JP2016504232A - 自律走行の適用および解除 - Google Patents
自律走行の適用および解除 Download PDFInfo
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Abstract
Description
本願は2013年3月11日に出願された米国特許出願第13/792,774号の継続出願であり、2012年11月30日に出願された米国仮特許出願第61/731,717号の利益を主張し、その全ての開示は参照により本明細書に組み込まれる。
クトコード形式で、又は要求に応じて解釈されもしくは前もってコンパイルされる独立したソースコードモジュールの集まりもしくはスクリプトを含む他の任意のコンピュータ言語により記憶され得る。命令の機能、方法及び動作は、以下により詳細に説明される。
Claims (26)
- 方法であって、
道路上の車両について手動運転モードから自律走行モードに切り替える要求を受け取るステップと、
前記要求の受け取りに応答して、プロトコルデータにアクセスするステップと、
プロセッサーが前記プロトコルデータを用いて(i)前記車両の環境の前記状態と、(ii)前記車両、及び前記車両のシステムと、(iii)運転者とを評価するステップと、
1つ又は複数の前記評価に基づいて複数の走行状態から1組の走行状態を識別するステップであって、前記複数の走行状態のそれぞれが前記状態を変更するために運転者により実行され得るタスクに関連付けられる、1組の走行状態を識別するステップと、
前記1組の走行状態に基づいて、1組のタスクを生成するステップと、
順序付けされた順番で前記1組のタスクを前記車両のユーザに表示するステップと、
前記1組のタスクの前記タスクの全てが完了したと判定すると、前記車両について手動運転モードから自律走行モードに切り替えるステップと、を備える方法。 - 少なくとも1つの前記評価は、
詳細な地図情報にアクセスするステップと、
前記車両の様々なシステムと通信するステップと、
遠隔コンピュータと通信するステップとを含む、請求項1に記載の方法。 - 少なくとも1つの前記評価は前記現在の又は今後の天候では自律走行が危険であるかどうかを判定するステップを含む、請求項1に記載の方法。
- 少なくとも1つの前記評価は、前記車両の実際の位置が前記詳細な地図情報に対する前記車両の位置と一致しているかを判定するステップを含む、請求項1に記載の方法。
- 少なくとも1つの前記評価は、前記検出システムの前記センサーから受け取るデータが前記対応する詳細な地図情報と一致しているかを判定するステップを含む、請求項1に記載の方法。
- 少なくとも1つの前記評価は前記車両が現在前記自律走行モードを開始することが予め承認されている領域において走行しているかを判定するステップを含む、請求項1に記載の方法。
- 少なくとも1つの前記評価は前記道路は舗装されているかを判定するステップを含む、請求項1に記載の方法。
- 少なくとも1つの前記評価は前記道路の前記幅を判定するステップを含む、請求項1に記載の方法。
- 少なくとも1つの前記評価は、車両は曲線道路上に位置するかを判定するステップを含む、請求項1に記載の方法。
- 少なくとも1つの前記評価は、前記車両は車線内の十分中央の位置にあるかを判定するステップを含む、請求項1に記載の方法。
- 少なくとも1つの前記評価は、前記車両が対向車に向かっているかを判定するステップを含む、請求項1に記載の方法。
- 少なくとも1つの前記評価は、他の車両が車両に最も近い前記車両の車線に入ってきたかを判定するステップを含む、請求項1に記載の方法。
- 少なくとも1つの前記評価は、近づきつつある任意の操作が手動運転モードから自律走行モードに切り替えることを妨げるかを判定するステップを含む、請求項1に記載の方法。
- 少なくとも1つの前記評価は、手動運転モードへの切り替えが必要になる前に最小の時間だけ前記車両が前記自律走行モードで走行し得るかを判定するステップを含む、請求項1に記載の方法。
- 少なくとも1つの前記評価は前記車両が最小限のメンテナンス基準を満たしているかを判定するステップを含む、請求項1に記載の方法。
- 少なくとも1つの前記評価は、前記車両の自動ワイパーが現在オンになっているかを判定するステップを含む、請求項1に記載の方法。
- 少なくとも1つの前記評価は、前記運転者のシートベルトが適正に締められているかを判定するステップを含む、請求項1に記載の方法。
- 前記1組のタスクの第1のタスクは前記第1のタスクが完了するまで表示され、前記第1のタスクが完了した後に第2のタスクが表示されるように、前記1組のタスクが表示される、請求項1に記載の方法。
- 前記1組のタスクを生成する前に、前記プロセッサーによる修正のために予め承認された前記1組の走行状態のどれかを前記プロセッサーにより修正するステップをさらに備える、請求項1に記載の方法。
- コンピュータが読み取り可能なプログラムの命令が記憶される非一時的で有形のコンピュータ−可読記憶媒体であって、前記命令がプロセッサーにより実行されるときに、前記命令に起因して前記プロセッサーは方法を実行し、前記方法は、
道路上の車両について手動運転モードから自律走行モードに切り替える要求を受け取るステップと、
前記要求の受け取りに応答して、プロトコルデータにアクセスするステップと、
前記プロトコルデータを用いて(i)前記車両の環境の前記状態と、(ii)前記車両、及び前記車両のシステムと、(iii)運転者とを評価するステップと、
1つ又は複数の前記評価に基づいて複数の走行状態から1組の走行状態を識別するステップであって、前記複数の走行状態のそれぞれが前記状態を変更するために運転者により実行され得るタスクに関連付けられる、1組の走行状態を識別するステップと、
前記1組の走行状態に基づいて、1組のタスクを生成するステップと、
順序付けされた順番で前記1組のタスクを前記車両のユーザに表示するステップと、
前記1組のタスクの前記タスクの全てが完了したと判定すると、前記車両について手動運転モードから自律走行モードに切り替えるステップと、を備える方法。 - システムであって、
プロセッサーであって、
道路上の車両について手動運転モードから自律走行モードに切り替える要求を受け取り、
前記要求の受け取りに応答して、プロトコルデータにアクセスし、
前記プロトコルデータを用いて(i)前記車両の環境の前記状態と、(ii)前記車両、及び前記車両のシステムと、(iii)運転者とを評価し、
1つ又は複数の前記評価に基づいて複数の走行状態から1組の走行状態を識別し、前記複数の走行状態のそれぞれが前記状態を変更するために運転者により実行され得るタスクに関連付けられ、
前記1組の走行状態に基づいて、1組のタスクを生成し、
順序付けされた順番で前記1組のタスクを前記車両のユーザに表示し、
前記1組のタスクの前記タスクの全てが完了したと判定すると、前記車両について手動運転モードから自律走行モードに切り替えるように構成される前記プロセッサーを備えるシステム。 - 方法であって、
道路上の車両について手動運転モードから自律走行モードに切り替える要求を受け取るステップと、
プロセッサーが、前記車両が走行車線内の十分中央の位置にはないかを含む第1の走行状態を調べるステップと、
前記車両が所定の速度で走行しているかを含む第2の走行状態を調べるステップと、
前記車両が前記道路において他の車両から所定の距離内にあるかを含む第3の走行状態を調べるステップと、
前記1組のタスクの前記タスクの全てを完了したと判定すると、前記車両について手動運転モードから自律走行モードに切り替えるステップとを備える、方法。 - 前記調べられた第1の走行状態と、前記調べられた第2の走行状態を調べるステップと、前記調べられた第3の走行状態との全てに基づいて、1組のタスクを生成するステップと、
前記1組のタスクを順序付けされた順番で前記車両のユーザに表示するステップとをさらに備える、請求項22に記載の方法。 - 前記1組のタスクの第1のタスクは前記運転者に前記車両を前記走行車線内の中央を走るように要求するステップを含み、前記第1のタスクは前記1組のタスクの他のタスクの前に表示される、請求項23に記載の方法。
- 前記1組のタスクの第1のタスクは、前記運転者に前記車両の前記速度を上げるかもしくは下げることを要求するステップを含み、前記第1のタスクは前記1組のタスクの他のタスクの前に表示される、請求項23に記載の方法。
- 前記1組のタスクの第1のタスクは、前記道路において前記他の車両の後ろから最小距離を保つことを前記運転者に要求するステップを含み、前記第1のタスクは前記1組のタスクの他のタスクの前に表示される、請求項23に記載の方法。
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