경고하도록 요구할 수 있다. 일 예에서, 차량은 운전자로 하여금 조향, 가속, 감속 등의 제어권을 획득하도록 요구할 수 있다. 또 다른 예에서, 구역의 규칙들은 운전자로 하여금 제어권을 획득하도록 요구하는 것이 아니라 자율주행 차량으로 하여금 운전자에게 경고하도록 요구할 수 있고, 차량은 자신의 속도를 낮출 수 있으며 그리고/또는 (자율주행 차량과 또 다른 차량 간의) 차간 거리를 증가시킬 수 있다.
예를 들어, 도 5의 맵(500)에 제시된 바와 같이, 맵 정보는 구역(510)을 포함할 수 있다. 이 구역은 가속 차선(440)을 포함하는바, 이러한 교통 합류지점은 자율주행 차량에게 어려울 수 있다. 이러한 어려움으로 인해, 구역(510)은 운전자로 하여금 구역(510) 내에 있는 동안 자율주행 차량의 조향, 가속 및/또는 제동의 제어권을 획득하도록 요구하는 규칙과 관련될 수 있다.
도면에서 예시되고 앞서 설명된 동작들에 추가하여, 다양한 동작들이 이제 설명된다. 다음의 동작들이 아래에 설명되는 순서로 정확히 수행될 필요가 없음을 이해해야 한다. 오히려, 다양한 단계들이 서로 다른 순서로 혹은 동시에 다루어 질 수 있으며, 이러한 단계들은 또한 부가될 수 있거나 생략될 수 있다.
자율주행 차량은 경로를 따름으로써 두 개의 위치 간에 자신과, 운전자와, 승객들과, 그리고/또는 화물을 운송할 수 있다. 예를 들어, 운전자는 목적지를 입력할 수 있고, 차량의 자율주행 모드를 활성화시킬 수 있다. 이에 응답하여, 차량의 컴퓨터는 로드그래프, 자신의 현재 위치, 및 목적지에 근거하여 경로를 계산할 수 있다. 경로는 예를 들어, 어디서 방향전환을 할지, 어떤 속도로 주행할지, 어디서 교통 신호를 찾을지, 교차로 혹은 정지 표지판에 대해 어디서 정지할지 등과 같은 정보를 포함할 수 있다. 예를 들어, 도 6의 맵(600)에 제시된 바와 같이, 경로(610)는 자율주행 차량으로 하여금 도로(410)를 따라가다 고속도로(420)로 빠져나오도록 요구할 수 있다. 이것은 차량으로 하여금 도로(410)의 동부행 차선(412)으로 주행하도록 하여 그 다음 출구 차선(416), 그 다음 진입로(430), 그 다음 가속 차선(440), 그리고 고속도로(420)에 진입하도록 요구할 수 있다. 모든 경로들이 구역들을 포함하는 것은 아니지만, 도 6의 예에서, 경로(610)는 또한, 자율주행 차량으로 하여금 구역(510)을 통과하도록 요구한다.
도 7의 맵에 제시된 바와 같이, 자율주행 차량(300)은 경로(610)를 따라 주행한다. 자율주행 차량(300)이 구역(510)에 접근함에 따라, 자율주행 차량의 컴퓨터는 구역(510)과 관련된 규칙들을 식별할 수 있다. 앞서 언급된 바와 같이, 구역(510)의 규칙들은 자율주행 차량이 구역(510)을 통과하는 동안(예를 들어, 경로(610)를 따라 지점(710)으로부터 지점(720)까지), 운전자가 조향, 가속, 및 제동의 제어권을 획득하도록 요구할 수 있다.
자율주행 차량은 시각적 혹은 청각적 신호들을 운전자에게 제공함으로써 차량이 특정 규칙들을 갖는 구역에 접근하고 있음을 운전자에게 통지할 수 있다. 이러한 통지는 구역까지의 시간 및 거리의 결합에 근거할 수 있다. 만약 자율주행 차량이 합리적인 속도로 움직인다면, 통지는 구역까지의 잔존 거리를 넘는 추정된 시간에 기반을 둘 수 있다. 예를 들어, 만약 차량1이 시간당 25마일의 속도로 움직이고 있다면, 통지는 차량1이 구역으로부터 X 거리에 있을 때 주어질 수 있다. 만약 차량2가 시간당 50마일의 속도로 움직이고 있다면, 통지는 차량2가 구역으로부터 2X 거리에 있을 때 주어질 수 있다. 따라서, 구역까지의 시간은 차량1과 차량2 양쪽 모두에 대해 동일할 수 있다. 만약 자율주행 차량이 매우 저속으로 움직이고 있다면, 예를 들어, 가다 서다하는 교통 상황에서, 통지는 구역까지의 거리에 기반을 둘 수 있다.
예를 들어, 지점(710)에 도달하기 전에, 자율주행 차량(300)의 컴퓨터는, 운전자로 하여금 차량의 제어권을 획득하도록 요구하는 구역의 어떤 거리 내에 차량이 있거나 혹은 차량이 접근하고 있음을 표시하는 경고를 예를 들어, 디스플레이(225) 상에, 상태바(230) 상에, 청각적으로 혹은 다른 방식으로 운전자에게 제공할 수 있다. 예를 들어, 차량은 해당 구역이 강조된 맵(맵(700)과 유사한 맵)을 디스플레이할 수 있고, 스피커를 통해 "구역을 통과하는 동안 차량의 제어권을 획득해 주십시오"라고 알릴 수 있다. 경고는 또한, 섬광, 비프음(beeping), 진동 등을 포함할 수 있다.
경고에 응답하여, 운전자는 구역을 돌아 운행하는 것, 구역 및 규칙들을 무시하는 것, 혹은 간단히 자율주행 차량의 하나 이상의 측면들의 제어권을 인수하는 것을 선택할 수 있다. 예를 들어, 운전자는 자율주행 차량이 구역을 돌아가는 경로를 취하도록 요청할 수 있고, 이에 따라 운전자는 제어권을 획득할 필요가 없게 된다. 예를 들어, 운전자는 자신의 요청을 말로 할 수 있거나 또는 터치 스크린 혹은 버튼 입력(219)과 같은 하나 이상의 입력을 사용하여 옵션(option)을 선택할 수 있다. 자율주행 차량의 컴퓨터는 경로를 다시 정할 수 있고, 차량으로 하여금 구역을 통과하도록 요구하지 않는 새로운 경로를 식별할 수 있다.
또 다른 예에서, 운전자는 구역을 무시하는 것을 선택할 수 있다. 이에 응답하여, 차량은, 가능한 경우, 구역을 통과해 계속 운행할 수 있다. 이것은 다른 차량, 보행자, 장애물 등이 없는 곳에서 도움이 될 수 있다. 이러한 경우에, 차량은 운전자에게 경고하는 것을 멈출 수 있거나, (차량이 구역에 도달할 때까지) 운전자에게 차량이 구역에 접근하고 있음을 계속 경고할 수 있거나, 혹은 (예를 들어, 차량이 구역 내에 있는 경우) 경고하는 것을 바꿀 수 있다. 새로운 경고는 약간 더 심각한 것일 수 있다(예를 들어, 제어권을 획득하지 않으면 어떤 상황에서는 위험할 수 있음을 경고하는 것, 청각적 혹은 촉각적 신호들을 증가시키는 것, 빛을 섬광시키는 것 등).
일부 예들에서, 규칙들은 단지, 운전자가 조향, 가속 및 제동, 혹은 이러한 특징들 모두의 제어권을 획득하도록 요구할 수 있다. 예를 들어, 만약 구역이 보행자들이 전형적으로 걷고 있는 공원 혹은 다른 위치라면, 차량은 속도를 급격히 저하시킬 수 있고 운전자로 하여금 단지 핸들(210)을 돌림으로써 방향을 조종하도록 요구할 수 있다. 또 다른 예에서, 만약 구역이 고속도로에서의 합류지점이라면, 자율주행 차량은 차선의 중앙에서 유지되도록 방향을 조종할 수 있고, 운전자는 합류지점 교통에 근거하여 차량의 속도를 조정하기 위해 가속 및 감속 제어(연료 및 브레이크 제어)를 행한다.
또 다른 예에서, 목적지까지 특정 경로를 따르기보다, 운전자는 자율주행 차량에게 명령하여 운전자가 다시 제어권을 획득할 때까지 혹은 차량에게 후속 명령을 제공할 때까지 특정 도로에서 계속 주행하게 할 수 있다. 예를 들어, 운전자는 (운전자가 핸들, 가속, 제동 등의 제어권을 획득할 때까지) 차량의 컴퓨터로 하여금 고속도로를 따라 차량을 조종하게 할 수 있고 차량의 속도를 제어하게 할 수 있다. 이러한 예에서, 컴퓨터는 차량으로 하여금 도로의 경로, 혹은 차량이 현재 있는 특정 차선을 따르도록 제어할 수 있다. 만약 차량이, 현재 경로를 따라 계속 주행하는 경우 차량이 통과하게 될, 구역에 접근하고 있다면, 컴퓨터는 운전자에게 구역에 접근하고 있음을 통지할 수 있다. 컴퓨터는 또한 제어 기능(조향, 제동 및 가속 등)의 제어권을 획득할 필요를 식별시킬 수 있고, 컴퓨터는 또한, 앞서 설명된 동작들 중 하나 이상을 취할 수 있다. 이에 응답하여, 앞서 설명된 바와 같이, 운전자는 제어 기능의 제어권을 획득하는 것, 경고를 무시하는 것, 차량이 구역을 도는 경로를 취하도록 하는 것 등을 할 수 있다.
그러나, 단지 구역에 접근하는 것이 운전자에게 경고를 개시시키기 위한 충분조건은 아닐 수 있다. 예를 들어, 도 8의 맵(800)에서 제시된 바와 같이, 자율주행 차량(300-A)이 경로(810)를 따라 주행하고 있으며 도로(410)의 동부행 차선(412)에서 고속도로(420)의 고가도로 섹션(425)에 접근하고 있다. 차량이 구역(510)에 접근하고 있지만, 자율주행 차량은 운전자에게 실제로 어떠한 경고도 제공하지 않는데, 왜냐하면 차량은 구역(510)을 실제로 통과해 주행하는 것이 아니라 구역 아래로 주행하기 때문이다. 유사하게, 자율주행 차량(300-B)은 구역(610)을 지나가는 고속도로(420)의 북부행 차선(424)에서 경로(820)를 따라 주행하고 있다. 여기서 다시, 차량(300-B)은 구역(610)에 매우 가깝게 다가갈 수 있지만, 차량은 운전자에게 경고를 제공하지 않는데, 왜냐하면 차량은 구역(610)을 실제로 통과해 주행하는 것이 아니라 구역 옆을 주행하기 때문이다.
도 9a 내지 도 9c의 흐름 구성도(900)는 앞서 설명된 프로세스의 예시적인 개관을 제공한다. 도 9a의 블록(902)에 제시된 바와 같이, 자율주행 차량의 컴퓨터는 차량의 현재 위치 및 목적지 위치를 식별할 수 있다. 예를 들어, 운전자는 차량의 네비게이션 디바이스에 목적지 위치를 입력할 수 있다. 차량의 현재 위치는 하나 이상의 지리적 위치결정 디바이스들로부터 수신된 데이터에 근거하여 결정될 수 있다. 블록(904)에서, 컴퓨터는 하나 이상의 구역들을 포함하는 맵 정보에 액세스할 수 있다. 각각의 구역은 운전자로 하여금 차량의 제어 측면의 제어권을 획득하도록 요구하는 규칙과 관련된다. 예를 들어, 규칙은 운전자로 하여금 차량이 구역 내에 있는 동안 차량의 조향, 가속 및/또는 제동을 제어하도록 요구할 수 있다. 블록(906)에서, 컴퓨터는 맵 정보에 근거하여 현재 위치로부터 목적지 위치로의 경로를 발생시키는바, 여기서 경로는 차량으로 하여금 적어도 하나의 구역을 통과하도록 요구한다. 앞서 언급된 바와 같이, 경로가 구역을 포함할 필요는 없다.
그 다음에 블록(908)에서 컴퓨터는 경로를 따라 목적지까지 차량을 제어한다. 블록(910)에서, 컴퓨터는 차량이 적어도 하나의 구역에 접근하고 있는지 여부를 결정한다. 예를 들어, 차량의 현재 속도에 근거하여, 컴퓨터는 차량이 구역으로부터 특정 거리 내에 있는지 혹은 구역에 도착하기까지 임의의 추정된 시간 내에 있는지 여부를 결정할 수 있다. 만약 아니라면, 블록(908)에서 컴퓨터는 차량을 목적지까지 계속 제어한다. 블록(910)으로 리턴하는 경우, 만약 컴퓨터가 차량이 적어도 하나의 구역에 접근하고 있음을 결정한다면, 블록(912)에서 컴퓨터는 적어도 하나의 구역과 관련된, 규칙 및 제어 측면을 식별한다.
그 다음에, 블록(914)에서, 컴퓨터는 운전자에게 그 식별된 제어 측면을 적어도 하나의 구역을 통해 제어할 필요를 통지한다. 일 예의 경우, 블록(916)에서, 컴퓨터는 식별된 제어 측면의 제어권을 운전자가 획득했음을 표시하는 정보를 수신한다. 블록(918)에서, 컴퓨터는 차량이 적어도 하나의 구역을 떠나고 그리고 식별된 제어 측면의 제어권을 운전자가 포기할 때까지 기다린다. 그 다음에 블록(908)에서, 컴퓨터는 목적지를 향해 경로를 따라 차량을 계속 제어한다.
또 다른 예에서, 운전자는 컴퓨터로 하여금 적어도 하나의 구역을 피하도록 명령할 것을 결정할 수 있다. 도 9b의 블록(920)에서 제시된 바와 같이, 컴퓨터는 운전자로부터 구역을 피하도록 하는 명령들을 수신한다. 이에 응답하여, 블록(922)에서, 컴퓨터는 적어도 하나의 구역을 통과하지 않는 목적지로의 새로운 경로를 발생시킨다. 그 다음에 블록(908)에서, 컴퓨터는 목적지를 향해 새로운 경로를 따라 차량을 계속 제어한다.
또 다른 예에서, 운전자에게 구역에 접근하고 있음을 통지한 이후, 도 9c의 블록(924)에 제시된 바와 같이, 컴퓨터는 어떠한 입력도 수신하지 않을 수 있다. 컴퓨터는 식별된 제어 측면을 적어도 하나의 구역을 통해 제어할 필요를 운전자에게 계속 통지할 수 있다. 차량이 적어도 하나의 구역에 도달하는 경우, 블록(926)에서, 컴퓨터는 적어도 하나의 구역을 통해 차량을 제어할 수 있다. 그 다음에, 블록(908)에서, 컴퓨터는 목적지를 향해 경로를 따라 차량을 계속 제어한다.
앞서 언급된 바와 같이, 구역은 로드그래프에서 사전에 식별될 수 있거나, 혹은 운전자에 의한 요구가 있을 때 설정될 수 있다. 예를 들어, 일시적 공사 혹은 교통차단을 인지한 운전자는 해당 위치를 차량이 자율적으로 운행하지 말아야 하는 곳으로서 태그(tag) 표시를 할 수 있다. 이러한 점에서, 운전자는 차량의 제어권을 획득할 수 있고, 이와 동시에 해당 위치에 대한 구역 규칙을 발생시킬 수 있다. 새로운 구역은 운전자가 자율주행 차량의 제어권을 획득한 곳에서 시작할 수 있고, 운전자가 제어권을 컴퓨터에게 내준 곳에서 끝날 수 있다. 일부 예에서, 새로운 구역들은 차량에 의해 일시적으로 저장될 수 있다. 그 시기는 구역의 존재 이유에 근거할 수 있다. 예를 들어, 어떤 공사 프로젝트는 단 하루만 소요될 수 있는 반면, 다른 것들은 훨씬 더 많이 소요될 수 있다. 본 예에서, 운전자는 컴퓨터가 구역을 얼마나 오랫동안 유지해야하는지를 식별시키기 위해 입력을 사용할 수 있다.
예를 들어, 도 10의 맵(1000)에 제시된 바와 같이, 자율주행 차량(300)은 도로(1010)를 따라 운행중이다. 도로는 남부행 차선(1002), 북부행 차선(1004), 이중 황색선(1006), 차선 라인(1008) 등과 같은 특징들을 포함한다. 본 예에서, 차량(300)은 북부행 차선(1004)을 따라 경로(1020)를 따르고 있다. 차량(300)이 지점(1050)에 접근함에 따라, 운전자는 일시적 공사 상황임을 식별할 수 있다. 본 예에서, 콘(cone)들(1030)은 공사 차량(1040) 둘레로 차량의 경로가 생기도록 세워져 있다. 차량(300)은 이러한 물체들 모두를 식별할 수 있지만, 컴퓨터는 이러한 콘들을 통해 진행되는 경로를 사용할 수 없다고 결정할 수 있는데, 왜냐하면 이 경로는 차량으로 하여금 남부행 차선 안으로 들어가도록 요구하기 때문이다. 본 예에서, 운전자는 지점(1050)에서 차량의 제어권을 획득할 수 있고, 차량이 일시적 공사 상황을 벗어날 때인 지점(1060)에서 차량의 제어권을 포기할 수 있다. 이에 응답하여, 차량은 지점(1050)과 지점(1060) 간의 도로(1000)의 북부행 차선에서 새로운 구역(이곳에서 운전자는 차량의 제어권을 획득했음)을 발생시킬 수 있다.
새로운 구역이 발생되는 경우, 새로운 구역은 또한, 가까이 있는 다른 자율주행 차량들에게 방송할 수 있다. 예를 들어, 자율주행 차량은 무선 링크 혹은 다른 네트워크를 사용할 수 있으며, 이에 따라 다른 차량들은 그 새로운 구역에서 동일한 규칙을 준수(조향, 가속 및/또는 제동의 제어권을 획득)할 수 있게 되거나 혹은 또 다른 운전자가 그 위치는 자율적인 운행에 있어 불안전한 위치임을 느끼도록 다른 차량의 운전자들에게 통지할 수 있게 된다. 도 10을 다시 참조하면, 차량(300)은 다른 차량들에게 정보를 제공하는 전송을 행하여, 지점(1050)과 지점(1060) 간의 도로(1000)의 북부행 차선에서 새로운 구역(이곳에서 운전자는 차량의 제어권을 획득했음)을 식별시킬 수 있다. 지점(1050)을 통해 지점(1060)을 향하는 경로를 따르는 또 다른 차량이 지점(1050)에 접근함에 따라, 그 다른 차량은 자신의 운전자에게 통지를 디스플레이할 수 있다. 이러한 통지는 앞서 설명된 통지와 유사할 수 있으며, 이것은 또한 해당 구역이 또 다른 운전자에 의해 최근 식별된 것임을 표시할 수 있다.
자율주행 차량은 또한, 운전자로 하여금 구역을 돌아 운행하게 할 수 있거나 혹은 단순히 사전에 이것을 무시하도록 할 수 있다. 예를 들어, 차량의 디폴트 상태(default condition)는 차량이 구역을 통과하는 경로일 수 있다(만약 이 경로가 목적지까지 가는 가장 빠른 길이라면). 운전자는 목적지에 진입하는 동안 구역을 피하는 것을 선택할 수 있거나, 혹은 이러한 구역 기능을 꺼버리는 것을 선택할 수 있고 이에 따라 어떠한 경고도 제공되지 않게 되며 차량은 어떻게 해서든 구역을 통과해 운행하게 된다. 운전자는 또한, 영구히 구역을 무시하는 것, 혹은 차량의 맵에 저장된 것들만 무시하는 것, 혹은 다른 운전자들에게 식별되어 다른 운전자들의 자율주행 차량들에 의해 방송된 구역들을 무시하는 것을 선택할 수 있다.
앞서 설명된 특징들의 이러한 변형 및 결합 및 다른 변형 및 결합은 본 특허청구범위에 의해 정의되는 바와 같은 본 발명의 주된 내용으로부터 벗어남이 없이 활용될 수 있기 때문에, 예시적 실시예에 관한 앞서의 설명은 특허청구범위에 의해 정의되는 바와 같은 본 발명의 주된 내용의 한정적 의미가 아닌 예시적 의미로 고려돼야만 한다. 본 명세서에서 설명되는 예들(뿐만 아니라 "와 같은", "예를 들어", "포함하는" 등과 같은 문구로 제시된 표현들)의 제공이 본 발명의 청구되는 주된 내용을 이러한 특정 예로만 한정시키려는 것으로서 해석돼서는 안 되며, 오히려 이러한 예는 가능한 많은 실시형태들 중 단지 일부만을 예시하려는 의도로 제공되는 것임을 또한 이해해야 한다.
산업상 이용가능성
본 발명은 상업상 이용가능성이 매우 넓으며, 자율주행 동작 모드를 갖는 차량의 사용을 포함하지만 이러한 것에만 한정되지 않는다.

Claims (24)

  1. 차량을 조종하기 위한 방법으로서,
    하나 이상의 구역(zone)들을 포함하는 맵 정보(map information)에 액세스하는 단계와, 여기서 각각의 구역은 운전자에게 상기 차량의 제어 측면(control aspect)의 제어권을 획득하도록 표시하는 규칙(rule)과 관련되어 있고;
    프로세서에 의해, 상기 맵 정보에 근거하여 경로(route)를 식별하는 단계와, 여기서 상기 경로는 상기 차량으로 하여금 상기 하나 이상의 구역들 중 적어도 하나의 구역을 통과하도록 요구하며;
    상기 프로세서에 의해 상기 차량을 목적지로 조종하는 단계와; 그리고
    상기 차량이 상기 적어도 하나의 구역의 상기 경로를 따라 소정의 거리 내에 있을 때, 상기 적어도 하나의 구역과 관련된 상기 규칙을 식별하고, 상기 식별된 규칙의 상기 제어 측면을 식별하고, 그리고 상기 식별된 제어 측면을 상기 적어도 하나의 구역을 통해 제어할 필요를 상기 운전자에게 통지하는 단계를 포함하는 것을 특징으로 하는 차량을 조종하기 위한 방법.
  2. 제1항에 있어서,
    상기 식별된 제어 측면은 조향(steering), 가속(acceleration), 및 제동(braking) 중 적어도 하나를 포함하는 것을 특징으로 하는 차량을 조종하기 위한 방법.
  3. 제1항에 있어서,
    상기 운전자가 상기 식별된 제어 측면의 제어권을 획득했음을 표시하는 정보를 수신하는 단계와;
    상기 차량이 상기 적어도 하나의 구역을 떠나고 상기 운전자가 상기 식별된 제어 측면의 제어권을 포기할 때까지 기다리는 단계와; 그리고
    상기 목적지를 향해 상기 경로를 따라 상기 차량을 계속 조종하는 단계를 더 포함하는 것을 특징으로 하는 차량을 조종하기 위한 방법.
  4. 제1항에 있어서,
    목적지 위치를 식별하는 입력을 수신하는 단계를 더 포함하고, 상기 경로를 식별하는 것은 또한 상기 목적지 위치에 근거하는 것을 특징으로 하는 차량을 조종하기 위한 방법.
  5. 제4항에 있어서,
    상기 운전자로부터 상기 적어도 하나의 구역을 피하도록 하는 명령들을 수신하는 단계와;
    상기 적어도 하나의 구역을 통과하지 않는 상기 목적지로의 새로운 경로를 발생시키는 단계와; 그리고
    상기 새로운 경로를 따라 상기 차량을 조종하는 단계를 더 포함하는 것을 특징으로 하는 차량을 조종하기 위한 방법.
  6. 제1항에 있어서,
    상기 운전자가 상기 식별된 제어 측면의 제어권을 획득하지 않았을 때, 상기 차량이 상기 적어도 하나의 구역에 도달하는 경우, 상기 적어도 하나의 구역을 통해 상기 경로를 따라 상기 차량을 조종하는 단계를 더 포함하는 것을 특징으로 하는 차량을 조종하기 위한 방법.
  7. 제1항에 있어서,
    상기 운전자가 상기 차량의 소정의 제어 측면을 제어하는 것에 근거하여 제 1 위치를 식별하는 단계와;
    상기 운전자가 상기 제어 차량의 상기 소정의 제어 측면의 제어권을 포기하는 것에 근거하여 제 2 위치를 식별하는 단계와;
    상기 제 1 위치 및 상기 제 2 위치에 근거하여 새로운 구역을 발생시키는 단계와;
    상기 소정의 제어 측면에 근거하여 상기 새로운 구역에 대한 새로운 규칙을 발생시키는 단계와; 그리고
    상기 새로운 구역 및 상기 새로운 규칙을 상기 맵 정보와 함께 저장하는 단계를 더 포함하는 것을 특징으로 하는 차량을 조종하기 위한 방법.
  8. 제7항에 있어서,
    상기 새로운 구역 및 상기 새로운 규칙을 또 다른 차량에 전송하는 단계를 더 포함하는 것을 특징으로 하는 차량을 조종하기 위한 방법.
  9. 프로그램의 컴퓨터 판독가능 명령들이 저장되어 있는 유형의 비일시적 컴퓨터 판독가능 저장 매체로서, 상기 명령들은 프로세서에 의해 실행될 때 상기 프로세서로 하여금 차량을 조종하는 방법을 수행하도록 하며, 상기 방법은,
    하나 이상의 구역들을 포함하는 맵 정보에 액세스하는 단계와, 여기서 각각의 구역은 운전자에게 상기 차량의 제어 측면의 제어권을 획득하도록 표시하는 규칙과 관련되어 있고;
    상기 맵 정보에 근거하여 경로를 식별하는 단계와, 여기서 상기 경로는 상기 차량으로 하여금 상기 하나 이상의 구역들 중 적어도 하나의 구역을 통과하도록 요구하며;
    상기 프로세서에 의해 상기 경로를 따라 상기 차량을 조종하는 단계와; 그리고
    상기 차량이 상기 적어도 하나의 구역의 상기 경로를 따라 소정의 거리 내에 있을 때, 상기 적어도 하나의 구역과 관련된 상기 규칙을 식별하고, 상기 식별된 규칙의 상기 제어 측면을 식별하고, 그리고 상기 식별된 제어 측면을 상기 적어도 하나의 구역을 통해 제어할 필요를 상기 운전자에게 통지하는 단계를 포함하는 것을 특징으로 하는 유형의 비일시적 컴퓨터 판독가능 저장 매체.
  10. 제9항에 있어서,
    상기 식별된 제어 측면은 조향, 가속, 및 제동 중 적어도 하나를 포함하는 것을 특징으로 하는 유형의 비일시적 컴퓨터 판독가능 저장 매체.
  11. 제9항에 있어서,
    상기 방법은,
    상기 운전자가 상기 식별된 제어 측면의 제어권을 획득했음을 표시하는 정보를 수신하는 단계와;
    상기 차량이 상기 적어도 하나의 구역을 떠나고 상기 운전자가 상기 식별된 제어 측면의 제어권을 포기할 때까지 기다리는 단계와; 그리고
    상기 경로를 따라 상기 차량을 계속 조종하는 단계를 더 포함하는 것을 특징으로 하는 유형의 비일시적 컴퓨터 판독가능 저장 매체.
  12. 제9항에 있어서,
    목적지 위치를 식별하는 입력을 수신하는 것을 더 포함하고, 상기 경로를 식별하는 것은 또한 상기 목적지 위치에 근거하는 것을 특징으로 하는 유형의 비일시적 컴퓨터 판독가능 저장 매체.
  13. 제9항에 있어서,
    상기 방법은,
    상기 운전자로부터 상기 적어도 하나의 구역을 피하도록 하는 명령들을 수신하는 단계와;
    상기 적어도 하나의 구역을 통과하지 않는 상기 목적지로의 새로운 경로를 발생시키는 단계와; 그리고
    상기 새로운 경로를 따라 상기 차량을 조종하는 단계를 더 포함하는 것을 특징으로 하는 유형의 비일시적 컴퓨터 판독가능 저장 매체.
  14. 차량으로서,
    상기 차량의 움직임을 제어하기 위한 복수의 제어 측면들과;
    하나 이상의 구역들을 포함하는 맵 정보를 저장하는 메모리와, 여기서 각각의 구역은 운전자에게 상기 복수의 제어 측면들 중 적어도 하나의 제어 측면의 제어권을 획득하도록 표시하는 규칙과 관련되어 있고; 그리고
    상기 복수의 제어 측면들 및 상기 메모리에 결합된 프로세서를 포함하여 구성되며,
    상기 프로세서는,
    상기 맵 정보에 근거하여 경로를 식별하고, 여기서 상기 경로는 상기 차량으로 하여금 상기 하나 이상의 구역들 중 적어도 하나의 구역을 통과하도록 요구하며;
    상기 경로를 따라 상기 차량을 조종하고; 그리고
    상기 차량이 상기 적어도 하나의 구역의 상기 경로를 따라 소정의 거리 내에 있을 때, 상기 적어도 하나의 구역과 관련된 상기 규칙을 식별하고, 상기 식별된 규칙의 상기 제어 측면을 식별하고, 그리고 상기 식별된 제어 측면을 상기 적어도 하나의 구역을 통해 제어할 필요를 운전자에게 통지하도록 동작가능한 것을 특징으로 하는 차량.
  15. 제14항에 있어서,
    상기 프로세서는 또한, 상기 운전자가 상기 식별된 제어 측면의 제어권을 획득하지 않았을 때, 상기 차량이 상기 적어도 하나의 구역에 도달하는 경우, 상기 적어도 하나의 구역을 통해 상기 경로를 따라 상기 차량을 조종하도록 동작가능한 것을 특징으로 하는 디바이스.
  16. 제14항에 있어서,
    상기 프로세서는 또한,
    상기 운전자가 상기 차량의 소정의 제어 측면을 제어하는 것에 근거하여 제 1 위치를 식별하고;
    상기 운전자가 상기 차량의 상기 소정의 제어 측면의 제어권을 포기하는 것에 근거하여 제 2 위치를 식별하고;
    상기 제 1 위치 및 상기 제 2 위치에 근거하여 새로운 구역을 발생시키고;
    상기 소정의 제어 측면에 근거하여 상기 새로운 구역에 대한 새로운 규칙을 발생시키고; 그리고
    상기 새로운 구역 및 상기 새로운 규칙을 상기 맵 정보와 함께 저장하도록 동작가능한 것을 특징으로 하는 방법.
  17. 제16항에 있어서,
    상기 프로세서는 또한, 상기 새로운 구역 및 상기 새로운 규칙을 또 다른 자율주행 차량에 전송하도록 동작가능한 것을 특징으로 하는 디바이스.
  18. 제14항에 있어서,
    상기 식별된 제어 측면은 조향 시스템, 가속 시스템, 및 제동 시스템 중 적어도 하나를 포함하는 것을 특징으로 하는 디바이스.
  19. 차량을 조종하는 방법으로서,
    프로세서에 의해, 도로 상의 현재 경로를 따라 상기 차량을 조종하는 단계와;
    운전자로 하여금 상기 차량의 적어도 하나의 제어 측면의 제어권을 획득하도록 요구하는 규칙과 관련된 적어도 하나의 구역의 상기 현재 경로를 따라 일정 거리 내에 상기 차량이 있는지 여부를 결정하는 단계와; 그리고
    상기 적어도 하나의 구역의 상기 현재 경로를 따라 상기 일정 거리 내에 상기 차량이 있는 경우, 상기 적어도 하나의 제어 측면을 상기 적어도 하나의 구역을 통해 제어할 필요를 상기 운전자에게 통지하는 단계를 포함하는 것을 특징으로 하는 차량을 조종하는 방법.
  20. 제19항에 있어서,
    상기 적어도 하나의 제어 측면은 조향, 가속, 및 제동 중 적어도 하나를 포함하는 것을 특징으로 하는 차량을 조종하는 방법.
  21. 제20항에 있어서,
    상기 운전자가 상기 식별된 제어 측면의 제어권을 획득했음을 표시하는 정보를 수신하는 단계와;
    상기 차량이 상기 적어도 하나의 구역을 떠나고 상기 운전자가 상기 식별된 제어 측면의 제어권을 포기할 때까지 기다리는 단계와; 그리고
    상기 프로세서에 의해 상기 차량을 계속 조종하는 단계를 더 포함하는 것을 특징으로 하는 차량을 조종하는 방법.
  22. 제19항에 있어서,
    상기 운전자가 상기 적어도 하나의 제어 측면의 제어권을 획득하지 않았을 때, 상기 차량이 상기 적어도 하나의 구역에 도달하는 경우, 상기 적어도 하나의 구역을 통해 상기 차량을 조종하는 단계를 더 포함하는 것을 특징으로 하는 차량을 조종하는 방법.
  23. 제19항에 있어서,
    상기 운전자가 상기 차량의 소정의 제어 측면을 제어하는 것에 근거하여 제 1 위치를 식별하는 단계와;
    상기 운전자가 상기 차량의 상기 소정의 제어 측면의 제어권을 포기하는 것에 근거하여 제 2 위치를 식별하는 단계와;
    상기 제 1 위치 및 상기 제 2 위치에 근거하여 새로운 구역을 발생시키는 단계와;
    상기 소정의 제어 측면에 근거하여 상기 새로운 구역에 대한 새로운 규칙을 발생시키는 단계와; 그리고
    상기 새로운 구역 및 상기 새로운 규칙을 상기 맵 정보와 함께 저장하는 단계를 더 포함하는 것을 특징으로 하는 차량을 조종하는 방법.
  24. 제23항에 있어서,
    상기 새로운 구역 및 상기 새로운 규칙을 다른 차량에 전송하는 단계를 더 포함하는 것을 특징으로 하는 차량을 조종하는 방법.
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US13/150,589 US8509982B2 (en) 2010-10-05 2011-06-01 Zone driving
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