Determining and displaying auto drive lanes in an autonomous vehicle

• US 10,295,359 B2
• Filed: 11/15/2016
• Issued: 05/21/2019
• Est. Priority Date: 11/30/2012
• Status: Active Grant

• Current Assignee: Google LLC (Alphabet Inc.)
• Original Assignee: Waymo LLC (Alphabet Inc.)
• Inventors: Nemec, Philip, Cullinane, Brian Douglas, Clement, Manuel Christian, Mariet, Robertus Christianus Elisabeth
• Primary Examiner(s): Worden, Thomas E
• Application Number:
  US15/351,822
• Publication Number:
  US 20170122766A1
• Time in Patent Office: 917 Days
• CPC Class Codes: B60T 17/221 Procedure or apparatus for checking or keeping in a correct functioning condition of brake systems hydraulic pressure systems in general F15B19/00, F15B21/04; testing structures or apparatus G01M
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 7/12 for automatic initiation; for initiation not subject to will of driver or passenger limiting speed of vehicles other than rail vehicles B60K31/00
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers
• CPC Class Codes: B62D 15/025 Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence
• CPC Class Codes: B62D 15/0295 by overlaying a vehicle path based on present steering angle over an image without processing that image
• CPC Class Codes: G01C 21/3673 Labelling using text of road map data items, e.g. road names, POI names
• CPC Class Codes: G05D 1/021 specially adapted to land vehicles
• CPC Class Codes: G08G 1/0969 having a display in the form of a map
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

Aspects of the present disclosure relate generally to identifying and displaying traffic lanes that are available for autonomous driving. This information may be displayed to a driver of a vehicle having an autonomous driving mode, in order to inform the driver of where he or she can use the autonomous driving mode. In one example, the display may visually distinguishing between lanes that are available for auto-drive from those that are not. The display may also include an indicator of the position of a lane (autodrive or not) currently occupied by the vehicle. In addition, if that lane is an autodrive lane the display may include information indicating how much further the vehicle may continue in the autonomous driving mode in that particular lane. The display may also display information indicating the remaining autodrive distance in other lanes as well as the lane with the greatest remaining autodrive distance.

Claims

1. A computer-implemented method comprising:

accessing, by one or more processors of the computer, detailed map information identifying the locations of autodrive lanes, wherein each autodrive lane is a lane of a roadway pre-approved for an autonomous driving mode of a vehicle, the autonomous driving mode allowing a driver to relinquish control of the vehicle to a computer;

identifying, by the one or more processors, an autodrive lane based on at least the detailed map information and a route being followed by the vehicle;

generating, by the one or more processors, display information including lanes and identifying which of the lanes is the autodrive lane, the display information including a visual marker identifying a range of the lane for the autonomous driving mode,

wherein the visual marker includes an icon representative of a construction zone in order to identify that the range relates to the construction zone; and

providing, by the one or more processors, the display information for display to the driver.

2. The method of claim 1, further comprising displaying the display information when the vehicle is not being operated in the autonomous driving mode.

3. The method of claim 1, wherein the display information includes a visual arrangement where the icon is arranged below a representation of the lanes.

4. The method of claim 1, wherein the display information includes a visual arrangement where the icon is arranged below a representation of the autodrive lane and closer to the autodrive lane than any representation of another lane.

5. The method of claim 1, wherein the display information includes a visual arrangement where the visual marker includes text identifying the range.

6. The method of claim 1, wherein the display information includes a visual arrangement where the visual marker is arranged below a representation of the lanes.

7. The method of claim 1, wherein the display information includes a first display color for the autodrive lane and a second display color for another lane, the first and second display color being different.

8. The method of claim 1, further comprising a visual indicator representing a location of the vehicle within one of the lanes.

9. The method of claim 5, wherein text identifying the range is arranged below a visual indicator representing a location of the vehicle within one of the lanes.

10. The method of claim 7, wherein when the route includes multiple autonomous driving lanes, the autodrive lane on the route with the greatest range for driving in the autonomous driving mode is identified by the first display color, and the display information includes a third display color for identifying each autodrive lane that does not have the greatest range for driving in the autonomous driving mode;

the first, second, and third display color being different.

11. A system comprising at least one computer having one or more processors configured to:

access detailed map information identifying locations of autodrive lanes, wherein each autodrive lane is a lane of a roadway pre-approved for an autonomous driving mode of the vehicle, the autonomous driving mode allowing a driver to relinquish control of a vehicle to a computer;

identify an autodrive lane based on at least the detailed map information and a route being followed by the vehicle;

generate display information including lanes and identifying which of the lanes is the autodrive lane, the display information including a visual marker identifying a range of the lane for the autonomous driving mode,

wherein the visual marker includes an icon representative of a construction zone in order to identify that the range relates to the construction zone; and

provide the display information for display to the driver.

12. The system of claim 11, wherein the one or more processors are further configured to display the display information when the vehicle is not being operated in the autonomous driving mode.

13. The system of claim 11, wherein the display information includes a visual arrangement where the icon is arranged below a representation of the lanes.

14. The system of claim 11, wherein the display information includes a visual arrangement where the icon is arranged below a representation of the autodrive lane and closer to the autodrive lane than any representation of another lane.

15. The system of claim 11, wherein the display information includes a visual arrangement where the visual marker is arranged below a representation of the lanes.

16. The system of claim 11, further comprising the vehicle.

17. The system of claim 11, wherein the display information includes a visual arrangement where the visual marker includes text identifying the range.

18. The system of claim 17, wherein text identifying the range is arranged below a visual indicator representing a location of the vehicle within one of the lanes.

19. The system of claim 11, further comprising a visual indicator representing a location of the vehicle within one of the lanes.