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1. WO2020112649 - PROBABILISTIC RISK ASSESSMENT FOR TRAJECTORY EVALUATION

Publication Number WO/2020/112649
Publication Date 04.06.2020
International Application No. PCT/US2019/063037
International Filing Date 25.11.2019
IPC
G01C 21/34 2006.01
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
26specially adapted for navigation in a road network
34Route searching; Route guidance
B60W 30/095 2012.01
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
08Predicting or avoiding probable or impending collision
095Predicting travel path or likelihood of collision
G05D 1/02 2020.01
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
02Control of position or course in two dimensions
G08G 1/16 2006.01
GPHYSICS
08SIGNALLING
GTRAFFIC CONTROL SYSTEMS
1Traffic control systems for road vehicles
16Anti-collision systems
CPC
B60W 2554/4041
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
2554Input parameters relating to objects
40Dynamic objects, e.g. animals, windblown objects
404Characteristics
4041Position
B60W 30/095
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 ; , or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
08Active safety systems; predicting or avoiding probable or impending collision ; or attempting to minimise its consequences
095Predicting travel path or likelihood of collision
B60W 30/0956
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 ; , or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
08Active safety systems; predicting or avoiding probable or impending collision ; or attempting to minimise its consequences
095Predicting travel path or likelihood of collision
0956the prediction being responsive to traffic or environmental parameters
B60W 60/0011
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
60Drive control systems specially adapted for autonomous road vehicles
001Planning or execution of driving tasks
0011involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
B60W 60/0015
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
60Drive control systems specially adapted for autonomous road vehicles
001Planning or execution of driving tasks
0015specially adapted for safety
G01C 21/3407
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00
26specially adapted for navigation in a road network
34Route searching; Route guidance
3407specially adapted for specific applications
Applicants
  • ZOOX, INC. [US]/[US]
Inventors
  • VAN HEUKELOM, Matthew
  • PACKER, Jefferson Bradfield
Agents
  • MURPHY, Dillon J.
  • DIVINE, David A.
Priority Data
16/206,87730.11.2018US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) PROBABILISTIC RISK ASSESSMENT FOR TRAJECTORY EVALUATION
(FR) ÉVALUATION PROBABILISTE DE RISQUE POUR ÉVALUATION DE TRAJECTOIRE
Abstract
(EN)
Techniques are discussed for evaluating trajectories based on risk associated with the trajectories with respect to predicted locations of objects in an environment. A vehicle can capture sensor data of an environment, which may include object(s) separate from the vehicle, such as another vehicle or a pedestrian. A prediction system can output a discretized probability distribution comprising prediction probabilities associated with possible locations of the object in the future. Heat maps, as an example discretized probability distribution, can represent one or more objects. Trajectories can be generated for the vehicle to follow in the environment. An overlap between a region of the vehicle along a trajectory and the heat map can be determined, and a probability associated with the overlap can represent a risk associated with a trajectory navigating through the environment. The vehicle can be controlled based on risks associated with the various trajectories.
(FR)
Cette invention concerne des techniques pour évaluer des trajectoires sur la base d'un risque associé aux trajectoires par rapport à des emplacements prédits d'objets dans un environnement. Un véhicule peut capturer des données de capteur d'un environnement qui peut comprendre un(des) objets(s) distinct(s) du premier véhicule, tel qu'un second véhicule ou un piéton. Un système de prédiction peut délivrer une distribution de probabilité discrétisée comprenant des probabilités de prédiction associées à des emplacements possibles de l'objet dans le futur. Des cartes thermiques, en tant que distribution de probabilité discrétisée citée à titre d'exemple, peuvent représenter un ou plusieurs objets. Des trajectoires peuvent être générées, à suivre par le véhicule dans l'environnement. Un chevauchement entre une région du véhicule le long d'une trajectoire et la carte thermique peut être déterminé, et une probabilité associée au chevauchement peut représenter un risque associé à une trajectoire lors de la navigation dans l'environnement. Le véhicule peut être commandé sur la base de risques associés aux différentes trajectoires.
Also published as
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