JP6892464B2 - 自動運転車両に用いられる検知支援 - Google Patents
自動運転車両に用いられる検知支援 Download PDFInfo
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Description
Claims (18)
- 自動運転車両(ADV)を操作するためのコンピュータ実施方法であって、
前記ADVに取り付けられた複数のセンサにより前記ADVの周囲の運転環境を検知することと、
検知された前記ADVの周囲の運転環境に基いて盲点を認識することと、
前記盲点が認識されたことに応じて、前記ADVの現在の地理位置に基づいて前記盲点から所定の距離内に設置された画像撮影装置を特定し、特定された画像撮影装置から前記盲点がカバーされた画像を受信することと、
前記画像に基いて前記ADVの前記盲点における注目障害物を認識することと、
前記盲点における前記注目障害物に基いて軌跡を生成して、前記ADVが前記注目障害物を回避するように制御することと、を含み、
検知された前記ADVの周囲の運転環境に基いて盲点を認識することは、
前記ADVのビューフィールドを特定することと、
検知された運転環境に基いて一つ又は複数の走行車両を特定することと、
前記盲点を、前記ビューフィールドにおける、前記一つ又は複数の走行車両により妨げられる一つ又は複数のビューとして認識することと、
を含む方法。 - 前記画像撮影装置には、交差点に取り付けられる一つ又は複数のカメラが含まれる請求項1に記載のコンピュータ実施方法。
- 前記一つ又は複数のカメラは、前記交差点において、一つ又は複数の交通流方向に取り付けられて、前記一つ又は複数の交通流方向において進入する車両をモニターする、請求項2に記載のコンピュータ実施方法。
- 前記注目障害物には、車両、障害物及び歩行者の少なくとも一つが含まれる請求項1に記載のコンピュータ実施方法。
- 前記ADVが前記注目障害物を回避するように制御することは、
前記ADVの通常操作が回復する前に、前記ADVを停止するように減速させるとともに、前記注目障害物が前記ADVのルートに位置しなくなるまで前記ADVを待機させることを含む、請求項1に記載のコンピュータ実施方法。 - 前記注目障害物が存在すると、
前記画像撮影装置から前記盲点がカバーされた後続画像を受信し、
前記後続画像により前記注目障害物を追跡して前記注目障害物が前記ADVの路線に位置するか否かを判定し、
前記注目障害物が前記ADVの路線に位置していると判定されると、検知された運転環境と前記盲点がカバーされた前記後続画像に基いて第二軌跡を生成して、前記ADVが前記注目障害物を回避するように制御する、
ことを更に含む請求項1に記載のコンピュータ実施方法。 - 所定の時間帯に追跡された注目障害物と前記ADVの軌跡とが重なると予測されると、前記注目障害物が前記ADVの路線に位置する、請求項1に記載のコンピュータ実施方法。
- 指令が記憶されている非一時的な機器可読媒体であって、
前記指令が一つ又は複数のプロセッサにより実行されると、前記一つ又は複数のプロセッサに、
前記ADVに取り付けられた複数のセンサにより前記ADVの周囲の運転環境を検知することと、
検知された前記ADVの周囲の運転環境に基いて盲点を認識することと、
前記盲点が認識されたことに応じて、前記ADVの現在の地理位置に基づいて前記盲点から所定の距離内に設置された画像撮影装置を特定し、特定された画像撮影装置から前記盲点がカバーされた画像を受信することと、
前記画像に基いて前記ADVの前記盲点における注目障害物を認識することと、
前記盲点における前記注目障害物に基いて軌跡を生成して、前記ADVが前記注目障害物を回避するように制御することと、を含み、
検知された前記ADVの周囲の運転環境に基いて盲点を認識することは、
前記ADVのビューフィールドを特定することと、
検知された運転環境に基いて一つ又は複数の走行車両を特定することと、
前記盲点を、前記ビューフィールドにおける、前記一つ又は複数の走行車両により妨げられる一つ又は複数のビューとして認識することと、
を含む操作を実行させる非一時的な機器可読媒体。 - 前記画像撮影装置には、交差点に取り付けられる一つ又は複数のカメラが含まれる、請求項8に記載の非一時的な機器可読媒体。
- 前記一つ又は複数のカメラは、前記交差点において、一つ又は複数の交通流方向に取り付けられて、前記一つ又は複数の交通流方向において進入する車両をモニターする、請求項9に記載の非一時的な機器可読媒体。
- 前記注目障害物には、車両、障害物及び歩行者の少なくとも一つが含まれる請求項8に記載の非一時的な機器可読媒体。
- 前記ADVを前記注目障害物を回避するように制御することは、
前記ADVの通常操作が回復する前に、前記ADVを停止するように減速させるとともに、前記注目障害物が前記ADVのルートに位置しなくなるまで前記ADVを待機させることを含む、請求項8に記載の非一時的な機器可読媒体。 - 前記注目障害物が存在すると、
前記画像撮影装置から前記盲点がカバーされた後続画像を受信し、
前記後続画像により前記注目障害物を追跡して注目障害物が前記ADVの路線に位置するか否かを判定し、
前記注目障害物が前記ADVの路線に位置していると判定されると、検知された運転環境と前記盲点がカバーされた前記後続画像に基いて第二軌跡を生成して、前記ADVが前記注目障害物を回避するように制御する、
ことを更に含む、請求項8に記載の非一時的な機器可読媒体。 - 所定の時間帯に追跡された注目障害物と前記ADVの軌跡とが重なると予測されると、前記注目障害物が前記ADVの路線に位置する、請求項8に記載の非一時的な機器可読媒体。
- データ処理システムであって、
一つ又は複数のプロセッサと、前記一つ又は複数のプロセッサに接続されて指令を記憶するメモリと、を備え、
前記指令が前記一つ又は複数のプロセッサにより実行されると、前記一つ又は複数のプロセッサに、
前記ADVに取り付けられた複数のセンサにより前記ADVの周囲の運転環境を検知することと、
検知された前記ADVの周囲の運転環境に基いて盲点を認識することと、
前記盲点が認識されたことに応じて、前記ADVの現在の地理位置に基づいて前記盲点から所定の距離内に設置された画像撮影装置を特定し、特定された画像撮影装置から前記盲点がカバーされた画像を受信することと、
前記画像に基いて前記ADVの前記盲点における注目障害物を認識することと、
前記盲点における前記注目障害物に基いて軌跡を生成して、前記ADVが前記注目障害物を回避するように制御することと、を含み、
検知された前記ADVの周囲の運転環境に基いて盲点を認識することは、
前記ADVのビューフィールドを特定することと、
検知された運転環境に基いて一つ又は複数の走行車両を特定することと、
前記盲点を、前記ビューフィールドにおける、前記一つ又は複数の走行車両により妨げられる一つ又は複数のビューとして認識することと、
を含む操作を実行させるデータ処理システム。 - 前記画像撮影装置には、交差点に取り付けられる一つ又は複数のカメラが含まれる請求項15に記載のデータ処理システム。
- 前記注目障害物が存在すると、
前記画像撮影装置から前記盲点がカバーされた後続画像を受信し、
前記後続画像により前記注目障害物を追跡して前記注目障害物が前記ADVの路線に位置するか否かを判定し、
前記注目障害物が前記ADVの路線に位置していると判定されると、検知された運転環境と前記盲点がカバーされた前記後続画像に基いて第二軌跡を生成して、前記ADVが前記注目障害物を回避するように制御する、
ことを更に含む請求項15に記載のデータ処理システム。 - コンピュータプログラムであって、
前記コンピュータプログラムがプロセッサにより実行されると、請求項1〜7のいずれか一項に記載の方法を実現させるコンピュータプログラム。
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