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WO2021086781A1 - Action d'évitement d'obstacle - Google Patents

Action d'évitement d'obstacle Download PDF

Info

Publication number
WO2021086781A1
WO2021086781A1 PCT/US2020/057336 US2020057336W WO2021086781A1 WO 2021086781 A1 WO2021086781 A1 WO 2021086781A1 US 2020057336 W US2020057336 W US 2020057336W WO 2021086781 A1 WO2021086781 A1 WO 2021086781A1
Authority
WO
WIPO (PCT)
Prior art keywords
region
vehicle
cost
determining
trajectory
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/US2020/057336
Other languages
English (en)
Inventor
Max GIER
William Anthony Silva
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zoox Inc
Original Assignee
Zoox Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US16/671,012 external-priority patent/US11532167B2/en
Priority claimed from US16/670,992 external-priority patent/US11427191B2/en
Application filed by Zoox Inc filed Critical Zoox Inc
Priority to JP2022525160A priority Critical patent/JP7735264B2/ja
Priority to EP20811160.9A priority patent/EP4052174A1/fr
Priority to CN202080077639.3A priority patent/CN114651286A/zh
Publication of WO2021086781A1 publication Critical patent/WO2021086781A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/09626—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages where the origin of the information is within the own vehicle, e.g. a local storage device, digital map
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096716—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information does not generate an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
    • G08G1/096758—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where no selection takes place on the transmitted or the received information
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/164—Centralised systems, e.g. external to vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Definitions

  • the vehicle 104 can determine a partial lane expansion action and an updated drivable region 214 that is associated with the partial lane expansion action.
  • the partial lane expansion action can be an action that causes the vehicle 104 to use a portion of the second driving lane 112 to pass the object 116 and the updated drivable region 214 can represent a drivable region that incorporates a portion of the second driving lane 112.
  • the vehicle 104 can use the information generated in the proceed with caution state 318 to then determine a transition speed to traverse the caution region.
  • Several factors can contribute to determining a transition speed, such as an amount of determined visibility (e.g., more visibility weighs in favor of higher transition speed while lower visibility weighs in favor of lower transition speed), an estimated time to execute the lane change maneuver (e.g., a longer execution time weighs in favor of lower transition speed while a shorter execution time weighs in favor of higher transition speed), and so on.
  • the vehicle 104 can use the determined transition speed to control the vehicle 104 to proceed through the caution region in the proceed with proceed with caution state 318, continuing to evaluate sensor data of the surrounding environment throughout the caution region.
  • the speed threshold can be 3 meters per second where a speed of the vehicle 104 can be less than or equal to the speed threshold to allow the vehicle 104 to monitor the environment for objects, pedestrians, vehicles, and the like while allowing the vehicle 104 to stop within a short period of time.
  • the caution region can provide the vehicle 104 with enough distance between a body of the vehicle 104 and a boundary associated with a drivable region of the second driving lane 112 that if the vehicle 104 were to stop in the caution region, the other vehicles would be able to safely avoid a collision with the vehicle 104 while traversing in the second driving lane 112.
  • Z A method comprising: determining a state in which a vehicle is operating, the state comprising one or more of: a first state comprising a nominal operating state of the vehicle in which the vehicle is commanded according to a trajectory, a second state in which the vehicle is preparing to stop at a stop location, a third state in which the vehicle is within a threshold distance to the stop location or has been stopped at a threshold location for a period of time that meets or exceeds a threshold amount of time, a fourth state in which the vehicle is proceeding below a threshold speed and within a threshold lateral distance of the trajectory, and a fifth state in which the vehicle is commanded according to an alternate trajectory to traverse through a region of an environment associated with a direction of traffic opposite the alternate trajectory; and controlling the vehicle based at least in part on vehicle state.

Landscapes

  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Multimedia (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Theoretical Computer Science (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

Un véhicule peut traverser un environnement le long d'une première région et détecter un obstacle empêchant la progression du véhicule. Le véhicule peut déterminer une seconde région qui est adjacente à la première région, et est associée à un sens de déplacement opposé à la première région. Un coût peut être déterminé sur la base d'une action (par exemple, une future action) utilisant la seconde région pour dépasser l'obstacle. En comparant le coût à un seuil de coût et/ou à un coût associé à une autre action (par exemple, l'action "rester dans la voie"), le véhicule peut déterminer une trajectoire cible qui traverse la seconde région. Le véhicule peut traverser l'environnement sur la base de la trajectoire cible afin d'éviter, par exemple, l'obstacle dans cet environnement tout en maintenant une distance de sécurité par rapport à l'obstacle et/ou à d'autres entités se situant dans l'environnement.
PCT/US2020/057336 2019-10-31 2020-10-26 Action d'évitement d'obstacle Ceased WO2021086781A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2022525160A JP7735264B2 (ja) 2019-10-31 2020-10-26 障害物回避アクション
EP20811160.9A EP4052174A1 (fr) 2019-10-31 2020-10-26 Action d'évitement d'obstacle
CN202080077639.3A CN114651286A (zh) 2019-10-31 2020-10-26 避障动作

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US16/671,012 US11532167B2 (en) 2019-10-31 2019-10-31 State machine for obstacle avoidance
US16/670,992 US11427191B2 (en) 2019-10-31 2019-10-31 Obstacle avoidance action
US16/671,012 2019-10-31
US16/670,992 2019-10-31

Publications (1)

Publication Number Publication Date
WO2021086781A1 true WO2021086781A1 (fr) 2021-05-06

Family

ID=73498286

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2020/057336 Ceased WO2021086781A1 (fr) 2019-10-31 2020-10-26 Action d'évitement d'obstacle

Country Status (4)

Country Link
EP (1) EP4052174A1 (fr)
JP (1) JP7735264B2 (fr)
CN (1) CN114651286A (fr)
WO (1) WO2021086781A1 (fr)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113561992A (zh) * 2021-07-30 2021-10-29 广州文远知行科技有限公司 自动驾驶车辆轨迹生成方法、装置、终端设备及介质
CN115092136A (zh) * 2022-07-27 2022-09-23 广州小鹏自动驾驶科技有限公司 车速规划方法、装置、车辆及存储介质
US20230031826A1 (en) * 2021-07-28 2023-02-02 Subaru Corporation Driving assistance apparatus
GB2612631A (en) * 2021-11-08 2023-05-10 Jaguar Land Rover Ltd Control system for a vehicle and method thereof
EP4249342A1 (fr) * 2022-03-21 2023-09-27 TuSimple, Inc. Sous-système de commande et procédé pour définir la réponse d'un véhicule autonome à un objet inconnu
WO2023225218A1 (fr) * 2022-05-19 2023-11-23 Ford Global Technologies, Llc Systèmes et procédés permettant de dévier la trajectoire d'un véhicule autonome se déplaçant dans une voie
US12491910B1 (en) * 2021-12-17 2025-12-09 Zoox, Inc. Autonomous vehicle trajectory generation and optimization

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20190079523A1 (en) * 2017-09-11 2019-03-14 Baidu Usa Llc Dp and qp based decision and planning for autonomous driving vehicles
WO2019093190A1 (fr) * 2017-11-08 2019-05-16 ソニー株式会社 Dispositif de traitement d'informations, véhicule, corps mobile, procédé de traitement d'informations, et programme

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6308032B2 (ja) * 2014-06-04 2018-04-11 株式会社デンソー 運転操作を生成するシステムおよび方法
JP6636218B2 (ja) * 2017-06-20 2020-01-29 三菱電機株式会社 経路予測装置および経路予測方法
JP7151064B2 (ja) * 2017-07-25 2022-10-12 スズキ株式会社 車両の走行制御装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20190079523A1 (en) * 2017-09-11 2019-03-14 Baidu Usa Llc Dp and qp based decision and planning for autonomous driving vehicles
WO2019093190A1 (fr) * 2017-11-08 2019-05-16 ソニー株式会社 Dispositif de traitement d'informations, véhicule, corps mobile, procédé de traitement d'informations, et programme
US20200346662A1 (en) * 2017-11-08 2020-11-05 Sony Corporation Information processing apparatus, vehicle, mobile object, information processing method, and program

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20230031826A1 (en) * 2021-07-28 2023-02-02 Subaru Corporation Driving assistance apparatus
US12337832B2 (en) * 2021-07-28 2025-06-24 Subaru Corporation Driving assistance apparatus
CN113561992A (zh) * 2021-07-30 2021-10-29 广州文远知行科技有限公司 自动驾驶车辆轨迹生成方法、装置、终端设备及介质
CN113561992B (zh) * 2021-07-30 2023-10-20 广州文远知行科技有限公司 自动驾驶车辆轨迹生成方法、装置、终端设备及介质
GB2612631A (en) * 2021-11-08 2023-05-10 Jaguar Land Rover Ltd Control system for a vehicle and method thereof
GB2612631B (en) * 2021-11-08 2024-08-14 Jaguar Land Rover Ltd Control system for a vehicle and method thereof
US12491910B1 (en) * 2021-12-17 2025-12-09 Zoox, Inc. Autonomous vehicle trajectory generation and optimization
EP4249342A1 (fr) * 2022-03-21 2023-09-27 TuSimple, Inc. Sous-système de commande et procédé pour définir la réponse d'un véhicule autonome à un objet inconnu
WO2023225218A1 (fr) * 2022-05-19 2023-11-23 Ford Global Technologies, Llc Systèmes et procédés permettant de dévier la trajectoire d'un véhicule autonome se déplaçant dans une voie
US12195041B2 (en) 2022-05-19 2025-01-14 Ford Global Technologies, Llc Systems and methods for biasing a trajectory of an autonomous vehicle while moving in a lane
CN115092136A (zh) * 2022-07-27 2022-09-23 广州小鹏自动驾驶科技有限公司 车速规划方法、装置、车辆及存储介质
CN115092136B (zh) * 2022-07-27 2023-09-12 广州小鹏自动驾驶科技有限公司 车速规划方法、装置、车辆及存储介质

Also Published As

Publication number Publication date
EP4052174A1 (fr) 2022-09-07
CN114651286A (zh) 2022-06-21
JP7735264B2 (ja) 2025-09-08
JP2023500825A (ja) 2023-01-11

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