Identifying a stopping place for an autonomous vehicle

• US 10,473,470 B2
• Filed: 10/20/2016
• Issued: 11/12/2019
• Est. Priority Date: 10/20/2016
• Status: Active Grant

• Current Assignee: Motional AD, LLC (Aptiv PLC)
• Original Assignee: nuTonomy, Inc. (BorgWarner Incorporated)
• Inventors: Iagnemma, Karl, Ravichandran, Harshavardhan, Wongpiromsarn, Tichakorn
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): Smith-Stewart, Demetra R
• Application Number:
  US15/299,028
• Publication Number:
  US 20180113470A1
• Time in Patent Office: 1,118 Days
• Field of Search: None
• CPC Class Codes: G01C 21/30 Map- or contour-matching
• CPC Class Codes: G01C 21/3407 specially adapted for specific applications
• CPC Class Codes: G01C 21/3605 Destination input or retrieval
• 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

Abstract

Among other things, a vehicle is caused to drive autonomously through a road network toward a defined goal position at which a stopped activity is to occur. A set of acceptable stopping places is identified in the vicinity of the goal position. The identifying of the set includes: identifying a proximity region in the vicinity of the goal position, identifying a goal region within the proximity region, discretizing the goal region to identify acceptable stopping places given characteristics of the vehicle and of the stopped activity analyzing current information about potential stopping places in the goal region in the vicinity of the goal position to make a choice of a currently selected stopping place that is acceptable and feasible. Current information is analyzed about the potential stopping places, to make a choice of a currently selected stopping place that is acceptable and feasible the vehicle is caused to drive autonomously toward the currently selected stopping place. The activities are repeated until the vehicle stops at a currently selected stopping place.

Claims

1. A computer-implemented method comprising:

a. causing a vehicle to drive autonomously through a road network toward a defined goal position,

b. identifying a set of potential stopping places in the vicinity of the goal position, the identifying of the set comprising;

identifying a proximity region in the vicinity of the goal position, identifying a goal region within the proximity region, and discretizing the goal region,

c. as the vehicle is caused to drive toward the defined goal position, analyzing current information about the potential stopping places in the vicinity of the goal position to make a choice of a currently selected stopping place that meets initial thresholds for acceptability and feasibility for stopping,

d. causing the vehicle to drive autonomously toward the currently selected stopping place,

e. repeating at least activities c and d until the vehicle stops at the currently selected stopping place or until a specified amount of time has elapsed, and

f. repeating activities b and c using a relaxed threshold for acceptability, a relaxed threshold for feasibility, or both if the vehicle has not stopped at the currently selected stopping place within the specified amount of time and within the initial thresholds for acceptability and feasibility for stopping.

2. The method of claim 1 in which the analyzing of current information includes analyzing a combination of static information that is known prior to the vehicle beginning to drive autonomously through the road network and information that is obtained during the autonomous driving.

3. The method of claim 1 in which the analyzing of current information about potential stopping places includes continuously analyzing information from sensors on the vehicle or information from one or more other sources or both.

4. The method of claim 1 in which the analyzing of current information includes analyzing map data about the road network.

5. The method of claim 1 in which the analyzing of current information includes analyzing information about features in the vicinity of the goal position as perceived by sensors.

6. The method of claim 1 in which the analyzing of current information includes analyzing distances of respective stopping places from the goal position.

7. The method of claim 1 in which the analyzing of current information includes analyzing information about respective positions of the vehicle at the potential stopping places.

8. The method of claim 1 in which the analyzing of current information includes analyzing information about whether the vehicle can legally stop at the potential stopping places.

9. The method of claim 1 in which the analyzing of current information includes analyzing relative desirability of potential stopping places.

10. The method of claim 1 in which the analyzing of current information includes identifying a set of potential stopping places that are within a proximity region in the vicinity of the goal position.

11. The method of claim 10 in which the analyzing of current information includes removing potential stopping places from the set that are not feasible stopping places for the vehicle.

12. A system comprising one or more computers and one or more storage devices storing instructions that are operable, when executed by the one or more computers, to cause the one or more computers to perform operations comprising:

a. causing a vehicle to drive autonomously through a road network toward a defined goal position,

b. identifying a set of potential stopping places in the vicinity of the goal position, the identifying of the set comprising;

identifying a proximity region in the vicinity of the goal position,

identifying a goal region within the proximity region, and

discretizing the goal region,

c. as the vehicle is caused to drive toward the defined goal position, analyzing current information about the potential stopping places in the vicinity of the goal position to make a choice of a currently selected stopping place that meets initial thresholds for acceptability and feasibility for stopping,

d. causing the vehicle to drive autonomously toward the currently selected stopping place,

e. repeating at least activities c and d until the vehicle stops at the currently selected stopping place or until a specified amount of time has elapsed, and

f. repeating activities b and c using a relaxed threshold for acceptability, a relaxed threshold for feasibility, or both if the vehicle has not stopped at the currently selected stopping place within the specified amount of time and within the initial thresholds for acceptability and feasibility for stopping.

13. The system of claim 12, in which the analyzing of current information includes analyzing a combination of static information that is known prior to the vehicle beginning to drive autonomously through the road network and information that is obtained during the autonomous driving.

14. The system of claim 12, in which the analyzing of current information about potential stopping places includes continuously analyzing information from sensors on the vehicle or information from one or more other sources or both.

15. The system of claim 12, in which the analyzing of current information includes analyzing map data about the road network.

16. The system of claim 12, in which the analyzing of current information includes analyzing information about features in the vicinity of the goal position as perceived by sensors.

17. The system of claim 12, in which the analyzing of current information includes analyzing distances of respective stopping places from the goal position.

18. The system of claim 12, in which the analyzing of current information includes analyzing information about respective positions of the vehicle at the potential stopping places.

19. The system of claim 12, in which the analyzing of current information includes analyzing information about whether the vehicle can legally stop at the potential stopping places.

20. The system of claim 12, in which the analyzing of current information includes analyzing relative desirability of potential stopping places.

21. The system of claim 12, in which the analyzing of current information includes identifying a set of potential stopping places that are within a proximity region in the vicinity of the goal position.

22. The system of claim 21, in which the analyzing of current information includes removing potential stopping places from the set that are not feasible stopping places for the vehicle.

23. One or more non-transitory computer storage media storing instructions that are operable, when executed by one or more computers, to cause the one or more computers to perform operations comprising:

a. causing a vehicle to drive autonomously through a road network toward a defined goal position,

b. identifying a set of potential stopping places in the vicinity of the goal position, the identifying of the set comprising;

identifying a proximity region in the vicinity of the goal position,

identifying a goal region within the proximity region, and

discretizing the goal region,

c. as the vehicle is caused to drive toward the defined goal position, analyzing current information about the potential stopping places in the vicinity of the goal position to make a choice of a currently selected stopping place that meets initial thresholds for acceptability and feasibility for stopping,

d. causing the vehicle to drive autonomously toward the currently selected stopping place,

e. repeating at least activities c and d until the vehicle stops at the currently selected stopping place or until a specified amount of time has elapsed, and

f. repeating activities b and c using a relaxed threshold for acceptability, a relaxed threshold for feasibility, or both if the vehicle has not stopped at the currently selected stopping place within the specified amount of time and within the initial thresholds for acceptability and feasibility for stopping.