To provide an audio-system method for sensing and detecting a road condition for autonomous driving vehicles so as to solve the problem in which it is difficult to sense and detect road conditions and optical sensors such as cameras and LiDAR are not able to detect certain road surface conditions, such as the thickness of snow and the depth of water covering the road.SOLUTION: Sound signals are received by one or more microphones disposed at an ADV. The sound signals are analyzed to extract a feature of a road on which the ADV is driving. A road condition of the road is determined based on the extracted feature. Path planning and speed planning are performed to generate a trajectory based on the road condition. The ADV is controlled to drive autonomously according to the generated trajectory.SELECTED DRAWING: Figure 9

    【課題】道路状況を検知して検出することは困難であり、カメラ及びLiDARなどの光学センサは、道路を覆う雪の厚さ及び水の深さなど特定の路面状況を検出できない。そこで、自律運転車両のために道路状況を検知して検出するためのオーディオシステムの手法を提供する。【解決手段】ADVに配置された1つ以上のマイクロフォンによって音信号を受信する。音信号を分析して、ADVが運転している道路の特徴を抽出する。抽出された特徴に基づいて、道路の道路状況を決定する。道路状況に基づいて経路計画及び速度計画を実行して軌道を生成する。生成された軌道に従ってADVを自律的に運転するように制御する。【選択図】図9


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    Title :

    AUDIO-BASED METHOD FOR SENSING AND DETECTING ROAD CONDITION FOR AUTONOMOUS DRIVING VEHICLES


    Additional title:

    自律運転車両のために道路状況を検知して検出するためのオーディオベース手法


    Contributors:
    WANG WEI (author) / LUO QI (author) / XU KECHENG (author) / SUN HONGYI (author) / WESLEY REYNOLDS (author) / ZOU YOULING (author) / LIN ZEJUN (author)

    Publication date :

    2022-03-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    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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