Using zone rules to control autonomous vehicle operation within a zone

• US 10,310,515 B2
• Filed: 06/21/2018
• Issued: 06/04/2019
• Est. Priority Date: 02/01/2015
• Status: Active Grant

• Current Assignee: LYFT Incorporated
• Original Assignee: LYFT Incorporated
• Inventors: Harvey, Thomas Danaher
• Primary Examiner(s): Badii, Behrang
• Assistant Examiner(s): Greene, Daniel L
• Application Number:
  US16/014,699
• Publication Number:
  US 20180307251A1
• Time in Patent Office: 348 Days
• CPC Class Codes: B60Q 1/5035 electronic displays
• CPC Class Codes: B60Q 1/507 specific to autonomous vehicles
• CPC Class Codes: B60Q 1/508 specific to vehicles driving in fleets or convoys
• CPC Class Codes: B60Q 1/544 for indicating other states or conditions of the vehicle occupants, e.g. for indicating disabled occupants
• CPC Class Codes: B60Q 1/547 for issuing requests to other traffic participants; for confirming to other traffic participants they can proceed, e.g. they can overtake
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: E04H 6/422 Automatically operated car-parks
• CPC Class Codes: G05D 1/0022 characterised by the communication link data switching networks in general H04L12/00
• CPC Class Codes: G05D 1/0027 involving a plurality of vehicles, e.g. fleet or convoy travelling fleet control of land vehicles from a control room G05D1/0297; traffic control systems for road vehicles G08G1/00; for marine craft G08G3/00; for aircraft G08G5/00
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0293 Convoy travelling
• CPC Class Codes: G05D 1/0295 by at least one leading vehicle of the fleet
• CPC Class Codes: G05D 1/0297 by controlling means in a control room
• CPC Class Codes: G08G 1/168 Driving aids for parking, e.g. acoustic or visual feedback on parking space
• CPC Class Codes: G08G 1/20 Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
• CPC Class Codes: G08G 1/22 Platooning, i.e. convoy of communicating vehicles

Abstract

A method includes causing an autonomous vehicle in a zone controlled by the zone authority to enter a controlled mode of operation according to which the autonomous vehicle follows one or more zone rules for operation of the autonomous vehicle in the zone, causing the autonomous vehicle to follow the zone rules while operating in the zone, and causing the autonomous vehicle to be released from the zone rules and to exit the controlled mode when the autonomous vehicle leaves the zone.

Claims

1. A method comprising:

causing, by a central computing device associated with a zone authority, an autonomous vehicle in a zone controlled by the zone authority to enter a controlled mode of operation according to which the autonomous vehicle follows one or more zone rules stored on the autonomous vehicle for operation of the autonomous vehicle in the zone;

causing, by the central computing device, the autonomous vehicle to follow the one or more zone rules while operating in the zone, the one or more zone rules limiting behavior by the autonomous vehicle based on one or more conditions that are known or sensed by the autonomous vehicle; and

causing, by the central computing device, the autonomous vehicle to be released from the zone rules and to exit the controlled mode when the autonomous vehicle leaves the zone.

2. The method of claim 1, wherein causing the autonomous vehicle to enter the controlled mode of operation comprises causing a control message to be transmitted to the autonomous vehicle that causes the autonomous vehicle to enter the controlled mode.

3. The method of claim 1, wherein causing the autonomous vehicle to follow the zone rules while operating in the zone comprises causing a control message to be transmitted to the autonomous vehicle that contains the zone rules, wherein the autonomous vehicle autonomously follows the zone rules.

4. The method of claim 1, wherein a stream of control messages are transmitted to the autonomous vehicle to be stored on the autonomous vehicle for operation of the autonomous vehicle in the zone.

5. The method of claim 1, wherein the stream of control messages is based at least in part on information transmitted to the zone authority by autonomous vehicles in the zone.

6. The method of claim 1, wherein the zone is an area in which a zone authority controls operation of autonomous vehicles to enforce compliance with the zone rules.

7. The method of claim 1, wherein the zone is a parking facility, tunnel, road, or security area.

8. The method of claim 1, wherein the zone is entered through a physical gate or a communications-based electronic point of control transfer.

9. The method of claim 1, wherein one or more of the zone rules designate speed, vehicle spacing, or lane selection.

10. The method of claim 1, wherein the behavior designated by one or more of the zone rules is further based on conditions within the zone determined by the zone authority.

11. The method of claim 1, wherein one or more of the zone rules require vehicles under control of the zone authority to respond to information communicated to them by the zone authority.

12. The method of claim 1, wherein:

the autonomous vehicle comprises a display screen visible to a human driver in the autonomous vehicle; and

instructions from the zone authority are displayed on the display screen to prompt the human driver in the autonomous vehicle to follow one or more of the zone rules while operating the autonomous vehicle in the zone.

13. The method of claim 1, wherein one or more of the zone rules coordinate simultaneous operation of a plurality of vehicles in the zone.

14. The method of claim 1, wherein one or more of the zone rules control one or more of:

locations of vehicles in the zone;

paths of vehicles in the zone;

speeds of vehicles in the zone;

or

use of markers in the zone by vehicles.

15. The method of claim 1, wherein one or more of the zone rules are configured to direct the autonomous vehicle to a checkpoint for clearance.

16. The method of claim 1, wherein one or more of the zone rules require the autonomous vehicle to report periodically to the zone authority the autonomous vehicle'"'"'s speed or location or conditions sensed by the autonomous vehicle.

17. The method of claim 1, wherein the zone comprises markers that provide information that can be detected by sensors on vehicles in the zone and used to control the vehicles.

18. The method of claim 17, where one or more of the markers have fixed content or content that can be changed in response to conditions in the zone.

19. The method of claim 1, wherein one or more of the zone rules for operation of the autonomous vehicle in the zone further take into account one or more of:

one or more capabilities of the autonomous vehicle;

reliability of control of the autonomous vehicle;

accuracy of control of the autonomous vehicle;

a configuration of an area of the zone in which the autonomous vehicle is operating;

one or more conditions of the zone determined by one or more other vehicles in the zone;

or

one or more conditions of the zone determined using zone sensors in the zone.

20. The method of claim 19, wherein one or more capabilities of the autonomous vehicle comprise:

traction;

turning ability;

speed capabilities of the autonomous vehicle;

autonomous-operation capabilities of the autonomous vehicle;

abilities of the autonomous vehicle to sense and coordinate with other autonomous vehicles;

abilities of the autonomous vehicle to communicate with the zone authority;

or

reliability of the autonomous vehicle.

21. The method of claim 1, wherein:

the zone comprises a security area; and

one or more of the zone rules are configured to override autonomous or human-driver control of the autonomous vehicle to prevent the autonomous vehicle from entering the security area.

22. The method of claim 21, wherein the security area varies by time, vehicle, or vehicle mission.

23. The method of claim 1, wherein one or more of the zone rules take into account a mission of the autonomous vehicle.

24. The method of claim 23, wherein:

the mission of the autonomous vehicle is to provide a service within the zone; and

one or more of the zone rules take into account the mission of the autonomous vehicle by directing the autonomous vehicle to a location in the zone where the service is to be provided.

25. One or more computer-readable non-transitory storage media embodying software that is operable when executed to:

cause, by a central computing device associated with a zone authority, an autonomous vehicle in a zone controlled by the zone authority to enter a controlled mode of operation according to which the autonomous vehicle follows one or more zone rules stored on the autonomous vehicle for operation of the autonomous vehicle in the zone;

cause, by the central computing device, the autonomous vehicle to follow the one or more zone rules while operating in the zone, the one or more zone rules limiting behavior by the autonomous vehicle based on one or more conditions that are known or sensed by the autonomous vehicle; and

cause, by the central computing device, the autonomous vehicle to be released from the zone rules and to exit the controlled mode when the autonomous vehicle leaves the zone.

26. A system comprising:

one or more processors; and

one or more computer-readable non-transitory storage media coupled to one or more of the processors and comprising instructions operable when executed by one or more of the processors to cause the system to;

cause, by a central computing device associated with a zone authority, an autonomous vehicle in a zone controlled by the zone authority to enter a controlled mode of operation according to which the autonomous vehicle follows one or more zone rules stored on the autonomous vehicle for operation of the autonomous vehicle in the zone;

cause, by the central computing device, the autonomous vehicle to follow the one or more zone rules while operating in the zone, the one or more zone rules limiting behavior by the autonomous vehicle based on one or more conditions that are known or sensed by the autonomous vehicle; and

cause, by the central computing device, the autonomous vehicle to be released from the zone rules and to exit the controlled mode when the autonomous vehicle leaves the zone.