Coordinating movements of autonomous vehicles for user exit, loading, or unloading

• US 10,317,912 B2
• Filed: 06/21/2018
• Issued: 06/11/2019
• 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:
  US16/014,622
• Publication Number:
  US 20180299906A1
• Time in Patent Office: 355 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 including computing coordinated movements for a plurality of autonomous vehicles to provide access to a particular one of the autonomous vehicles, wherein each of the coordinated movements is computed to avoid movement of any one of the autonomous vehicles interfering with movement of any other one of the autonomous vehicles, and the requested access comprises one or more passengers entering into or exiting from the particular one of the autonomous vehicles, and causing the autonomous vehicles to execute autonomously the coordinated movements to provide the requested access. In addition, or alternatively, the requested access may comprise cargo being loaded into or unloaded from the particular one of the autonomous vehicles.

Claims

1. A method comprising:

computing, by a central computing device, coordinated movements for a plurality of autonomous vehicles to provide access to a particular one of the autonomous vehicles, wherein;

each of the coordinated movements is computed to avoid movement of any one of the autonomous vehicles interfering with movement of any other one of the autonomous vehicles;

at least one of the coordinated movements of the particular one of the autonomous vehicles is dependent on a fixed interval delay and is performed after movement by at least one of the other autonomous vehicles; and

the access comprises one or more passengers entering into or exiting from the particular one of the autonomous vehicles; and

causing, by the central computing device, the autonomous vehicles to execute autonomously the coordinated movements to provide the access.

2. The method of claim 1, wherein the coordinated movements are to be executed autonomously by the plurality of autonomous vehicles in a time sequence.

3. The method of claim 1, wherein:

the autonomous vehicles are arranged in an array that comprises a plurality of columns, wherein the particular autonomous vehicle is in a first one of the columns and blocked by one or more other autonomous vehicles in the first column;

computing the set of coordinated movements for the autonomous vehicles comprises;

selecting the first column and a second one of the columns in the array; and

determining, for each selected column, a first end of the column to be a front of the column and a second end of the column opposite the first end to be a back of the column; and

according to the set of coordinated movements, the autonomous vehicles blocking the particular autonomous vehicle in the first column are cyclically moved from the front of the first column to the back of the second column as autonomous vehicles in the second column are moved from the front of the second column to the back of the first column and the autonomous vehicles remaining in the first and second columns are moved forward until the particular autonomous vehicle reaches the front of the first column.

4. The method of claim 1, wherein, in the set of coordinated movements:

the autonomous vehicles in the first and second columns all drive forward;

the autonomous vehicles in the first and second columns all drive backward;

or

some of the autonomous vehicles in the first and second columns drive forward and other of the autonomous vehicles in the first and second columns drive backward.

5. The method of claim 1, wherein:

the autonomous vehicles are arranged in an array that comprises a plurality of columns, wherein the particular autonomous vehicle is in a first one of the columns and blocked by one or more other autonomous vehicles in the first column and one or more other autonomous vehicles in a second one of the columns; and

according to the coordinated movements;

one or more of the autonomous vehicles in the column are moved longitudinally to move the column; and

the movement of each of the first and second columns collectively creates a temporary access aisle to provide the access to the particular autonomous vehicle.

6. The method of claim 5, wherein one or more of the autonomous vehicles in the column are moved longitudinally to split the column, thereby creating a gap in the column for the temporary access aisle, with one or more of the autonomous vehicles in the column being on one side of the temporary access aisle and one or more other autonomous vehicles in the column being on another side of the temporary access aisle.

7. The method of claim 5, wherein one or more of the autonomous vehicles in the column are moved longitudinally to shift the column, thereby creating a gap at an end of the column for the temporary access aisle, with all autonomous vehicles in the column being on a same side of temporary access aisle.

8. The method of claim 5, wherein the temporary access aisle is:

perpendicular to one or more of the columns;

or

diagonal with respect to one or more of the columns.

9. The method of claim 5, wherein, in the coordinated movements:

the autonomous vehicles in the first and second columns all drive forward;

the autonomous vehicles in the first and second columns all drive backward;

or

some of the autonomous vehicles in the first and second columns drive forward and other of the autonomous vehicles in the first and second columns drive backward.

10. The method of claim 1, wherein a communication network wirelessly connects the autonomous vehicles to the central computing device.

11. The method of claim 10, wherein the communication network:

communicates location information from one or more of the autonomous vehicles to the central computing device;

or

communicates movement information based on the coordinated movements computed by the central computing device from the central computing device to one or more of the autonomous vehicles.

12. The method of claim 10, wherein the communication network is unidirectional or bidirectional.

13. The method claim 10, wherein the communication network is:

part of a vehicle-control network operating only in an area where the autonomous vehicles are located;

or

part of a communication system operating in a larger area that encompasses the location of the autonomous vehicles.

14. A method comprising:

computing, by a central computing device, coordinated movements for a plurality of autonomous vehicles to provide access to a particular one of the autonomous vehicles, wherein;

each of the coordinated movements is computed to avoid movement of any one of the autonomous vehicles interfering with movement of any other one of the autonomous vehicles;

at least one of the coordinated movement of the particular one of the autonomous vehicles is dependent on a fixed interval delay and is performed after movement by at least one of the other autonomous vehicles; and

the access comprises cargo being loaded into or unloaded from the particular one of the autonomous vehicles; and

causing, by the central computing device, the autonomous vehicles in the selected to execute autonomously the set of coordinated movements to provide the access.

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

compute, by a central computing device, coordinated movements for a plurality of autonomous vehicles to provide access to a particular one of the autonomous vehicles, wherein;

each of the coordinated movements is computed to avoid movement of any one of the autonomous vehicles interfering with movement of any other one of the autonomous vehicles;

at least one of the coordinated movements of the particular one of the autonomous vehicles is dependent on a fixed interval delay and is performed after movement by at least one of the other autonomous vehicles; and

the access comprises one or more passengers entering into or exiting from the particular one of the autonomous vehicles; and

cause, by the central computing device, the autonomous vehicles to execute autonomously the coordinated movements to provide the access.

16. The media of claim 15, wherein:

the autonomous vehicles are arranged in an array that comprises a plurality of columns, wherein the particular autonomous vehicle is in a first one of the columns and blocked by one or more other autonomous vehicles in the first column;

computing the set of coordinated movements for the autonomous vehicles comprises;

selecting the first column and a second one of the columns in the array; and

determining, for each selected column, a first end of the column to be a front of the column and a second end of the column opposite the first end to be a back of the column; and

according to the set of coordinated movements, the autonomous vehicles blocking the particular autonomous vehicle in the first column are cyclically moved from the front of the first column to the back of the second column as autonomous vehicles in the second column are moved from the front of the second column to the back of the first column and the autonomous vehicles remaining in the first and second columns are moved forward until the particular autonomous vehicle reaches the front of the first column.

17. The media of claim 15, wherein:

the autonomous vehicles are arranged in an array that comprises a plurality of columns, wherein the particular autonomous vehicle is in a first one of the columns and blocked by one or more other autonomous vehicles in the first column and one or more other autonomous vehicles in a second one of the columns; and

according to the coordinated movements;

one or more of the autonomous vehicles in the column are moved longitudinally to move the column; and

the movement of each of the first and second columns collectively creates a temporary access aisle to provide the access to the particular autonomous vehicle.

18. 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;

compute, by a central computing device, coordinated movements for a plurality of autonomous vehicles to provide access to a particular one of the autonomous vehicles, wherein;

each of the coordinated movements is computed to avoid movement of any one of the autonomous vehicles interfering with movement of any other one of the autonomous vehicles;

at least one of the coordinated movements of the articular one of the autonomous vehicles is dependent on a fixed interval delay and is performed after movement by at least one of the other autonomous vehicles; and

the access comprises one or more passengers entering into or exiting from the particular one of the autonomous vehicles; and

cause, by the central computing device, the autonomous vehicles to execute autonomously the coordinated movements to provide the access.

19. The system of claim 18, wherein:

the autonomous vehicles are arranged in an array that comprises a plurality of columns, wherein the particular autonomous vehicle is in a first one of the columns and blocked by one or more other autonomous vehicles in the first column;

computing the set of coordinated movements for the autonomous vehicles comprises;

selecting the first column and a second one of the columns in the array; and

determining, for each selected column, a first end of the column to be a front of the column and a second end of the column opposite the first end to be a back of the column; and

according to the set of coordinated movements, the autonomous vehicles blocking the particular autonomous vehicle in the first column are cyclically moved from the front of the first column to the back of the second column as autonomous vehicles in the second column are moved from the front of the second column to the back of the first column and the autonomous vehicles remaining in the first and second columns are moved forward until the particular autonomous vehicle reaches the front of the first column.

20. The system of claim 18, wherein:

the autonomous vehicles are arranged in an array that comprises a plurality of columns, wherein the particular autonomous vehicle is in a first one of the columns and blocked by one or more other autonomous vehicles in the first column and one or more other autonomous vehicles in a second one of the columns; and

according to the coordinated movements;

one or more of the autonomous vehicles in the column are moved longitudinally to move the column; and

the movement of each of the first and second columns collectively creates a temporary access aisle to provide the access to the particular autonomous vehicle.