State-based operation for autonomous vehicles

• US 10,077,052 B2
• Filed: 03/30/2017
• Issued: 09/18/2018
• Est. Priority Date: 03/31/2016
• Status: Active Grant

• Current Assignee: Faraday & Future Inc.
• Original Assignee: Faraday & Future Inc.
• Inventors: Halder, Bibhrajit, Wang, Chongyu, Xie, Kenneth X.
• Primary Examiner(s): Nguyen, Tan Q
• Application Number:
  US15/475,048
• Publication Number:
  US 20170297576A1
• Time in Patent Office: 537 Days
• Field of Search: 701 26, 701 45, 701 314, 701 41, 701 23, 701 36
• CPC Class Codes: B60W 2540/30 Driving style
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 30/18109 Braking
• CPC Class Codes: B60W 30/18163 Lane change; Overtaking manoeuvres
• CPC Class Codes: B60W 30/182 Selecting between different operative modes, e.g. comfort and performance modes
• CPC Class Codes: G01C 21/34 Route searching; Route guidance
• CPC Class Codes: G01C 21/3415 Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
• CPC Class Codes: G08G 1/017 identifying vehicles G08G1/015, G08G1/054 take precedence
• CPC Class Codes: G08G 1/0965 responding to signals from another vehicle, e.g. emergency vehicle
• CPC Class Codes: G08G 1/096827 where the route is computed onboard
• CPC Class Codes: G08G 1/096844 where the complete route is dynamically recomputed based on new data

Abstract

A system for operating a vehicle is disclosed. The vehicle is operated in a first driving state corresponding to a first set of logic for operating the vehicle, the first set of logic including logic for performing a first action at the vehicle in response to a determination that a first condition exists in the surroundings of the vehicle. That state change criteria for transitioning from the first driving state to a second driving state are satisfied is determined. In response to the determination, the vehicle is operated in the second driving state corresponding to a second set of logic, different from the first set of logic, for operating the vehicle, the second set of logic including logic for performing a second action, different from the first action, at the vehicle in response to a determination that the first condition exists in the surroundings of the vehicle.

Claims

1. A system comprising:

one or more processors; and

a memory including instructions, which when executed by the one or more processors, cause the one or more processors to perform a method comprising;

operating a vehicle in a first driving state, the first driving state corresponding to a first set of logic for operating the vehicle, the first set of logic including logic for performing a first action at the vehicle in response to a determination that a first condition exists in the surroundings of the vehicle;

while operating the vehicle in the first driving state, determining that state change criteria for transitioning from the first driving state to a second driving state are satisfied;

in response to the determination, operating the vehicle in the second driving state, the second driving state corresponding to a second set of logic, different from the first set of logic, for operating the vehicle, the second set of logic including logic for performing a second action, different from the first action, at the vehicle in response to a determination that the first condition exists in the surroundings of the vehicle;

the first driving state corresponds to a relaxed driving style,

the second driving state corresponds to a hurried driving style, and

determining that the state change criteria for transitioning from the first driving state to the second driving state are satisfied comprises determining, by the vehicle, that the vehicle will not reach a current destination of the vehicle within a given period of time while operating in the first driving state.

2. The system of claim 1, wherein the method further comprises:

while operating the vehicle in the second driving state, determining that respective state change criteria for transitioning from the second driving state to a respective driving state are satisfied; and

in response to the determination;

in accordance with a determination that the respective state change criteria comprise state change criteria for transitioning from the second driving state to a third driving state, operating the vehicle in the third driving state, different from the first and second driving states; and

in accordance with a determination that the respective state change criteria comprise state change criteria for transitioning from the second driving state to the first driving state, operating the vehicle in the first driving state.

3. The system of claim 1, wherein determining that the state change criteria for transitioning from the first driving state to the second driving state are satisfied is based on traffic characteristics in the vehicle'"'"'s surroundings.

4. The system of claim 3, wherein the traffic characteristics are detected by one or more sensors on the vehicle.

5. The system of claim 1, wherein determining that the state change criteria for transitioning from the first driving state to the second driving state are satisfied is based on characteristics of objects detected in the vehicle'"'"'s surroundings.

6. The system of claim 1, wherein determining that the state change criteria for transitioning from the first driving state to the second driving state are satisfied is independent of user input to the vehicle.

7. The system of claim 1, wherein operating the vehicle in the first driving state occurs while the vehicle is following a predetermined route from a first location to a second location, and operating the vehicle in the second driving state comprises operating the vehicle in the second driving state while continuing to follow the predetermined route from the first location to the second location.

8. The system of claim 1, wherein operating the vehicle in the first driving state occurs while the vehicle is following a predetermined route from a first location to a second location, and operating the vehicle in the second driving state comprises:

adjusting the predetermined route to create an updated route from the first location to the second location; and

operating the vehicle to follow the updated route from the first location to the second location.

9. The system of claim 1, wherein the method further comprises:

determining, at a first time, that a second condition exists in the vehicle'"'"'s surroundings, and that the second condition does not correspond to an existing driving state; and

in response to determining that the second condition exists in the vehicle'"'"'s surroundings, and that the second condition does not correspond to an existing driving state;

operating the vehicle in a default driving state, not corresponding to the second condition;

while operating the vehicle in the default driving state, monitoring a reaction of the vehicle to the existence of the second condition in the vehicle'"'"'s surroundings; and

creating a new driving state corresponding to the second condition in the vehicle'"'"'s surroundings, and based on the reaction of the vehicle to the existence of the second condition in the vehicle'"'"'s surroundings.

10. The system of claim 9, wherein the method further comprises:

determining, at a second time, after the first time, that the second condition exists in the vehicle'"'"'s surroundings; and

in response to determining that the second condition exists in the vehicle'"'"'s surroundings, operating the vehicle in the new driving state corresponding to the second condition in the vehicle'"'"'s surroundings.

11. The system of claim 1, wherein:

operating the vehicle in the first driving state comprises driving the vehicle in a first lane on a road,

the state change criteria include a criterion that is satisfied when traffic in the first lane slows down, and traffic in a second lane is faster than the traffic in the first lane, and

operating the vehicle in the second driving state comprises changing the vehicle from driving in the first lane to driving in the second lane.

12. The system of claim 1, wherein:

operating the vehicle in the first driving state comprises driving the vehicle on a road,

the state change criteria include a criterion that is satisfied when an emergency vehicle is detected on the road in the surroundings of the vehicle, and

operating the vehicle in the second driving state comprises moving the vehicle to a side of the road until the emergency vehicle passes the vehicle.

13. The system of claim 1, wherein:

operating the vehicle in the first driving state comprises driving the vehicle on a road, and determining a curvature of the road based on input from a first sensor indicative of characteristics of the road and input from a second sensor indicative of movement of a second vehicle in front of the vehicle, the input from the first sensor having a first confidence factor and the input from the second sensor having a second confidence factor, less than the first confidence factor, and

operating the vehicle in the second driving state comprises driving the vehicle on the road, and determining the curvature of the road based on the input from the first sensor and the input from the second sensor, the input from the first sensor having a third confidence factor and the input from the second sensor having a fourth confidence factor, greater than the third confidence factor.

14. The system of claim 1, wherein:

operating the vehicle in the first driving state comprises driving the vehicle on a road at a first speed on a first predefined path based on input from a first sensor indicative of characteristics of objects in front of the vehicle,

the state change criteria include a criterion that is satisfied when an object enters the first predefined path within a threshold distance of the vehicle, and

operating the vehicle in the second driving state comprises reducing a speed of the vehicle from the first speed based on input from the first sensor indicative of the characteristics of the objects in front of the vehicle and a second sensor indicative of characteristics of objects behind the vehicle.

15. The system of claim 1, wherein determining that state change criteria for transitioning from the first driving state to the second driving state are satisfied is independent of driver input.

16. The system of claim 1, wherein the given period of time is input by a driver of the vehicle.

17. The system of claim 1, wherein the given period of time is automatically determined by the vehicle based on an estimated arrival time at the current destination of the vehicle while operating in the first driving state.

18. The system of claim 1, further comprising:

while operating the vehicle in the second driving state, determining that state change criteria for transitioning from the second driving state to the first driving state are satisfied, wherein determining that the state change criteria for transitioning from the first driving state to the second driving state are satisfied comprises determining, by the vehicle, that the given period of time has been extended; and

in response to the determination, operating the vehicle in the first driving state.