Autonomous vehicle operation at multi-stop intersections

• US 10,005,464 B2
• Filed: 08/27/2015
• Issued: 06/26/2018
• Est. Priority Date: 08/27/2015
• Status: Active Grant

• Current Assignee: Toyota Motor Engineering & Manufacturing North America Incorporated (Toyota Motor Corporation)
• Original Assignee: Toyota Motor Engineering & Manufacturing North America Incorporated (Toyota Motor Corporation)
• Inventors: Toyoda, Heishiro, Domeyer, Joshua
• Primary Examiner(s): Shaawat, Mussa A
• Application Number:
  US14/837,351
• Publication Number:
  US 20170057514A1
• Time in Patent Office: 1,034 Days
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2720/103 Speed profile
• CPC Class Codes: B60W 30/18154 Approaching an intersection
• CPC Class Codes: B60W 40/04 Traffic conditions
• CPC Class Codes: G08G 1/0112 from the vehicle, e.g. floating car data [FCD]
• CPC Class Codes: G08G 1/161 Decentralised systems, e.g. inter-vehicle communication

Abstract

An autonomous vehicle can operate with respect to other vehicles at a multi-stop intersection. One or more other objects (e.g., vehicles) approaching the multi-stop intersection from a different direction than the autonomous vehicle can be detected. An arrival time of the autonomous vehicle and the detected one or more other objects at the multi-stop intersection can be determined. In response to determining that the arrival time of the autonomous vehicle and the detected one or more other objects at the multi-stop intersection is substantially the same, a driving maneuver for the autonomous vehicle can be determined. As an example, the driving maneuver can include stopping short of an originally intended stopping point and/or decelerating so that the arrival time of the autonomous vehicle is not substantially the same as the other objects at the multi-stop intersection. The autonomous vehicle can be caused to implement the determined driving maneuver.

Claims

1. A method of operating an autonomous vehicle with respect to other vehicles at a multi-stop intersection, the method comprising:

detecting one or more other objects approaching the multi-stop intersection from a different direction than the autonomous vehicle;

determining an arrival time of the autonomous vehicle and the detected one or more other objects at the multi-stop intersection;

responsive to determining that the arrival time of the autonomous vehicle and the detected one or more other objects at the multi-stop intersection is substantially the same, determining a driving maneuver for the autonomous vehicle, the driving maneuver including stopping short of an originally intended stopping point in a current travel lane of the autonomous vehicle such that the detected one or more other objects arrive at the multi-stop intersection before the autonomous vehicle; and

causing the autonomous vehicle to implement the determined driving maneuver, whereby the autonomous vehicles indicates its intention to allow the one or more other objects to proceed through the multi-stop intersection before the autonomous vehicle.

2. The method of claim 1, wherein determining the arrival time of the autonomous vehicle and the detected one or more other objects at the multi-stop intersection includes predicting the arrival time of the autonomous vehicle and at least one of the detected one or more other objects at the multi-stop intersection.

3. The method of claim 1, wherein causing the autonomous vehicle to implement the determined driving maneuver is performed automatically.

4. A method of operating an autonomous vehicle with respect to other vehicles at a multi-stop intersection, the method comprising:

detecting one or more other objects approaching the multi-stop intersection from a different direction than the autonomous vehicle;

determining an arrival time of the autonomous vehicle and the detected one or more other objects at the multi-stop intersection;

responsive to determining that the arrival time of the autonomous vehicle and the detected one or more other objects at the multi-stop intersection is substantially the same, determining a driving maneuver for the autonomous vehicle, the driving maneuver including decelerating so that the arrival time of the autonomous vehicle is later than the determined arrival time of the detected one or more other objects at the multi-stop intersection; and

causing the autonomous vehicle to implement the determined driving maneuver, whereby the autonomous vehicles indicates its intention to allow the one or more other objects to proceed through the multi-stop intersection before the autonomous vehicle.

5. The method of claim 4, wherein the driving maneuver includes decelerating so that the arrival time of the autonomous vehicle is later than the determined arrival time of the detected one or more other objects at the multi-stop intersection.

6. A method of operating an autonomous vehicle with respect to other vehicles at a multi-stop intersection, the method comprising:

detecting one or more other objects approaching the multi-stop intersection from a different direction than the autonomous vehicle;

determining an arrival time of the autonomous vehicle and the detected one or more other objects at the multi-stop intersection;

responsive to determining that the arrival time of the autonomous vehicle and the detected one or more other objects at the multi-stop intersection is substantially the same, determining a driving maneuver for the autonomous vehicle, the driving maneuver including remaining stopped at the multi-stop intersection for a predetermined period of time; and

causing the autonomous vehicle to implement the determined driving maneuver, whereby the autonomous vehicles indicates its intention to allow the one or more other objects to proceed through the multi-stop intersection before the autonomous vehicle.

7. The method of claim 6, wherein, if at least one of the detected one or more other objects does not move within the predetermined period of time, the driving maneuver further includes proceeding through the multi-stop intersection.

16. The method of claim 6, wherein determining the arrival time of the autonomous vehicle and the detected one or more other objects at the multi-stop intersection includes determining the actual arrival time of the autonomous vehicle and the detected one or more other objects at the multi-stop intersection.

8. A system for an autonomous vehicle a multi-stop intersection comprising:

a sensor system configured to detect one or more other objects approaching the multi-stop intersection from a different direction than the autonomous vehicle; and

a processor operatively connected to the sensor system, the processor being programmed to initiate executable operations comprising;

determining an arrival time of the autonomous vehicle and the detected one or more other objects at the multi-stop intersection;

responsive to determining that the arrival time of the autonomous vehicle and the detected one or more other objects at the multi-stop intersection is substantially the same, determining a driving maneuver for the autonomous vehicle, the driving maneuver including stopping short of an originally intended stopping point in a current travel lane of the autonomous vehicle such that the detected one or more other objects arrive at the multi-stop intersection before the autonomous vehicle; and

causing the autonomous vehicle to implement the determined driving maneuver whereby the autonomous vehicles indicates its intention to allow the one or more other objects to proceed through the multi-stop intersection before the autonomous vehicle.

9. The system of claim 8, wherein determining the arrival time of the autonomous vehicle and the detected one or more other objects at the multi-stop intersection includes predicting the arrival time of the autonomous vehicle and at least one of the detected one or more other objects at the multi-stop intersection.

10. A system for an autonomous vehicle a multi-stop intersection comprising:

a sensor system configured to detect one or more other objects approaching the multi-stop intersection from a different direction than the autonomous vehicle; and

a processor operatively connected to the sensor system, the processor being programmed to initiate executable operations comprising;

determining an arrival time of the autonomous vehicle and the detected one or more other objects at the multi-stop intersection;

responsive to determining that the arrival time of the autonomous vehicle and the detected one or more other objects at the multi-stop intersection is substantially the same, determining a driving maneuver for the autonomous vehicle, the driving maneuver including decelerating so that the arrival time of the autonomous vehicle is later than the determined arrival time of the detected one or more other objects at the multi-stop intersection; and

causing the autonomous vehicle to implement the determined driving maneuver whereby the autonomous vehicles indicates its intention to allow the one or more other objects to proceed through the multi-stop intersection before the autonomous vehicle.

11. The system of claim 10, wherein the driving maneuver includes decelerating so that the arrival time of the autonomous vehicle is later than the determined arrival time of the detected one or more other objects at the multi-stop intersection.

12. A system for an autonomous vehicle a multi-stop intersection comprising:

a sensor system configured to detect one or more other objects approaching the multi-stop intersection from a different direction than the autonomous vehicle; and

a processor operatively connected to the sensor system, the processor being programmed to initiate executable operations comprising;

determining an arrival time of the autonomous vehicle and the detected one or more other objects at the multi-stop intersection;

responsive to determining that the arrival time of the autonomous vehicle and the detected one or more other objects at the multi-stop intersection is substantially the same, determining a driving maneuver for the autonomous vehicle, the driving maneuver including remaining stopped at the multi-stop intersection for a predetermined period of time; and

causing the autonomous vehicle to implement the determined driving maneuver, whereby the autonomous vehicles indicates its intention to allow the one or more other objects to proceed through the multi-stop intersection before the autonomous vehicle.

13. The system of claim 12, wherein, if at least one of the detected one or more other objects does not move within the predetermined period of time, the driving maneuver further includes proceeding through the multi-stop intersection.

17. The system of claim 12, wherein determining the arrival time of the autonomous vehicle and the detected one or more other objects at the multi-stop intersection includes determining the actual arrival time of the autonomous vehicle and the detected one or more other objects at the multi-stop intersection.

14. A computer program product for operating an autonomous vehicle with respect to other vehicles at a multi-stop intersection, the computer program product comprising a non-transitory computer readable storage medium having program code embodied therein, the program code executable by a processor to perform a method comprising:

determining an arrival time of the autonomous vehicle and a detected one or more other objects at the multi-stop intersection, the detected one or more other objects approaching the multi-stop intersection from a different direction than the autonomous vehicle;

responsive to determining that the arrival time of the autonomous vehicle and the detected one or more other objects at the multi-stop intersection is substantially the same, determining a driving maneuver for the autonomous vehicle, the driving maneuver including one of;

stopping short of an originally intended stopping point in a current travel lane of the autonomous vehicle such that the detected one or more other objects arrive at the multi-stop intersection before the autonomous vehicle, or

decelerating so that the arrival time of the autonomous vehicle is later than the determined arrival time of the detected one or more other objects at the multi-stop intersection; and

causing the autonomous vehicle to implement the determined driving maneuver, whereby the autonomous vehicles indicates its intention to allow the detected one or more other objects to proceed through the multi-stop intersection before the autonomous vehicle.

15. The computer program product of claim 14, wherein determining the arrival time of the autonomous vehicle and the detected one or more other objects at the multi-stop intersection includes predicting the arrival time of the autonomous vehicle and at least one of the detected one or more other objects at the multi-stop intersection.