The invention discloses an autonomous vehicle that automatically responds to an emergency service vehicle. Perception data is captured or received by the autonomous vehicle (AV) cameras, sensors, andmicrophones. The perception data is used to detect lanes in a road, generate a list of objects, classify one or more of the objects, and determine a state for the classified objects. In response to detecting an emergency service vehicle such as a law enforcement vehicle, a responsive action may be planned by the AV. The responsive action may include sending an acknowledgement signal, notifying passengers of the AV, generating a planned trajectory based on the emergency service vehicle location, an emergency service vehicle detected intention, and other information. A safety check may be performed, and commands may be generated by a control module to navigate the AV along the planned trajectory. The commands may then be executed by a DBW module.

    一种自动响应紧急服务车辆的自主车辆。感知数据由自主车辆(AV)的摄像机、传感器和麦克风捕获或接收。感知数据用于检测道路中的车道、生成对象列表、对对象中的一个或多个进行分类、以及确定分类后的对象的状态。响应于检测到诸如执法车辆的紧急服务车辆,AV可以规划响应动作。响应动作可以包括发送确认信号、通知AV的乘客、基于紧急服务车辆位置、紧急服务车辆检测到的意图和其他信息生成规划轨迹。可以执行安全检查,并且控制模块可以生成命令以沿着规划轨迹导航AV。然后,命令可由DBW模块执行。


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    Title :

    AUTOMATICALLY RESPONDING TO EMERGENCY SERVICE VEHICLES BY AUTONOMOUS VEHICLE


    Additional title:

    通过自主车辆自动响应紧急服务车辆


    Contributors:
    WANG FAN (author) / TANG YIFAN (author) / ZHANG TOM (author) / HUANG KE (author)

    Publication date :

    2020-08-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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