Mobile object evacuation path planning apparatus, method, and medium
AssigneeSony Group Corporation
InventorTakuto Motoyama
Life of this patent
Estimating the term…
Abstract
The present disclosure relates to an information processing apparatus, an information processing method, and a program that allow for appropriately pulling over to a safe road shoulder when an emergency occurs during automated driving. On the basis of distance information from a depth sensor or the like, a travelable region available for a vehicle to travel is set like an occupancy map, and image attribute information is generated from an image by semantic segmentation. On the basis of the image attribute information, an evacuation space is set in the travelable region in accordance with the situation of the road surface of the travelable region, and thus an evacuation space map is created. The present disclosure can be applied to a mobile object.
Claims19
An information processing apparatus, comprising:
- a central processing unit (CPU) configured to:
- acquire distance information, wherein the distance information is associated with a depth image from a depth sensor;
- acquire an image from an imaging device;
- determine, as image attribute information, an attribute of each region of a plurality of regions in the acquired image;
- acquire a travelable region available for a vehicle to travel;
- set, based on the image attribute information, a plurality of evacuation spaces in the travelable region, wherein the plurality of evacuation spaces is for evacuation of the vehicle;
- generate an evacuation space map based on the plurality of evacuation spaces set in the travelable region, wherein the generated evacuation space map indicates the plurality of evacuation spaces;
- determine occurrence of an emergency;
- control, based on the occurrence of the emergency, the vehicle to follow a preceding vehicle for a specific time;
- determine an evacuation space of the plurality of evacuation spaces based on the generated evacuation space map, wherein
- the evacuation space is short of the preceding vehicle,
- the evacuation space is farther than a braking distance of the vehicle, and
- the evacuation space is nearest to the vehicle;
- plan a route with the evacuation space as a destination;
- and
- control the vehicle to travel along the route with the evacuation space as the destination after the preceding vehicle is followed for the specific time.
An information processing method, comprising:
- acquiring distance information, wherein the distance information is associated with a depth image from a depth sensor;
- acquiring an image from an imaging device;
- determining, as image attribute information, an attribute of each region of a plurality of regions in the acquired image;
- acquiring a travelable region available for a vehicle to travel;
- setting, based on the image attribute information, a plurality of evacuation spaces in the travelable region, wherein the plurality of evacuation spaces is for evacuation of the vehicle;
- generating an evacuation space map based on the plurality of evacuation spaces set in the travelable region, wherein the generated evacuation space map indicates the plurality of evacuation spaces;
- determining occurrence of an emergency;
- controlling, based on the occurrence of the emergency, the vehicle to follow a preceding vehicle for a specific time;
- determining an evacuation space of the plurality of evacuation spaces based on the generated evacuation space map, wherein
- the evacuation space is short of the preceding vehicle,
- the evacuation space is farther than a braking distance of the vehicle, and
- the evacuation space is nearest to the vehicle;
- planning a route with the evacuation space as a destination;
- and
- controlling the vehicle to travel along the route with the evacuation space as the destination after following the preceding vehicle for the specific time.
A non-transitory computer-readable medium having stored thereon, computer-executable instructions which, when executed by a computer, cause the computer to execute operations, the operations comprising:
- acquiring distance information, wherein the distance information is associated with a depth image from a depth sensor;
- acquiring an image from an imaging device;
- determining, as image attribute information, an attribute of each region of a plurality of regions in the acquired image;
- acquiring a travelable region available for a vehicle to travel;
- setting, based on the image attribute information, a plurality of evacuation spaces in the travelable region, wherein the plurality of evacuation spaces is for evacuation of the vehicle;
- generating an evacuation space map based on the plurality of evacuation spaces set in the travelable region, wherein the generated evacuation space map indicates the plurality of evacuation spaces;
- determining occurrence of an emergency;
- controlling, based on the occurrence of the emergency, the vehicle to follow a preceding vehicle for a specific time;
- determining an evacuation space of the plurality of evacuation spaces based on the generated evacuation space map, wherein
- the evacuation space is short of the preceding vehicle,
- the evacuation space is farther than a braking distance of the vehicle, and
- the evacuation space is nearest to the vehicle;
- planning a route with the evacuation space as a destination;
- and
- controlling the vehicle to travel along the route with the evacuation space as the destination after following the preceding vehicle for the specific time.
Dependencies are inferred from the claim text.