Testing predictions for autonomous vehicles

• US 10,093,311 B2
• Filed: 07/06/2016
• Issued: 10/09/2018
• Est. Priority Date: 07/06/2016
• Status: Active Grant

• Current Assignee: Waymo LLC (Alphabet Inc.)
• Original Assignee: Waymo LLC (Alphabet Inc.)
• Inventors: Fairfield, Nathaniel, Furman, Vadim
• Primary Examiner(s): Marc-Coleman, Marthe Y
• Application Number:
  US15/202,698
• Publication Number:
  US 20180011496A1
• Time in Patent Office: 825 Days
• Field of Search: 701 25, 701 23, 701301, 701 93, 701 1, 701 96, 340435, 340903
• CPC Class Codes: B60Q 1/346 with automatic actuation
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/18145 Cornering
• CPC Class Codes: B60W 30/18154 Approaching an intersection
• CPC Class Codes: B60W 30/18163 Lane change; Overtaking manoeuvres
• CPC Class Codes: B60W 50/0097 Predicting future conditions
• CPC Class Codes: B60W 60/0011 involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
• CPC Class Codes: B60W 60/0017 of other traffic participants
• CPC Class Codes: B60W 60/00274 considering possible movement changes
• CPC Class Codes: G05D 1/0289 with means for avoiding collisions between vehicles vehicle fittings for automatically controlling speed including means for detecting potential obstacles B60K31/0008; avoiding obstacles by action on the steering system B62D; radar, sonar, lidar systems designed for anti-collision purposes G01S13/93, G01S15/93, G01S17/93
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

Testing predictions of an autonomous vehicle relating to another vehicle or object in a roadway is provided. For instance, one or more processors may plan to maneuver the autonomous vehicle to complete an action and predict that the other vehicle will take a responsive action. The autonomous vehicle is then maneuvered towards completing the action in a way that would allow the autonomous vehicle to cancel completing the action without causing a collision between the first vehicle and the second vehicle, and in order to indicate to the second vehicle or a driver of the second vehicle that the first vehicle is attempting to complete the action. Thereafter, when the first vehicle is determined to be able to take the action, the action is completed by controlling the first vehicle autonomously using the determination of whether the second vehicle begins to take the particular responsive action.

Claims

1. A method of controlling a first vehicle autonomously, the method comprising:

planning, by one or more processors, to maneuver the first vehicle to autonomously complete an assertive action with respect to a second vehicle;

predicting that the second vehicle will take a particular responsive action based on the assertive action;

maneuvering, by the one or more processors, the first vehicle towards completing the assertive action by initiating a movement towards completing the assertive action in a way that would allow the first vehicle to cancel completing the assertive action without causing a collision between the first vehicle and the second vehicle, and in order to indicate to the second vehicle or a driver of the second vehicle that the first vehicle is attempting to complete the assertive action;

determining, by the one or more processors, whether the second vehicle is taking the particular responsive action in response to the maneuvering;

determining, by the one or more processors, whether the first vehicle is able to take the assertive action; and

when the first vehicle is determined to be able to take the assertive action, completing the assertive action, by the one or more processors, by controlling the first vehicle autonomously using the determination of whether the second vehicle begins to take the particular responsive action.

2. The method of claim 1, wherein the assertive action is making a right turn from a first roadway to a second roadway in order to pull in front of the second vehicle on the second roadway.

3. The method of claim 1, wherein the assertive action is making a left turn from a first roadway to leave the first roadway and requires crossing in front of the second vehicle on the first roadway.

4. The method of claim 3, wherein the assertive action is making a left turn into a parking lot or driveway.

5. The method of claim 3, wherein the assertive action is making a left turn onto a second roadway at an intersection.

6. The method of claim 1, wherein the second vehicle is in a same lane as the first vehicle and the assertive action is passing the second vehicle.

7. The method of claim 1, wherein the particular responsive action includes slowing the second vehicle down to a particular speed.

8. The method of claim 1, wherein the particular responsive action includes changing a current lane of the second vehicle.

9. The method of claim 1, wherein when the second vehicle is determined to have begun to take the particular responsive action, the assertive action is completed before a time when the second vehicle would have passed by the first vehicle had the first vehicle not completed the assertive action.

10. The method of claim 1, further comprising:

controlling, by the one or more processors, the first vehicle autonomously along a route; and

prior to maneuver the first vehicle to complete the assertive action, determining, by the one or more processors, that the first vehicle must take the assertive action to proceed along the route.

11. The method of claim 1, wherein predicting that the second vehicle will take the responsive action includes generating a prediction that the second vehicle will take the particular responsive action which would allow the first vehicle to comply with accommodation protocols of the first vehicle if the first vehicle were to complete the assertive action at a particular point in time, wherein the accommodation protocols prohibit actions by the first vehicle which would require certain types of responsive actions by another vehicle.

12. A system for controlling a first vehicle autonomously, the system comprising one or more processors configured to:

plan to maneuver the first vehicle to autonomously complete an assertive action with respect to a second vehicle;

predict that the second vehicle will take a particular responsive action based on the assertive action;

maneuver the first vehicle towards completing the assertive action by initiating a movement towards completing the assertive action in a way that would allow the first vehicle to cancel completing the assertive action without causing a collision between the first vehicle and the second vehicle, and in order to indicate to the second vehicle or a driver of the second vehicle that the first vehicle is attempting to complete the assertive action;

determine whether the second vehicle is taking the particular responsive action in response to the maneuvering;

determine whether the first vehicle is able to take the assertive action; and

when the first vehicle is determined to be able to take the assertive action, complete the assertive action by controlling the first vehicle autonomously using the determination of whether the second vehicle begins to take the particular responsive action.

13. The system of claim 12, wherein the particular responsive action includes slowing the second vehicle down to a particular speed.

14. The system of claim 12, wherein the particular responsive action includes changing a current lane of the second vehicle.

15. The system of claim 12, wherein when the second vehicle is determined to have begun to take the particular responsive action, the one or more processors are configured to complete the assertive action before a time when the second vehicle would have passed by the first vehicle had the first vehicle not completed the assertive action.

16. The system of claim 12, wherein the one or more processors are further configured to, prior to the maneuvering, predict that the second vehicle is likely to take the particular responsive action.

17. The system of claim 12, wherein the assertive action is making a right turn from a first roadway to a second roadway in order to pull in front of the second vehicle on the second roadway.

18. The system of claim 12, wherein the assertive action is making a left turn from a first roadway to leave the first roadway and requires crossing in front of the second vehicle on the first roadway.

19. The system of claim 12, wherein the assertive action is making a left turn into a parking lot or driveway.

20. A non-transitory computer readable storage medium on which instructions are stored, the instructions, when executed by one or more processors cause the one or more processors to perform a method of controlling a first vehicle autonomously, the method comprising:

planning, by one or more processors, to maneuver the first vehicle to autonomously complete an assertive action with respect to a second vehicle;

predicting that the second vehicle will take a particular responsive action based on the the assertive action;

maneuvering, by the one or more processors, the first vehicle towards completing the assertive action by initiating a movement towards completing the assertive action in a way that would allow the first vehicle to cancel completing the assertive action without causing a collision between the first vehicle and the second vehicle, and in order to indicate to the second vehicle or a driver of the second vehicle that the first vehicle is attempting to complete the assertive action;

determining, by the one or more processors, whether the second vehicle is taking the particular responsive action in response to the maneuvering;

determining whether the first vehicle is able to take the assertive action; and

when the first vehicle is determined to be able to take the assertive action, completing the assertive action, by the one or more processors, by controlling the first vehicle autonomously using the determination of whether the second vehicle begins to take the particular responsive action.