Avoiding blind spots of other vehicles

• US 10,591,919 B1
• Filed: 05/18/2017
• Issued: 03/17/2020
• Est. Priority Date: 06/20/2012
• Status: Active Grant

• Current Assignee: Waymo LLC (Alphabet Inc.)
• Original Assignee: Waymo LLC (Alphabet Inc.)
• Inventors: Dolgov, Dmitri A., Urmson, Christopher Paul
• Primary Examiner(s): Nguyen, Bao Long T
• Application Number:
  US15/598,487
• Time in Patent Office: 1,034 Days
• Field of Search: 701 70, 701 26, 701 28, 701118, 701519, 701300-302, 701 93, 701 96, 701 98, 340435-437, 700253, 700255, 700258, 342 70- 71
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/402 Type
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2554/60 Traversable objects, e.g. speed bumps or curbs
• CPC Class Codes: B60W 2554/806 Relative heading
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 30/08 Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 50/0097 Predicting future conditions
• CPC Class Codes: B60W 60/00272 relying on extrapolation of current movement
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network
• CPC Class Codes: G05D 1/0061 for transition from automatic pilot to manual pilot and vice versa
• 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: G08G 1/16 : Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: G08G 1/166 : for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 : Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

Aspects of the disclosure relate generally to detecting and avoiding blind spots of other vehicles when maneuvering an autonomous vehicle. Blind spots may include both areas adjacent to another vehicle in which the driver of that vehicle would be unable to identify another object as well as areas that a second driver in a second vehicle may be uncomfortable driving. In one example, a computer of the autonomous vehicle may identify objects that may be relevant for blind spot detecting and may determine the blind spots for these other vehicles. The computer may predict the future locations of the autonomous vehicle and the identified vehicles to determine whether the autonomous vehicle would drive in any of the determined blind spots. If so, the autonomous driving system may adjust its speed to avoid or limit the autonomous vehicle'"'"'s time in any of the blind spots.

Claims

1. A method for maneuvering a first vehicle, the method comprising:

receiving, by one or more processors, sensor data collected by one or more sensors of a first vehicle traveling in a first lane;

detecting, by the one or more processors, from the sensor data, a second vehicle traveling at a first speed and being located at a first location corresponding to traveling in the first lane in front of the first vehicle;

detecting, by the one or more processors, from the sensor data, a third vehicle traveling at a second speed and being located at a second location corresponding to traveling in a second lane adjacent to the first lane;

determining, by the one or more processors, from the detected first speed, first location, second speed, and second location, that the second vehicle is in the process of overtaking the third vehicle;

based on the determination that the second vehicle is in the process of overtaking the third vehicle, maneuvering the first vehicle in order to wait until the second vehicle completely overtakes the third vehicle before attempting to overtake a fourth vehicle traveling in a lane adjacent to the first lane; and

after the second vehicle has completely overtaken the third vehicle, maneuvering the first vehicle, by the one or more processors, to overtake the fourth vehicle in order to reduce an amount of time spent by the first vehicle in a blind spot area of the fourth vehicle.

2. The method of claim 1, wherein maneuvering the first vehicle to overtake the fourth vehicle includes increasing the speed of the first vehicle.

3. The method of claim 1, wherein maneuvering the first vehicle in order to wait until the second vehicle completely overtakes the third vehicle, includes maneuvering the first vehicle in order to maintain a minimum headway distance between the first vehicle and the second vehicle.

4. The method of claim 1, wherein determining that the second vehicle is in the process of overtaking the third vehicle is based on a current speed of the second vehicle.

5. The method of claim 1, wherein the fourth vehicle is larger in size than the first vehicle.

6. The method of claim 1, wherein the fourth vehicle is a truck.

7. The method of claim 1, wherein maneuvering the first vehicle in order to wait until the second vehicle completely overtakes the third vehicle, includes maneuvering the first vehicle in order to maintain a predetermined distance between the fourth vehicle and the first vehicle.

8. The method of claim 7, wherein the predetermined distance causes the first vehicle to stay in the first lane behind the second vehicle.

9. The method of claim 1, wherein maneuvering the first vehicle in order to wait until the second vehicle completely overtakes the third vehicle, includes slowing down the first vehicle in order to prevent the first vehicle from driving in a blind spot area of the fourth vehicle while waiting.

10. The method of claim 1, wherein maneuvering the first vehicle to overtake the fourth vehicle includes passing through the blind spot area of the fourth vehicle.

11. A system for maneuvering a first vehicle, the method comprising one or more processors configured to:

receive sensor data collected by one or more sensors of a first vehicle traveling in a first lane;

detect from the sensor data, a second vehicle traveling at a first speed and being located at a first location corresponding to traveling in the first lane in front of the first vehicle;

detect from the sensor data, a third vehicle traveling at a second speed and being located at a second location corresponding to traveling in a second lane adjacent to the first lane;

determine from the detected first speed, first location, second speed, and second location, that the second vehicle is in the process of overtaking the third vehicle;

based on the determination that the second vehicle is in the process of overtaking the third vehicle, maneuver the first vehicle in order to wait until the second vehicle completely overtakes the third vehicle before attempting to overtake a fourth vehicle traveling in a lane adjacent to the first lane; and

after the second vehicle has completely overtaken the third vehicle, maneuver the first vehicle to overtake the third vehicle in order to reduce an amount of time spent by the first vehicle in a blind spot area of the fourth vehicle.

12. The system of claim 11, wherein maneuvering the first vehicle to overtake the fourth vehicle includes increasing the speed of the first vehicle.

13. The system of claim 11, wherein maneuvering the first vehicle in order to wait until the second vehicle completely overtakes the third vehicle, includes maneuvering the first vehicle in order to maintain a minimum headway distance between the first vehicle and the second vehicle.

14. The system of claim 11, wherein determining that the second vehicle is in the process of overtaking the third vehicle is based on a current speed of the second vehicle.

15. The system of claim 11, wherein maneuvering the first vehicle in order to wait until the second vehicle completely overtakes the third vehicle, includes maneuvering the first vehicle in order to maintain a predetermined distance between the first vehicle and the fourth vehicle.

16. The system of claim 15, wherein the predetermined distance causes the first vehicle to stay in the first lane behind the second vehicle.

17. The system of claim 11, wherein maneuvering the first vehicle in order to wait until the second vehicle completely overtakes the third vehicle, includes slowing down the first vehicle in order to prevent the first vehicle from driving in a blind spot area of the fourth vehicle while waiting.

18. The system of claim 11, wherein maneuvering the first vehicle to overtake the third vehicle includes passing through the blind spot area of the fourth vehicle.

19. A non-transitory, tangible computer-readable storage medium on which computer readable instructions of a program are stored, the instructions, when executed by a processor, cause the processor to perform a method for maneuvering a first vehicle, the method comprising:

receiving sensor data collected by one or more sensors of a first vehicle traveling in a first lane;

detecting from the sensor data, a second vehicle traveling at a first speed and being located at a first location corresponding to traveling in the first lane in front of the first vehicle;

detecting from the sensor data, a third vehicle traveling at a second speed and being located at a second location corresponding to traveling in a second lane adjacent to the first lane;

determining from the detected first speed, first location, second speed, and second location, that the second vehicle is in the process of overtaking the third vehicle;

based on the determination that the second vehicle is in the process of overtaking the third vehicle, maneuvering the first vehicle in order to wait until the second vehicle completely overtakes the third vehicle before attempting to overtake a fourth vehicle traveling in a lane adjacent to the first lane; and

after the second vehicle has completely overtaken the third vehicle, maneuvering the first vehicle to overtake the fourth vehicle in order to reduce an amount of time spent by the first vehicle in a blind spot area of the fourth vehicle.