Self-driving vehicle systems and methods

• US 10,474,154 B1
• Filed: 04/02/2019
• Issued: 11/12/2019
• Est. Priority Date: 11/01/2018
• Status: Active Grant

• Current Assignee: Drivent LLC
• Original Assignee: Drivent LLC
• Inventors: Wengreen, Eric John, Schwie, Wesley Edward
• Primary Examiner(s): Ismail, Mahmoud S
• Application Number:
  US16/373,474
• Time in Patent Office: 224 Days
• Field of Search: 701 26, 348148, 705 13
• 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 1/0214 in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• CPC Class Codes: G05D 1/0285 using signals transmitted via a public communication network, e.g. GSM network
• CPC Class Codes: G05D 1/0287 involving a plurality of land vehicles, e.g. fleet or convoy travelling traffic control systems for road vehicles G08G1/00, particularly anticollision systems G08G1/16
• CPC Class Codes: G06V 20/54 of traffic, e.g. cars on the road, trains or boats
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle

Abstract

A vehicle monitoring system can include a detection system having a camera, radar, and lidar. The vehicle monitoring system can detect a vehicle, generate numerical position data indicative of a first path of the vehicle as the vehicle drives on a road, numerically analyze the first numerical position data, and in response, take actions to protect lives.

Claims

1. A method of using a vehicle monitoring system comprising a first detection system, wherein the first detection system comprises at least one of a first radar and a first lidar, the method comprising:

generating, by the vehicle monitoring system using at least one of the first radar and the first lidar of the first detection system, first numerical position data indicative of a first path of a first vehicle, wherein the first numerical position data is configured to numerically represent leftward and rightward veering movements of the first vehicle as the first vehicle travels in a lane of a road;

determining, by the vehicle monitoring system based on the first numerical position data, that at least a first leftward and rightward deviation characteristic of the first path exceeds a first veering threshold; and

in response to the determining, sending, by the vehicle monitoring system, a first wireless communication to a second vehicle that is not mechanically coupled to the first detection system, wherein the first wireless communication is configured to report driving behavior information regarding the first vehicle to the second vehicle and provide data regarding an identity of the first vehicle to the second vehicle.

2. The method of claim 1, wherein generating the first numerical position data comprises:

determining, using at least one of the first radar and the first lidar, a first number indicative of a first location of the first vehicle at a first time;

determining, using at least one of the first radar and the first lidar, a second number indicative of a second location of the first vehicle at a second time that is within three seconds of the first time; and

determining, using at least one of the first radar and the first lidar, a third number indicative of a third location of the first vehicle at a third time that is within three seconds of the second time.

3. The method of claim 1, wherein the vehicle monitoring system comprises a computer system having at least one processor and a memory comprising program instructions that when executed by the at least one processor are configured to analyze the first numerical position data, the method further comprising:

numerically analyzing, by the computer system using the first numerical position data, a first deviation of the first path of the first vehicle relative to the lane of the road; and

in response to numerically analyzing the first deviation and determining that at least the first leftward and rightward deviation characteristic of the first path exceeds the first veering threshold, prompting, by the vehicle monitoring system, legal action against at least one of the first vehicle, a driver of the first vehicle, and a party responsible for the first vehicle.

4. The method of claim 3, wherein prompting the legal action comprises prompting the second vehicle to pull over the first vehicle.

5. The method of claim 1, wherein the first detection system comprises a first camera, the method further comprising:

taking, by the first camera, a picture of the first vehicle, wherein the picture is configured to show a license plate identification of the first vehicle; and

in response to determining that at least the first leftward and rightward deviation characteristic of the first path exceeds the first veering threshold, reporting, by the vehicle monitoring system, the license plate identification to a government entity.

6. The method of claim 1, wherein the vehicle monitoring system comprises a second detection system configured to be located remotely relative to the first detection system, wherein the first detection system comprises a first camera, and the second detection system comprises a second camera and at least one of a second radar and a second lidar, and the vehicle monitoring system comprises an image analysis system, the method further comprising:

placing the second detection system at least 50 feet away from the first detection system;

generating, by the vehicle monitoring system using at least one of the second radar and the second lidar of the second detection system, second numerical position data indicative of a second path of the first vehicle;

taking, by the first camera of the first detection system, a first picture of the first vehicle at a first location;

determining, by the image analysis system, a first license plate identification by analyzing the first picture;

taking, by the second camera of the second detection system, a second picture of the first vehicle at a second location;

determining, by the image analysis system, a second license plate identification by analyzing the second picture; and

determining, by the vehicle monitoring system, that the second license plate identification is indicative of corresponding to the first license plate identification.

7. The method of claim 6, further comprising, in response to determining that the second license plate identification is indicative of corresponding to the first license plate identification, numerically analyzing collective evidence comprising the first numerical position data and the second numerical position data and determining that the collective evidence is indicative of the first vehicle exceeding a second veering threshold, and in response fining at least one of a driver of the first vehicle and a party responsible for the first vehicle.

8. The method of claim 6, further comprising, in response to determining that the second license plate identification is indicative of corresponding to the first license plate identification, numerically analyzing collective evidence comprising the first numerical position data and the second numerical position data and determining that the collective evidence is indicative of the first vehicle exceeding a second veering threshold, and in response prompting the second vehicle to at least one of drive to a third location within 250 feet of the first vehicle, drive toward the first vehicle, and pull over the first vehicle.

9. The method of claim 1, wherein the vehicle monitoring system comprises a second detection system comprising at least one of a second radar and a second lidar, the method further comprising:

placing the second detection system at least 50 feet away from the first detection system;

generating, by the vehicle monitoring system using at least one of the second radar and the second lidar of the second detection system, second numerical position data indicative of a second path of the first vehicle, wherein the second numerical position data is configured to numerically represent veering behavior of the first vehicle as the first vehicle travels in a second location that is remote from a first location of the road;

determining, by the second detection system based on the second numerical position data, that the veering behavior of the second path exceeds a second veering threshold; and

in response to determining that at least the first leftward and rightward deviation characteristic of the first path exceeds the first veering threshold and at least the veering behavior of the second path exceeds the second veering threshold, sending, by the vehicle monitoring system, the first wireless communication to the second vehicle.

10. The method of claim 1, wherein the first wireless communication comprises an impaired driving indicator.

11. The method of claim 1, further comprising in response to the determining:

prompting, by the vehicle monitoring system, the second vehicle to move toward the first vehicle.

12. A method of using a vehicle monitoring system comprising a first detection system, wherein the first detection system comprises at least one of a first camera, a first radar, and a first lidar, the method comprising:

detecting, by at least one of the first radar and the first lidar, a speed of a first vehicle;

generating, by the first detection system based on first data from at least one of the first camera, the first radar, and the first lidar, first numerical position data indicative of a first path of the first vehicle, wherein the first numerical position data is configured to numerically represent first leftward and rightward veering movements of the first vehicle relative to a first lane of a first road;

numerically analyzing, by the vehicle monitoring system using the first numerical position data, a first veering deviation of the first path;

determining, by the vehicle monitoring system and based on the speed, that the first path relative to the first lane exceeds a speed-relative veering threshold; and

in response to numerically analyzing the first veering deviation and determining that the first path relative to the first lane exceeds the speed-relative veering threshold, sending, by a communication system of the vehicle monitoring system, a first electronic communication to a traffic enforcement system that is not mechanically coupled to the first detection system, wherein the first electronic communication is configured to report driving behavior information regarding the first vehicle.

13. The method of claim 12, further comprising, in response to numerically analyzing the first veering deviation and determining that the first path relative to the first lane exceeds the speed-relative veering threshold:

prompting, by the vehicle monitoring system, a second vehicle to move toward the first vehicle.

14. The method of claim 12, wherein the vehicle monitoring system comprises a second detection system comprising at least one of a second camera, a second radar, and a second lidar, the method further comprising:

placing the first detection system such that the first detection system is configured to detect the first path of the first vehicle as the first vehicle drives on the first road;

placing the second detection system remotely relative to the first road and relative to the first detection system such that the second detection system is configured to detect a second path of the first vehicle as the first vehicle drives on a second road;

generating, by the second detection system based on second data from at least one of the second camera, the second radar, and the second lidar, second numerical position data indicative of the second path of the first vehicle, wherein the second numerical position data is configured to numerically represent second leftward and rightward veering movements of the first vehicle relative to a second lane of the second road;

aggregating, by the vehicle monitoring system, the first numerical position data and the second numerical position data;

determining, by the vehicle monitoring system, that collective path data based on aggregating the first numerical position data and the second numerical position data exceeds the speed-relative veering threshold; and

prompting, by the vehicle monitoring system, a second vehicle to move toward the first vehicle in response to determining, by the vehicle monitoring system, that the collective path data based on aggregating the first numerical position data and the second numerical position data exceeds the speed-relative veering threshold.

15. The method of claim 12, wherein determining that the first path relative to the first lane exceeds the speed-relative veering threshold comprises analyzing, by the vehicle monitoring system, the first leftward and rightward veering movements relative to the speed to determine that the first path fluctuates more than the speed-relative veering threshold.

16. The method of claim 12, wherein determining that the first path relative to the first lane exceeds the speed-relative veering threshold comprises determining, by the vehicle monitoring system, that the first path fluctuates at least one of toward a left side of the first road and toward a right side of the first road more often than the speed-relative veering threshold.

17. The method of claim 12, wherein determining that the first path relative to the first lane exceeds the speed-relative veering threshold comprises determining, by the vehicle monitoring system, that the first path fluctuates toward a left side of the first road and toward a right side of the first road more quickly than the speed-relative veering threshold.

18. The method of claim 12, wherein the speed-relative veering threshold is higher at a first speed than at a second speed that is less than the first speed.

19. A method of using a vehicle monitoring system comprising a first detection system, wherein the first detection system comprises a first camera and at least one of a first radar and a first lidar, the method comprising:

measuring, by at least one of the first radar and the first lidar, a first distance from the first detection system to a first vehicle at a first time;

measuring, by at least one of the first radar and the first lidar, a second distance from the first detection system to the first vehicle at a second time;

generating, by the vehicle monitoring system using the first distance, the second distance, and at least one image taken by the first camera, first numerical position data indicative of a first path of the first vehicle, wherein the first numerical position data is configured to numerically represent leftward and rightward veering movements of the first vehicle as the first vehicle travels in a lane of a road;

determining, by the first detection system based on the first numerical position data, that at least a first leftward and rightward deviation characteristic of the first path exceeds a first veering threshold; and

in response to the determining, sending, by the vehicle monitoring system, a first wireless communication to a second vehicle that is not mechanically coupled to the first detection system, wherein the first wireless communication is configured to report driving behavior information regarding the first vehicle to the second vehicle.

20. The method of claim 19, wherein the vehicle monitoring system comprises an image analysis system, and generating the first numerical position data comprises:

analyzing, by the image analysis system, the at least one image taken by the first camera to identify at least one location of at least one lane marker of the road;

estimating, by the image analysis system, a third distance and a fourth distance between the at least one lane marker of the road and the first vehicle; and

determining, by the vehicle monitoring system, the first numerical position data based on the at least one location of the at least one lane marker and based on the first distance measured by at least one of the first radar and the first lidar, the second distance measured by at least one of the first radar and the first lidar, the third distance estimated by the image analysis system, and the fourth distance estimated by the image analysis system.

21. The method of claim 19, further comprising in response to the determining:

prompting, by the vehicle monitoring system, the second vehicle to move toward the first vehicle.

22. A method of using a vehicle monitoring system comprising a first detection system, wherein the first detection system comprises at least one of a first radar and a first lidar, the method comprising:

generating, by the vehicle monitoring system using at least one of the first radar and the first lidar of the first detection system, first numerical position data indicative of a first path of a first vehicle, wherein the first numerical position data is configured to numerically represent leftward and rightward veering movements of the first vehicle as the first vehicle travels in a lane of a road;

numerically analyzing, by the vehicle monitoring system using the first numerical position data, a first leftward deviation of the first path and a first rightward deviation of the first path; and

in response to numerically analyzing the first leftward deviation and the first rightward deviation, sending, by a communication system of the vehicle monitoring system, a first electronic communication to a traffic enforcement system that is not mechanically coupled to the first detection system, wherein the first electronic communication is configured to report driving behavior information regarding the first vehicle.

23. The method of claim 22, further comprising in response to numerically analyzing the first leftward deviation and the first rightward deviation:

prompting, by the vehicle monitoring system, a second vehicle to move toward the first vehicle.

24. The method of claim 22, wherein generating the first numerical position data comprises:

determining, using at least one of the first radar and the first lidar, a first number indicative of a first location of the first vehicle at a first time;

determining, using at least one of the first radar and the first lidar, a second number indicative of a second location of the first vehicle at a second time that is within three seconds of the first time; and

determining, using at least one of the first radar and the first lidar, a third number indicative of a third location of the first vehicle at a third time that is within three seconds of the second time.