JP6962926B2 - 自律車両の軌道修正のための遠隔操作システムおよび方法 - Google Patents
自律車両の軌道修正のための遠隔操作システムおよび方法 Download PDFInfo
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- JP6962926B2 JP6962926B2 JP2018544028A JP2018544028A JP6962926B2 JP 6962926 B2 JP6962926 B2 JP 6962926B2 JP 2018544028 A JP2018544028 A JP 2018544028A JP 2018544028 A JP2018544028 A JP 2018544028A JP 6962926 B2 JP6962926 B2 JP 6962926B2
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Description
本PCT国際出願は、2015年11月4日に出願された「TELEOPERATION SYSTEM AND METHOD FOR TRAJECTORY MODIFICATION OF AUTONOMOUS VEHICLES」と題する米国特許出願第14/932,966号の継続出願であり、本出願は、2015年11月4日に出願された「AUTONOMOUS VEHICLE FLEET SERVICE AND SYSTEM」と題する米国特許出願第14/932,959号、2015年11月4日に出願された「ADAPTIVE MAPPING TO NAVIGATE AUTONOMOUS VEHICLES RESPONSIVE TO PHYSICAL ENVIRONMENT CHANGES」と題する米国特許出願第14/932,963号、2015年11月4日に出願された「AUTOMATED EXTRACTION OF SEMANTIC INFORMATION TO ENHANCE INCREMENTAL MAPPING MODIFICATIONS FOR ROBOTIC VEHICLES」と題する米国特許出願第14/932,940号、2015年11月4日に出願された「COORDINATION OF DISPATCHING AND MAINTAINING FLEET OF AUTONOMOUS VEHICLES」と題する米国特許出願第14/756,995号、2015年11月4日に出願された「ADAPTIVE AUTONOMOUS VEHICLE PLANNER LOGIC」と題する米国特許出願第14/756,992号、2015年11月4日に出願された「SENSOR-BASED OBJECT DETECTION OPTIMIZATION FOR AUTONOMOUS VEHICLES」と題する米国特許出願第14/756,991号、および2015年11月4日に出願された「CALIBRATION FOR AUTONOMOUS VEHICLE OPERATION」と題する米国特許出願第14/756,996号、に関係付けられ、これらはすべて本明細書において、参照によりそれらの全体が本明細書に組み込まれる。
Claims (10)
- 自律無人運転車両から通信リンクを介して遠隔操作メッセージを受信することと、
前記遠隔操作メッセージから、前記自律無人運転車両によって感知されたイベントを特定するデータを検出することと、
前記イベントを特定する前記データを検出することに応答して、実施する1つまたは複数の方策を識別することと、
前記1つまたは複数の方策に関する対応するランクを計算することと、
1つまたは複数のシミュレートされた方策を生成するために前記1つまたは複数の方策をシミュレートすることと、
前記1つまたは複数のシミュレートされた方策に関する対応するシミュレーション値を計算することと、
前記対応するランクおよびシミュレーション値に関連して、前記イベントと、前記1つまたは複数の方策の少なくともサブセットとに関連付けられた情報を遠隔操作者コンピューティングデバイスのディスプレイに提示するための視覚化データを生成することと、
前記ディスプレイ上に提示された前記1つまたは複数の方策の中から、選択された方策の選択を表すデータを受信することと、
前記選択された方策を前記遠隔操作者コンピューティングデバイスから前記自律無人運転車両に送信することと
を備える方法。 - 人間の遠隔操作者が前記自律無人運転車両のプランナの操作に介入するかどうかを決定することを可能にするために、前記視覚化データを前記遠隔操作者コンピューティングデバイスの前記ディスプレイ上に提示することをさらに備える、請求項1の方法。
- 前記視覚化データを提示することは、前記自律無人運転車両が走行している物理的環境を描写することを備える、請求項2の方法。
- 前記視覚化データを提示することは、前記人間の遠隔操作者からの方策を表すユーザ入力を受け入れるように構成された前記ディスプレイの部分において、前記対応するランクに関連して前記1つまたは複数の方策のサブセットを描写することを備える、請求項2の方法。
- 時間の間隔の間に前記自律無人運転車両からの遠隔操作メッセージを識別できないことを決定することをさらに備える、請求項1の方法。
- 前記メッセージを識別できないことを決定することは、
前記自律無人運転車両からの前記遠隔操作メッセージの一部として心拍信号の不在を検出することを備え、前記心拍信号の不在は、前記通信リンクを介する通信の消失を示す、請求項5の方法。 - 前記視覚化データを生成することは、前記通信リンクの帯域幅に基づいて提示するためのコンテンツを調整することを備える、請求項1の方法。
- コンピューティングシステムであって、
1つまたは複数のプロセッサと、
前記1つまたは複数のプロセッサによって実行されたとき、前記コンピューティングシステムに、
前記コンピューティングシステムにおいて、自律無人運転車両から、前記自律無人運転車両によって感知されたイベントを示すセンサデータを受信することと、
前記イベントに応答して、実施する1つまたは複数の方策を識別することと、
1つまたは複数のシミュレートされた方策を生成するために前記1つまたは複数の方策をシミュレートすることと、
前記1つまたは複数のシミュレートされた方策に関する対応するシミュレーション値を計算することと、
前記シミュレーション値に関連して前記1つまたは複数の方策に関する、ディスプレイ上に提示する視覚化データを生成することと、
前記ディスプレイ上に提示された前記1つまたは複数の方策の中から選択された方策の選択を表すデータを受信することであって、前記選択は、前記1つまたは複数の方策に対応する前記シミュレーション値に部分的に基づく、ことと、
前記選択された方策を遠隔操作者コンピューティングデバイスから前記自律無人運転車両に送信することと
を備える動作を実行させるコンピュータ実行可能命令を備えるコンピュータ可読メモリと
を備えたコンピューティングシステム。 - 前記動作は、
前記1つまたは複数の方策についての対応するランクを計算することと、
前記対応するランクに関連して前記1つまたは複数の方策の少なくともサブセットを提示するために視覚化データを生成することと
をさらに備える、請求項8のコンピューティングシステム。 - 前記動作は、
前記ディスプレイ上に提示された前記1つまたは複数の方策の中から選択された方策の選択を表すデータを受信することであって、前記選択は、前記ランクと前記1つまたは複数の方策に対応する前記シミュレーション値との組み合わせに部分的に基づく、ことと、
前記選択された方策を自律無人運転車両に送信することと
をさらに備える、請求項9のコンピューティングシステム。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2021168747A JP7381539B2 (ja) | 2015-11-04 | 2021-10-14 | 自律車両の軌道修正のための遠隔操作システムおよび方法 |
Applications Claiming Priority (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US14/756,992 US9910441B2 (en) | 2015-11-04 | 2015-11-04 | Adaptive autonomous vehicle planner logic |
US14/756,995 US9958864B2 (en) | 2015-11-04 | 2015-11-04 | Coordination of dispatching and maintaining fleet of autonomous vehicles |
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