Personalized autonomous vehicle ride characteristics

• US 10,365,653 B2
• Filed: 06/12/2017
• Issued: 07/30/2019
• Est. Priority Date: 06/12/2017
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations LLC (General Motors Company)
• Inventors: Haghighat, Sohrab, Minster, Gautier, Chu, Kevin, Vogt, Kyle
• Primary Examiner(s): To, Tuan C
• Application Number:
  US15/620,175
• Publication Number:
  US 20180356830A1
• Time in Patent Office: 778 Days
• Field of Search: 701 23
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/10 including control of change-speed gearings
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2050/0064 using a remote, e.g. cordless, transmitter or receiver unit, e.g. remote keypad or mobile phone
• CPC Class Codes: B60W 2050/146 Display means
• CPC Class Codes: B60W 2510/205 Steering speed
• CPC Class Codes: B60W 2520/105 Longitudinal acceleration
• CPC Class Codes: B60W 2520/125 Lateral acceleration
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 2710/205 Steering speed
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 2720/125 Lateral acceleration
• CPC Class Codes: B60W 2720/14 Yaw
• CPC Class Codes: B60W 2754/30 Longitudinal distance
• CPC Class Codes: B60W 2756/10 Involving external transmission of data to or from the vehicle
• CPC Class Codes: B60W 30/143 : Speed control B60W30/16 takes precedence
• CPC Class Codes: B60W 30/16 : Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 50/085 : Changing the parameters of the control units, e.g. changing limit values, working points by control input
• CPC Class Codes: B60W 50/10 : Interpretation of driver requests or demands
• CPC Class Codes: B60W 50/14 : Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: G05D 1/0221 : involving a learning process
• CPC Class Codes: G05D 1/0223 : involving speed control of the vehicle vehicle fittings for automatically controlling, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator B60K31/00
• CPC Class Codes: H04L 67/12 : specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
• CPC Class Codes: H04L 67/306 : User profiles
• CPC Class Codes: H04W 4/40 : for vehicles, e.g. vehicle-to-pedestrians [V2P]

Abstract

Systems and method are provided for controlling a vehicle. In one embodiment, a method includes: obtaining ride preference information associated with a user, identifying a current vehicle pose, determining a motion plan for the vehicle along a route based at least in part on the ride preference information, the current vehicle pose, and vehicle kinematic and dynamic constraints associated with the route, and operating one or more actuators onboard the vehicle in accordance with the motion plan. The user-specific ride preference information influences a rate of vehicle movement resulting from the motion plan.

Claims

1. A method of autonomously controlling a vehicle in a personalized manner, the method comprising:

obtaining, by a controller onboard the vehicle, ride preference information associated with a user, the ride preference information comprising a user-specific value for a maximum rate of change for an acceleration of the vehicle;

identifying, by the controller, a current vehicle pose;

determining, by the controller, a motion plan for the vehicle along a route based at least in part on the ride preference information, the current vehicle pose, and constraints associated with the route, wherein the motion plan comprises a solution for traversing along the route from the current vehicle pose in a manner that satisfies the constraints and the user-specific value for the maximum rate of change for the acceleration of the vehicle, the user-specific value for the maximum rate of change for the acceleration of the vehicle influencing a rate of vehicle movement resulting from the motion plan; and

operating, by the controller, one or more actuators onboard the vehicle in accordance with the motion plan.

2. The method of claim 1, the ride preference information including a longitudinal constraint, wherein the longitudinal constraint influences the rate of vehicle movement longitudinally.

3. The method of claim 1, the ride preference information including a lateral constraint, wherein the lateral constraint influences the rate of vehicle movement laterally.

4. The method of claim 1, further comprising obtaining, by the controller, obstacle data for an object, wherein:

the ride preference information includes a separation distance; and

the separation distance influences the rate of vehicle movement relative to the object.

5. The method of claim 1, the ride preference information comprising a plurality of constraints, wherein determining the motion plan comprises determining a solution for traversing along the route from the current vehicle pose that maximizes compliance with the plurality of constraints.

6. The method of claim 5, wherein determining the solution comprises optimizing a cost function associated with traversing along the route from the current vehicle pose in a manner that maximizes compliance with the plurality of constraints.

7. The method of claim 1, further comprising:

receiving user feedback after operating the one or more actuators in accordance with the motion plan; and

updating the ride preference information based on the user feedback.

8. The method of claim 1, wherein obtaining the ride preference information comprises receiving the ride preference information from a user device in a vicinity of the vehicle.

9. The method of claim 1, wherein obtaining the ride preference information comprises receiving the ride preference information associated with the user from a remote device via a network.

10. The method of claim 1, wherein obtaining the ride preference information comprises:

generating a graphical user interface display including one or more graphical user interface elements; and

receiving the ride preference information input via the one or more graphical user interface elements.

11. A computer-readable medium having computer-executable instructions stored thereon that, when executed by a processor of the controller onboard the vehicle, cause the processor to perform the method of claim 1.

12. An autonomous vehicle, comprising:

at least one sensor that provides sensor data;

one or more actuators onboard the vehicle;

a communication system onboard the vehicle to receive ride preference information associated with a user, the ride preference information comprising a user-specific value for a maximum rate of change for an acceleration of the vehicle; and

a controller that, by a processor and based on the sensor data and the ride preference information, identifies a current vehicle pose, determines object prediction data for an object based at least in part on the sensor data, determines a motion plan for the vehicle along a route based at least in part on the ride preference information, the current vehicle pose, the object prediction data and constraints associated with the route, and autonomously operates the one or more actuators onboard the vehicle in accordance with the motion plan, wherein;

the motion plan comprises a solution for traversing along the route from the current vehicle pose in a manner that satisfies the constraints and the user-specific value for the maximum rate of change for the acceleration of the vehicle; and

the user-specific value for the maximum rate of change for the acceleration of the vehicle influences a rate of vehicle movement resulting from the motion plan.

13. The vehicle of claim 12, the ride preference information comprising a plurality of constraints, wherein the motion plan comprises a solution for traversing along the route from the current vehicle pose that maximizes compliance with the plurality of constraints.

14. The vehicle of claim 13, wherein the plurality of constraints includes one or more of a maximum speed, a maximum acceleration, or a maximum longitudinal jerk influencing the rate of vehicle movement longitudinally.

15. The vehicle of claim 13, wherein the plurality of constraints includes at least one of a maximum steering rate, a maximum steering rate acceleration, a maximum lateral acceleration, and a maximum lateral jerk influencing the rate of vehicle movement laterally.

16. The vehicle of claim 13, wherein the plurality of constraints includes at least one of a minimum lateral separation distance and a minimum following distance, wherein the at least one of the minimum lateral separation distance and the minimum following distance influences the rate of vehicle movement relative to the object.

17. The vehicle of claim 12, wherein the controller is configured to receive user feedback via the communications system after operating the one or more actuators in accordance with the motion plan and update the ride preference information based on the user feedback.

18. An autonomous vehicle system comprising:

a graphical user interface display to receive user input indicative of ride preference information, the ride preference information comprising a user-specific value for a maximum rate of change for an acceleration of the vehicle;

one or more actuators onboard a vehicle; and

a controller onboard the vehicle and coupled to the one or more actuators to obtain the ride preference information, determine a motion plan for the vehicle along a route based at least in part on the ride preference information, a current vehicle pose, and constraints associated with the route, and operate the one or more actuators onboard the vehicle in accordance with the motion plan, wherein;

the motion plan comprises a solution for traversing along the route from the current vehicle pose in a manner that satisfies the constraints and the user-specific value for the maximum rate of change for the acceleration of the vehicle; and

the user-specific value for the maximum rate of change for the acceleration of the vehicle influences a rate of vehicle movement resulting from the motion plan.

19. The system of claim 18, further comprising one or more sensors onboard the vehicle to provide sensor data, wherein:

the controller is configured to determine object prediction data for an object based at least in part on the sensor data and determines the motion plan based at least in part on the ride preference information, the current vehicle pose, the object prediction data and the constraints associated with the route; and

the ride preference information influences the rate of vehicle movement relative to the object.

20. The system of claim 18, the ride preference information comprising a plurality of constraints, wherein the motion plan comprises an optimal solution for traversing along the route from the current vehicle pose that satisfies the plurality of constraints.