Method and system for establishing whether a road section is suitable for autonomous vehicle driving

• US 10,297,145 B2
• Filed: 08/09/2017
• Issued: 05/21/2019
• Est. Priority Date: 08/30/2016
• Status: Active Grant

• Current Assignee: Volvo Car Corporation (AB Volvo)
• Original Assignee: Volvo Car Corporation (AB Volvo)
• Inventors: Thelen, Sebastian, Harda, Peter
• Primary Examiner(s): Camby, Richard M
• Application Number:
  US15/672,609
• Publication Number:
  US 20180061226A1
• Time in Patent Office: 650 Days
• Field of Search: None
• CPC Class Codes: G01C 21/3819 Road shape data, e.g. outline of a route
• CPC Class Codes: G05D 1/0221 involving a learning process
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G06F 18/254 of classification results, e.g. of results related to same input data
• CPC Class Codes: G06T 2207/30256 Lane; Road marking
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
• CPC Class Codes: G08G 1/0104 Measuring and analyzing of parameters relative to traffic conditions
• CPC Class Codes: G08G 1/0112 from the vehicle, e.g. floating car data [FCD]
• CPC Class Codes: G08G 1/0141 for traffic information dissemination

Abstract

A suitability determining system for establishing whether a road section is suitable for at least semi-autonomous vehicle driving is described. The system identifies a road section including at least one lane and delimited by at least one lateral road boundary, and derives from at least a first estimate providing vehicle a respective utilization direction estimate along with a corresponding respective detection confidence value for each of respective lanes detected by the estimate providing vehicle along the road section. The system determines a respective summarized direction utilization estimate along with a corresponding respective summarized confidence value for each respective detected lane, and determines an autonomous driving suitability indication applicable for the road section, which indicates the road section is suitable for at least semi-autonomous driving provided all determined summarized direction utilization estimates indicate equally directed utilization and all determined summarized confidence values exceed respective confidence thresholds.

Claims

1. A method performed by a suitability determining system for establishing whether a road section is suitable for at least semi-autonomous vehicle driving, the suitability determining system being associated with a system supporting communication with one or more vehicles, the method comprising:

identifying a specific road section comprising at least one lane and delimited by at least one lateral road boundary;

deriving from at least a first estimate providing vehicle a respective utilization direction estimate along with a corresponding respective detection confidence value for each of respective lanes detected by the at least first estimate providing vehicle along at least a portion of the specific road section, the respective utilization direction estimate being based on detected driving trajectories detected by the at least first estimate providing vehicle of one or more surrounding vehicles along one or more of the respective detected lanes;

determining a respective summarized direction utilization estimate along with a corresponding respective summarized confidence value for each of the respective detected lanes; and

determining an autonomous driving suitability indication applicable for the specific road section, the autonomous driving suitability indication indicating that the specific road section is suitable for at least semi-autonomous driving provided that;

all of the determined summarized direction utilization estimates indicate equally directed utilization, and

all of the determined summarized confidence values are above respective confidence thresholds.

2. The method according to claim 1 wherein the autonomous driving suitability indication further indicates that the specific road section is unsuitable for at least semi-autonomous driving when:

not all of the determined summarized direction utilization estimates indicate equally directed utilization.

3. The method according to claim 1 wherein the autonomous driving suitability indication further indicates that the specific road section is unsuitable for at least semi-autonomous driving when:

not all of the determined summarized confidence values are above the respective confidence thresholds.

4. The method according to claim 1 further comprising:

providing the autonomous driving suitability indication to at least a first at lease semi-autonomous estimate receiving vehicle approaching and/or driving along the specific road section.

5. The method according to claim 1 further comprising:

updating, in digital map data, information associated with the specific road section and/or a lane thereof;

with the autonomous driving suitability indication, and/or

with at least one of the respective summarized direction utilization estimates and/or one or more of the corresponding respective summarized confidence values.

6. The method according to claim 1 wherein the specific road section is represented by a specific road section along a road intended for one-way traffic, and/or wherein the at least one lateral road boundary is represented by at least one delimiter physically delimiting the specific road section.

7. The method according to claim 1 wherein the respective direction utilization estimate indicates a driving direction of the detected driving trajectories in view of a driving direction of the at least first estimate providing vehicle:

equally directed;

directed in an oncoming direction; and

/or

both equally directed and in an oncoming direction.

8. A suitability determining system for establishing whether a road section is suitable for at least semi-autonomous vehicle driving, the suitability determining system being associated with a system supporting communication with one or more vehicles, the suitability determining system comprising:

a road section identifying unit configured to identify a specific road section comprising at least one lane and delimited by at least one lateral road boundary;

a deriving unit configured to derive from at least a first estimate providing vehicle a respective utilization direction estimate along with a corresponding respective detection confidence value for each of respective lanes detected by the at least first estimate providing vehicle along at least a portion of the specific road section, the respective utilization direction estimate being based on detected driving trajectories detected by the at least first estimate providing vehicle of one or more surrounding vehicles along one or more of the respective detected lanes;

a summary determining unit configured to determine a respective summarized direction utilization estimate along with a corresponding respective summarized confidence value for each of the respective detected lanes; and

a suitability determining unit configured to determine an autonomous driving suitability indication applicable for the specific road section, the autonomous driving suitability indication indicating that the specific road section is suitable for at least semi-autonomous driving provided that;

all of the determined summarized direction utilization estimates indicate equally directed utilization, and

all of the determined summarized confidence values are above respective confidence thresholds.

9. The suitability determining system according to claim 8 wherein the autonomous driving suitability indication further indicates that the specific road section is unsuitable for at least semi-autonomous driving when:

not all of the determined summarized direction utilization estimates indicate equally directed utilization.

10. The suitability determining system according to claim 8 wherein the autonomous driving suitability indication further indicates that the specific road section is unsuitable for at least semi-autonomous driving when:

not all of the determined summarized confidence values are above the respective confidence thresholds.

11. The suitability determining system according to claim 8 further comprising:

a providing unit configured to provide the autonomous driving suitability indication to at least a first at least semi-autonomous estimate receiving vehicle approaching and/or driving along the specific road section.

12. The suitability determining system according to claim 8 further comprising:

an updating unit configured to update, in digital map data, information associated with the specific road section and/or a lane thereof;

with the autonomous driving suitability indication, and/or

with at least one of the respective summarized direction utilization estimates and/or one or more of the corresponding respective summarized confidence values.

13. The suitability determining system according to claims 8 wherein the specific road section is represented by a specific road section along a road intended for one-way traffic, and/or wherein the at least one lateral road boundary is represented by at least one delimiter physically delimiting the specific road section.

14. The suitability determining system according to claim 8 wherein the respective direction utilization estimate indicates a driving direction of the detected driving trajectories in view of a driving direction of the at least first estimate providing vehicle:

equally directed;

directed in an oncoming direction; and

/or

both equally directed and in an oncoming direction.

15. A non-transitory computer readable medium having stored computer executable instructions which, when executed in a suitability determining system for establishing whether a road section is suitable for at least semi-autonomous vehicle driving, the suitability determining system being associated with a system supporting communication with one or more vehicles, cause the system to:

identify a specific road section comprising at least one lane and delimited by at least one lateral road boundary;

derive from at least a first estimate providing vehicle a respective utilization direction estimate along with a corresponding respective detection confidence value for each of respective lanes detected by the at least first estimate providing vehicle along at least a portion of the specific road section, the respective utilization direction estimate being based on detected driving trajectories detected by the at least first estimate providing vehicle of one or more surrounding vehicles along one or more of the respective detected lanes;

determine a respective summarized direction utilization estimate along with a corresponding respective summarized confidence value for each of the respective detected lanes; and

determine an autonomous driving suitability indication applicable for the specific road section, the autonomous driving suitability indication indicating that the specific road section is suitable for at least semi-autonomous driving provided that;

all of the determined summarized direction utilization estimates indicate equally directed utilization, and

all of the determined summarized confidence values are above respective confidence thresholds.