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1. WO2013116141 - VEHICLE CONTROL BASED ON PERCEPTION UNCERTAINTY

Publication Number WO/2013/116141
Publication Date 08.08.2013
International Application No. PCT/US2013/023399
International Filing Date 28.01.2013
IPC
B PERFORMING OPERATIONS; TRANSPORTING
60
VEHICLES IN GENERAL
W
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
30
Purposes 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
08
Predicting or avoiding probable or impending collision
B PERFORMING OPERATIONS; TRANSPORTING
60
VEHICLES IN GENERAL
W
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
10
Conjoint control of vehicle sub-units of different type or different function
04
including control of propulsion units
B PERFORMING OPERATIONS; TRANSPORTING
60
VEHICLES IN GENERAL
W
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
30
Purposes 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
B PERFORMING OPERATIONS; TRANSPORTING
60
VEHICLES IN GENERAL
W
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
40
Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit
02
related to ambient conditions
B60W 30/08 (2012.01)
B60W 10/04 (2006.01)
B60W 30/00 (2006.01)
B60W 40/02 (2006.01)
CPC
G05D 1/0088
G05D 2201/0213
Applicants
  • GOOGLE INC. [US/US]; 1600 Amphitheatre Parkway Mountain View, CA 94043, US
Inventors
  • ZHU, Jiajun; US
  • DOLGOV, Dmitri, A.; US
  • FERGUSON, David, I.; US
Agents
  • ZIDEL, Andrew, T.; Lerner, David, Littenberg, Krumholz & Mentlik, LLP 600 South Avenue West Westfield, NJ 07090, US
Priority Data
13/361,08330.01.2012US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) VEHICLE CONTROL BASED ON PERCEPTION UNCERTAINTY
(FR) COMMANDE DE VÉHICULE BASÉE SUR L'INCERTITUDE DE PERCEPTION
Abstract
(EN)
Aspects of the disclosure relate generally to maneuvering autonomous vehicles. Specifically, the vehicle (101) may determine the uncertainty in its perception system and use this uncertainty value to make decisions about how to maneuver the vehicle. For example, the perception system may include sensors (310-311, 321-323, 330-331), object type models, and object motion models (146), each associated with uncertainties. The sensors may be associated with uncertainties based on the sensor's range, speed, and /or shape of the sensor field (421A-423A, 421B-423B). The object type models may be associated with uncertainties, for example, in whether a perceived object is of one type (such as a small car) or another type (such as a bicycle). The object motion models may also be associated with uncertainties, for example, not all objects will move exactly as they are predicted to move. These uncertainties may be used to maneuver the vehicle.
(FR)
La présente invention concerne selon certains aspects des véhicules autonomes de manœuvre. Plus précisément, le véhicule (101) concerné peut déterminer l'incertitude dans son système de perception et utiliser cette valeur d'incertitude pour prendre des décisions quant à la manière de manœuvrer le véhicule. Par exemple, le système de perception peut comprendre des capteurs (310-311, 321-323, 330-331), des modèles de types d'objets, et des modèles de mouvement d'objet (146), chacun étant associé à des incertitudes. Les capteurs peuvent être associés à des incertitudes sur la base de la plage de détection, de vitesse, et/ou de la forme du champ de détection (421A-423A, 421B-423B). Les modèles de types d'objets peuvent être associés à des incertitudes, par exemple, en ce qu'un objet perçu est d'un type (tel qu'une petite voiture) ou d'un autre type (tel qu'une bicyclette). Les modèles de mouvement d'objet peuvent également être associés à des incertitudes, par exemple, tous les objets ne vont pas se déplacer exactement comme on pourrait le prévoir. Ces incertitudes peuvent être utilisées pour manœuvrer le véhicule.
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