IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
|
출원번호 |
US-0940807
(2013-07-12)
|
등록번호 |
US-9052714
(2015-06-09)
|
발명자
/ 주소 |
- Creasey, Samson F.
- Hinds, Oliver P.
|
출원인 / 주소 |
|
대리인 / 주소 |
|
인용정보 |
피인용 횟수 :
0 인용 특허 :
7 |
초록
A computer-implemented method and system for controlling operation of an autonomous driverless vehicle in response to detection of a hazard in the path of the vehicle.
대표청구항
▼
1. A computer-implemented method for controlling operation of an autonomous driverless vehicle in response to detection of a hazard in a path of the vehicle, the method performed by a vehicle control system in the vehicle comprising the steps of: (a) detecting presence of a hazard in the path of the
1. A computer-implemented method for controlling operation of an autonomous driverless vehicle in response to detection of a hazard in a path of the vehicle, the method performed by a vehicle control system in the vehicle comprising the steps of: (a) detecting presence of a hazard in the path of the vehicle using an obstacle detection system in the vehicle;(b) transmitting a hazard alert message to a computer system operated by a human operator; and(c) receiving a command from the computer system operated by the human operator responsive to the hazard alert message, and operating the vehicle in accordance with said command, wherein the command comprises a command to ignore the hazard detected in (a) upon determination by the operator of a false positive event. 2. The method of claim 1, wherein the computer system operated by the human operator is located remotely from the vehicle, and wherein the hazard alert message and the command are transmitted over a wireless network. 3. The method of claim 1, wherein the computer system operated by the human operator is located within the vehicle. 4. The method of claim 1, further comprising receiving location information from a location detection system in the vehicle, and determining the position of the hazard based on the location information. 5. The method of claim 1, wherein the hazard alert message includes information on a shape of the hazard, a location of the hazard, or a measure of confidence in detection of the hazard. 6. The method of claim 1, wherein operating the vehicle in accordance with said command comprises: determining a given region-to-ignore comprising an area in the path of the vehicle containing at least a portion of the detected hazard;after a given period of time, clearing the region-to-ignore of the detected hazard; andignoring any hazard, or portion thereof, detected within the region-to-ignore. 7. The method of claim 6, wherein determining the region-to-ignore comprises generating a polygon of a fixed shape and scale corresponding to a field of view of the obstacle detection system in the vehicle. 8. The method of claim 6, wherein determining the region-to-ignore comprises generating a polygon that covers the detected hazard. 9. The method of claim 6, wherein determining the region-to-ignore comprises generating a polygon having the general shape of the hazard, wherein the polygon is outset from the hazard by given distance. 10. The method of claim 1, further comprising, prior to step (c), transmitting an image or video stream captured by a camera on or in the vehicle of an area in which the hazard was detected to the computer system operated by the human operator. 11. A computer system in an autonomous driverless vehicle, comprising: at least one processor;memory associated with the at least one processor; anda program supported in the memory for controlling operation of the vehicle in response to detection of a hazard in a path of the vehicle, the program having a plurality of instructions stored therein which, when executed by the at least one processor, cause the at least one processor to:(a) detect the presence of a hazard in the path of the vehicle using an obstacle detection system in the vehicle;(b) transmit a hazard alert message to a computer system operated by a human operator; and(c) receive a command from the computer system operated by the human operator responsive to the hazard alert message, and operate the vehicle in accordance with said command, wherein the command comprises a command to ignore the hazard detected in (a) upon determination by the operator of a false positive event. 12. The system of claim 11, wherein the computer system operated by the human operator is located remotely from the vehicle, and wherein the hazard alert message and the command are transmitted over a wireless network. 13. The system of claim 11, wherein the computer system operated by the human operator is located within the vehicle. 14. The system of claim 11, wherein the program further comprises instructions for receiving location information from a location detection system in the vehicle, and determining the position of the hazard based on the location information. 15. The system of claim 11, wherein the hazard alert message includes information on a shape of the hazard, a location of the hazard, or a measure of confidence in detection of the hazard. 16. The system of claim 11, wherein instructions to operate the vehicle in accordance with said command comprises instructions for: determining a given region-to-ignore comprising an area in the path of the vehicle containing at least a portion of the detected hazard;after a given period of time, clearing the region-to-ignore of the detected hazard; andignoring any hazard, or portion thereof, detected within the region-to-ignore. 17. The system of claim 16, wherein instructions for determining the region-to-ignore comprises instructions for generating a polygon of a fixed shape and scale corresponding to a field of view of the obstacle detection system in the vehicle. 18. The system of claim 16, wherein instructions for determining the region-to-ignore comprises instructions for generating a polygon that covers the detected hazard. 19. The system of claim 16, wherein instructions for determining the region-to-ignore comprises instructions for generating a polygon having the general shape of the hazard, wherein the polygon is outset from the hazard by given distance. 20. The system of claim 11, the program further comprises instructions for, prior to step (c), transmitting an image or video stream captured by a camera on or in the vehicle of an area in which the hazard was detected to the computer system operated by the human operator. 21. A system for controlling operation of an autonomous driverless vehicle in response to detection of a hazard in a path of the vehicle, comprising: a computer system operated by a human operator; anda vehicle controller located in the autonomous driverless vehicle, said vehicle controller programmed to(a) detect the presence of a hazard in the path of the vehicle using an obstacle detection system in the vehicle;(b) transmit a hazard alert message to the computer system operated by a human operator; and(c) receive a command from the computer system operated by the human operator responsive to the hazard alert message, and operate the vehicle in accordance with said command, wherein the command comprises a command to ignore the hazard detected in (a) upon determination by the operator of a false positive event. 22. The system of claim 21, wherein the computer system operated by the human operator is located remotely from the vehicle, and wherein the hazard alert message and the command are transmitted over a wireless network. 23. The system of claim 21, wherein the computer system operated by the human operator is located within the vehicle. 24. The system of claim 21, wherein the vehicle controller is programmed to receive location information from a location detection system in the vehicle, and determine the position of the hazard based on the location information. 25. The system of claim 21, wherein the hazard alert message includes information on a shape of the hazard, a location of the hazard, or a measure of confidence in detection of the hazard. 26. The system of claim 21, wherein the vehicle controller is programmed to: determine a given region-to-ignore comprising an area in the path of the vehicle containing at least a portion of the detected hazard;after a given period of time, clear the region-to-ignore of the detected hazard; andignore any hazard, or portion thereof, detected within the region-to-ignore. 27. The system of claim 26, wherein the vehicle controller is programmed to determine the region-to-ignore by generating a polygon of a fixed shape and scale corresponding to a field of view of the obstacle detection system in the vehicle. 28. The system of claim 26, wherein vehicle controller is programmed to determine the region-to-ignore by generating a polygon that covers the detected hazard. 29. The system of claim 26, wherein vehicle controller is programmed to determine the region-to-ignore by generating a polygon having the general shape of the hazard, wherein the polygon is outset from the hazard by given distance. 30. The system of claim 21, wherein vehicle controller is programmed to, prior to step (c), transmit an image or video stream captured by a camera on or in the vehicle of an area in which the hazard was detected to the computer system operated by the human operator.
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