Surrounding vehicle classification and path prediction

• US 10,029,682 B2
• Filed: 01/22/2016
• Issued: 07/24/2018
• Est. Priority Date: 01/22/2016
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Motor Engineering & Manufacturing North America Incorporated (Toyota Motor Corporation)
• Inventors: Gunaratne, Pujitha
• Primary Examiner(s): Camby, Richard M
• Application Number:
  US15/003,961
• Publication Number:
  US 20170210378A1
• Time in Patent Office: 914 Days
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 30/0953 the prediction being responsive to vehicle dynamic parameters
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 30/18163 Lane change; Overtaking manoeuvres

Abstract

A host vehicle can be configured to monitor an external environment of the host vehicle using a sensor system. The host vehicle can detect an object in the external environment of the host vehicle. The object can be classified as a surrounding vehicle. The host vehicle can determine a driving behavior of the surrounding vehicle. The driving behavior can be based on any one of a predetermined vehicle characteristics and current driving characteristics of the surrounding vehicle. The predetermined vehicle characteristics can be based on a type of the surrounding vehicle. The current driving characteristics can be based on observations obtained by the sensor system. The host vehicle can predict a trajectory of the surrounding vehicle based on the determined driving behavior. The host vehicle can follow a safe path based on the predicted trajectory responsive to detecting one or more sensors in a failed state.

Claims

1. A method for operating a host vehicle on a roadway, comprising:

detecting, using a sensor system in the host vehicle, an object in an external environment of the host vehicle;

determining a classification for the object;

if the determined classification for the object is a vehicle in the external environment surrounding the host vehicle, performing the following;

determining a type of the surrounding vehicle;

obtaining one or more current driving characteristics of the surrounding vehicle as it travels on the roadway using the sensor system;

retrieving, from a first database, one or more predetermined vehicle characteristics for the determined type, the one or more predetermined vehicle characteristics indicative of at least one driving behavior associated with a plurality of vehicles having the determined type;

predicting a trajectory of the surrounding vehicle on the roadway based on at least one of the one or more current driving characteristics or the one or more predetermined vehicle characteristics;

comparing the one or more predetermined vehicle characteristics for the surrounding vehicle with the one or more current driving characteristics; and

updating the first database based on the comparison.

3. The method of claim 1, wherein the determined type is at least one of a vehicle classification, a vehicle size, a vehicle make, or a vehicle model.

2. A method for operating a host vehicle on a roadway, comprising:

detecting, using a sensor system in the host vehicle, an object in an external environment of the host vehicle;

determining a classification for the object;

if the determined classification for the object is a vehicle in the external environment surrounding the host vehicle, performing the following;

determining a type of the surrounding vehicle;

obtaining one or more current driving characteristics of the surrounding vehicle as it travels on the roadway using the sensor system;

retrieving, from a first database, one or more predetermined vehicle characteristics for the determined type, the one or more predetermined vehicle characteristics indicative of at least one driving behavior associated with a plurality of vehicles having the determined type;

predicting a trajectory of the surrounding vehicle on the roadway based on at least one of the one or more current driving characteristics or the one or more predetermined vehicle characteristics;

recording an identifier for the surrounding vehicle;

associating the predetermined vehicle characteristics with the identifier for the surrounding vehicle;

storing the identifier and the associated predetermined vehicle characteristics for the surrounding vehicle on a second database;

comparing the one or more predetermined vehicle characteristics for the surrounding vehicle with the one or more current driving characteristics; and

updating the second database based on the comparison.

4. A method for operating a host vehicle on a roadway, comprising:

detecting, using a sensor system including one or more sensors in the host vehicle, an object in an external environment of the host vehicle;

determining a classification for the object;

if the determined classification for the object is a vehicle in the external environment surrounding the host vehicle, performing the following;

determining a type of the surrounding vehicle;

obtaining one or more current driving characteristics of the surrounding vehicle as it travels on the roadway using the sensor system;

retrieving, from a first database, one or more predetermined vehicle characteristics for the determined type, the one or more predetermined vehicle characteristics indicative of at least one driving behavior associated with a plurality of vehicles having the determined type;

predicting a trajectory of the surrounding vehicle on the roadway based on at least one of the one or more current driving characteristics or the one or more predetermined vehicle characteristics;

determining a safe trajectory for the host vehicle responsive to predicting the trajectory of the surrounding vehicle;

detecting at least one of the sensors of the sensor system being in a failed state; and

causing the host vehicle to follow the safe trajectory responsive to detecting the at least one of the one or more sensors of the host vehicle being in the failed state.

5. The method of claim 4, further comprising:

comparing a duration of the at least one of the one or more sensors of the host vehicle being in the failed state to a threshold; and

executing a fail-safe maneuver responsive to the duration being greater than the threshold.

6. The method of claim 4, wherein the safe trajectory is an estimated safe trajectory of the host vehicle based on the predicted trajectory of the surrounding vehicle.

7. A system for operating a host vehicle on a roadway comprising:

a sensor system configured to monitor an external environment of the host vehicle as the host vehicle travels along the roadway, wherein the sensor system includes an active sensor system including one or more active sensors, and a passive sensor system including one or more passive sensors;

a first database including one or more predetermined vehicle characteristics indicative of at least one driving behavior associated with a plurality of vehicles having a determined type; and

a processor being programmed to execute instructions stored on a memory including;

detecting, using the sensor system, an object in the external environment of the host vehicle;

determining a classification for the object;

if the determined classification for the object is a vehicle surrounding the host vehicle, performing the following;

determining the type of the surrounding vehicle;

detecting any one of the active sensors or passive sensors being in a failed state;

wherein,

if the sensor in the failed state is any one of the active sensors, obtaining one or more current driving characteristics of the surrounding vehicle as it travels along the roadway using the passive sensor system;

if the sensor in the failed state is any one of the passive sensors, obtaining one or more current driving characteristics of the surrounding vehicle as it travels along the roadway using the active sensor system;

retrieving, from the first database, the predetermined vehicle characteristics for the determined type of the surrounding vehicle; and

predicting a trajectory of the surrounding vehicle based on at least one of the one or more current driving characteristics or the predetermined vehicle characteristics.

8. A system for operating a host vehicle on a roadway comprising:

a sensor system configured to monitor an external environment of the host vehicle as the host vehicle travels along the roadway;

a first database including one or more predetermined vehicle characteristics indicative of at least one driving behavior associated with a plurality of vehicles having a determined type; and

a processor being programmed to execute instructions stored on a memory including;

detecting, using the sensor system, an object in the external environment of the host vehicle;

determining a classification for the object;

if the determined classification for the object is a vehicle surrounding the host vehicle, performing the following;

determining the type of the surrounding vehicle;

obtaining one or more current driving characteristics of the surrounding vehicle as it travels along the roadway using the sensor system;

retrieving, from the first database, the predetermined vehicle characteristics for the determined type of the surrounding vehicle;

predicting a trajectory of the surrounding vehicle based on at least one of the one or more current driving characteristics or the predetermined vehicle characteristics;

comparing the predetermined vehicle characteristics of the surrounding vehicle with the current driving characteristics; and

updating the predetermined vehicle characteristics based on the comparison.

9. The system of claim 8, further comprising:

a second database;

wherein the executable operations further include;

recording an identifier for the surrounding vehicle;

associating the identifier with the predetermined vehicle characteristics for the surrounding vehicle;

storing the associated identifier and the predetermined vehicle characteristics for the surrounding vehicle on the second database; and

wherein updating the predetermined vehicle characteristics includes updating the predetermined vehicle characteristics stored on the second database based on the comparison.

10. A system for operating a host vehicle on a roadway comprising:

a sensor system configured to monitor an external environment of the host vehicle as the host vehicle travels along the roadway;

a first database including one or more predetermined vehicle characteristics indicative of at least one driving behavior associated with a plurality of vehicles having a determined type; and

a processor being programmed to execute instructions stored on a memory including;

detecting, using the sensor system, an object in the external environment of the host vehicle;

determining a classification for the object;

if the determined classification for the object is a vehicle surrounding the host vehicle, performing the following;

determining the type of the surrounding vehicle;

obtaining one or more current driving characteristics of the surrounding vehicle as it travels along the roadway using the sensor system;

retrieving, from the first database, the predetermined vehicle characteristics for the determined type of the surrounding vehicle;

predicting a trajectory of the surrounding vehicle based on at least one of the one or more current driving characteristics or the predetermined vehicle characteristics;

determining a safe trajectory for the host vehicle responsive to predicting the trajectory of the surrounding vehicle;

detecting at least one sensor of the sensor system being in a failed state; and

causing the host vehicle to follow the safe trajectory responsive to at least one sensor of the sensor system being in the failed state.

11. The system of claim 10, wherein the executable operations further include:

responsive to detecting the failed state, comparing a duration of the failed state to a threshold; and

executing a fail-safe maneuver responsive to the duration of the failure being greater than the threshold.

12. A method for operating a host vehicle on a roadway, comprising:

detecting an object in an external environment of the host vehicle using a sensor system;

determining a classification for the object;

if the determined classification for the object is a vehicle surrounding the host vehicle, performing the following;

determining one or more characteristics for the surrounding vehicle indicative of at least one driving behavior;

predicting a trajectory of the surrounding vehicle on the roadway based on the one or more characteristics;

comparing the one or more current driving characteristics of the surrounding vehicle with the retrieved predetermined vehicle characteristics; and

updating the first database based on the comparison.

13. The method of claim 12, further comprising:

determining a type of the surrounding vehicle; and

retrieving, from a first database, one or more predetermined vehicle characteristics for the determined type of the surrounding vehicle, the one or more predetermined vehicle characteristics indicative of at least one driving behavior associated with a plurality of vehicles having the determined type;

wherein

determining the one or more characteristics for the surrounding vehicle is determining the one or more characteristics for the surrounding vehicle based on the retrieved predetermined vehicle characteristics.

14. The method of claim 13, further comprising:

obtaining one or more current driving characteristics of the surrounding vehicle as it travels along the roadway using the sensor system;

wherein

determining the one or more characteristics for the surrounding vehicle is determining the one or more characteristics for the surrounding vehicle based on at least one of the one or more current driving characteristics, or the retrieved predetermined vehicle characteristics.

15. A method for operating a host vehicle on a roadway, comprising:

detecting an object in an external environment of the host vehicle using a sensor system;

determining a classification for the object;

if the determined classification for the object is a vehicle surrounding the host vehicle, performing the following;

determining one or more characteristics for the surrounding vehicle indicative of at least one driving behavior;

predicting a trajectory of the surrounding vehicle on the roadway based on the one or more characteristics;

detecting at least one sensor of the sensor system of the vehicle being in a failed state; and

causing the vehicle to follow a safe trajectory responsive to detecting the failed state.