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1. EP3371660 - MACHINE-LEARNING SYSTEMS AND TECHNIQUES TO OPTIMIZE TELEOPERATION AND/OR PLANNER DECISIONS

Office European Patent Office
Application Number 16862996
Application Date 03.11.2016
Publication Number 3371660
Publication Date 12.09.2018
Publication Kind A4
IPC
G05D 1/00
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
B60W 30/00
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
30Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
B62D 15/02
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
15Steering not otherwise provided for
02Steering position indicators
G01C 21/00
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/-G01C19/104
G05B 23/00
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
23Testing or monitoring of control systems or parts thereof
G06Q 50/30
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
QDATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES, NOT OTHERWISE PROVIDED FOR
50Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
30Transportation; Communications
CPC
B60Q 1/28
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
1Arrangements or adaptations of optical signalling or lighting devices
26the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
28for indicating front of vehicle
B60Q 1/30
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
1Arrangements or adaptations of optical signalling or lighting devices
26the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
30for indicating rear of vehicle, e.g. by means of reflecting surfaces
B60Q 1/50
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
1Arrangements or adaptations of optical signalling or lighting devices
26the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
50for indicating other intentions or conditions, e.g. request for waiting or overtaking
B60Q 2400/40
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
2400Special features or arrangements of exterior signal lamps for vehicles
40Welcome lights, i.e. specific or existing exterior lamps to assist leaving or approaching the vehicle
G01S 7/4972
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
7Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
48of systems according to group G01S17/00
497Means for monitoring or calibrating
4972Alignment of sensor
G01S 13/865
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
13Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
86Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
865Combination of radar systems with lidar systems
Applicants ZOOX INC
Inventors LEVINSON JESSE SOL
SIBLEY GABRIEL THURSTON
REGE ASHUTOSH GAJANAN
Designated States
Priority Data 201514932940 04.11.2015 US
201514932959 04.11.2015 US
201514932963 04.11.2015 US
201514932966 04.11.2015 US
201514933602 05.11.2015 US
2016060384 03.11.2016 US
Title
(DE) MASCHINENLERNSYSTEME UND VERFAHREN ZUR OPTIMIERUNG VON FERNBETRIEB UND/ODER PLANERENTSCHEIDUNGEN
(EN) MACHINE-LEARNING SYSTEMS AND TECHNIQUES TO OPTIMIZE TELEOPERATION AND/OR PLANNER DECISIONS
(FR) SYSTÈMES D'APPRENTISSAGE AUTOMATIQUE ET TECHNIQUES D'OPTIMISATION DE DÉCISIONS DE TÉLÉCOMMANDE ET/OU DE PLANIFICATION
Abstract
(EN)
A system, an apparatus or a process may be configured to implement an application that applies artificial intelligence and/or machine-learning techniques to predict an optimal course of action (or a subset of courses of action) for an autonomous vehicle system (e.g., one or more of a planner of an autonomous vehicle, a simulator, or a teleoperator) to undertake based on suboptimal autonomous vehicle performance and/or changes in detected sensor data (e.g., new buildings, landmarks, potholes, etc.). The application may determine a subset of trajectories based on a number of decisions and interactions when resolving an anomaly due to an event or condition. The application may use aggregated sensor data from multiple autonomous vehicles to assist in identifying events or conditions that might affect travel (e.g., using semantic scene classification). An optimal subset of trajectories may be formed based on recommendations responsive to semantic changes (e.g., road construction).

(FR)
Un système, un appareil ou un procédé peut être configuré pour mettre en œuvre une application qui applique des techniques d'intelligence artificielle et/ou d'apprentissage automatique afin de prédire une ligne de conduite optimale (ou un sous-ensemble de lignes de conduite) pour un système de véhicule autonome (par exemple, un planificateur d'un véhicule autonome et/ou un simulateur et/ou un téléopérateur) qui sera adoptée sur la base des performances sous-optimales du véhicule autonome et/ou des changements de données de capteurs détectées (par exemple, nouveaux bâtiments, points de repère, nids-de-poule, etc.). L'application peut déterminer un sous-ensemble de trajectoires d'après un nombre de décisions et d'interactions lors de la résolution d'une anomalie due à un événement ou à une condition. L'application peut utiliser les données de capteur agrégées de plusieurs véhicules autonomes pour aider à identifier des événements ou des conditions susceptibles d'affecter le trajet (par exemple, au moyen d'une classification sémantique des scènes). Un sous-ensemble optimal de trajectoires peut être constitué en fonction de recommandations en réponse à des changements sémantiques (par exemple, la construction de la route).