Autonomous vehicle system configured to respond to temporary speed limit signs

• US 10,713,510 B2
• Filed: 12/29/2017
• Issued: 07/14/2020
• Est. Priority Date: 12/29/2017
• Status: Active Grant

• Current Assignee: Waymo LLC (Alphabet Inc.)
• Original Assignee: Waymo LLC (Alphabet Inc.)
• Inventors: Silver, David Harrison, Chaudhari, Pankaj, Kershaw, Carl
• Primary Examiner(s): Mancho, Ronnie M
• Application Number:
  US15/857,952
• Publication Number:
  US 20190205674A1
• Time in Patent Office: 928 Days
• Field of Search: 701 28
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2555/60 Traffic rules, e.g. speed limits or right of way
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 30/146 Speed limiting
• CPC Class Codes: B60W 40/105 Speed
• 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 1/0223 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: G06V 20/582 of traffic signs

Abstract

Aspects of the disclosure provide for a method for identifying speed limit signs and controlling an autonomous vehicle in response to detected speed limit signs. The autonomous vehicle'"'"'s computing devices identifies a speed limit sign in a vehicle'"'"'s environment and a location and orientation corresponding to the speed limit sign. Then, the and orientation location of the speed limit sign is determined to not correspond to a pre-stored location and a pre-stored orientation of a speed limit sign that is pre-stored in map information. An effect zone of the speed limit sign is determined based on the location and orientation of the speed limit sign and characteristics of surrounding areas or other detected object before or after the speed limit sign. The autonomous vehicle'"'"'s computing devices determines a response of the vehicle based on the determined effect zone, and controls the autonomous vehicle based on the determined response.

Claims

1. A computer-implemented method comprising:

identifying, by one or more computing devices, a speed limit sign in a vehicle'"'"'s environment;

identifying, by the one or more computing devices, a location and orientation corresponding to the speed limit sign;

determining, by the one or more computing devices, whether the location and orientation of the identified speed limit sign corresponds to a pre-stored location and a pre-stored orientation of a speed limit sign that is pre-stored in map information;

when the location and orientation do not correspond to the pre-stored location and the pre-stored orientation, determining, by the one or more computing devices, an effect zone of the identified speed limit sign based on the location and orientation of the identified speed limit sign and characteristics of surrounding areas or other detected object before or after the identified speed limit sign;

determining, by the one or more computing devices, a response of the vehicle based on the determined effect zone of the identified speed limit sign; and

controlling, by the one or more computing devices, the vehicle based on the determined response.

2. The method of claim 1, wherein determining the effect zone of the identified speed limit sign includes determining a start point and an end point of the effect zone.

3. The method of claim 2, wherein the start point is determined to be at a point of a road at a predetermined distance before the location, and the end point is determined to be at a point of the road at a predetermined distance before a location of another speed limit sign.

4. The method of claim 2, wherein the start point is determined to be a first point of a road where a speed change location begins, and the end point is determined to be a second point of the road where the speed change location ends.

5. The method of claim 1, wherein determining the effect zone of the identified speed limit sign includes determining a confidence level for whether a speed limit on the identified speed limit sign applies to a point in a road.

6. The method of claim 5, wherein the confidence level is determined to be:

higher for points of the road at or past the identified speed limit sign and before another speed limit sign than for points before the identified speed limit sign;

higher for points of the road in a temporary speed change location than for points of the road outside the temporary speed change location;

higher for points of the road at or past a first detected sign having text or symbols related to an upcoming change in speed for points of the road before the identified speed limit sign; and

lower for points of the road at or past a second detected sign having text or symbols related to an end of the effect zone.

7. The method of claim 5, wherein the effect zone is determined by comparing the confidence level to a first confidence threshold and a second confidence threshold, wherein:

when a first point of the road has a first confidence level above the first confidence threshold, the first point of the road is determined to be a start point of the effect zone; and

when a second point of the road has a second confidence level below the second confidence threshold, the second point of the road is determined to be an end point of the effect zone.

8. The method of claim 1, further comprising:

detecting, by the one or more computing devices, a plurality of vehicles in the vehicle'"'"'s environment; and

determining, by the one or more computing devices, a speed of each of the plurality of vehicles in the vehicle'"'"'s environment; and

wherein determining the response of the vehicle is based also on the determined speed of each of the plurality of vehicles.

9. A system comprising:

a perception system configured to detect an object in a vehicle'"'"'s environment at a detected location;

a memory storing map information; and

one or more computing devices configured to;

identify a speed limit sign in a vehicle'"'"'s environment;

identify a location and orientation corresponding to the identified speed limit sign;

determine whether the location and orientation of the identified speed limit sign corresponds to a pre-stored location and a pre-stored orientation of a speed limit sign that is pre-stored in the map information;

when the location and orientation do not correspond to the pre-stored location and the pre-stored orientation of the pre-stored speed limit sign, determine an effect zone of the identified speed limit sign based on the location and orientation of the identified speed limit sign and characteristics of surrounding areas or other detected object before or after the identified speed limit sign;

determine a response of the vehicle based on the determined effect zone of the identified speed limit sign; and

control the vehicle based on the determined response.

10. The system of claim 9, wherein determining the effect zone of the identified speed limit sign includes determining a start point and an end point of the effect zone.

11. The system of claim 10, wherein the start point is determined to be at a point of a road at a predetermined distance before the location of the identified speed limit sign, and the end point is determined to be at a point of the road at a predetermined distance before a location of another speed limit sign.

12. The system of claim 10, wherein the start point is determined to be a first point of a road where a speed change location begins, and the end point is determined to be a second point of the road where the speed change location ends.

13. The system of claim 9, wherein determining the effect zone of the identified speed limit sign includes determining a confidence level for whether a speed limit on the identified speed limit sign applies to a point in a road.

14. The system of claim 13, wherein the confidence level is determined to be:

higher for points of the road at or past the identified speed limit sign and before another speed limit sign than for points before the identified speed limit sign;

higher for points of the road in a temporary speed change location than for points of the road outside the temporary speed change location;

higher for points of the road at or past a first detected sign having text or symbols related to an upcoming change in speed; and

lower for points of the road at or past a second detected sign having text or symbols related to an end of the effect zone.

15. The system of claim 13, wherein the effect zone is determined by comparing the confidence level to a first confidence threshold and a second confidence threshold, wherein:

when a first point of the road has a first confidence level above the first confidence threshold, the first point of the road is determined to be a start point of the effect zone; and

when a second point of the road has a second confidence level below the second confidence threshold, the second point of the road is determined to be an end point of the effect zone.

16. The system of claim 9, wherein the one or more computing devices are further configured to:

detect a plurality of vehicles in the vehicle'"'"'s environment; and

determine a speed of each of the plurality of vehicles in the vehicle'"'"'s environment; and

wherein the determined response of the vehicle is based also on the determined speed of each of the plurality of vehicles.

17. The system of claim 9, further comprising the vehicle.

18. A non-transitory, tangible computer-readable storage medium on which computer readable instructions of a program are stored, the instructions, when executed by one or more computing devices, cause the one or more computing devices to perform a method, the method comprising:

identifying a speed limit sign in a vehicle'"'"'s environment;

identifying a location and orientation corresponding to the identified speed limit sign;

determining whether the location and orientation of the identified speed limit sign corresponds to a pre-stored location and pre-stored orientation of a speed limit sign that is pre-stored in map information;

when the location and orientation do not correspond to the pre-stored location and pre-stored orientation of the pre-stored speed limit sign, determining an effect zone of the identified speed limit sign based on the location and orientation of the identified speed limit sign and characteristics of surrounding areas or other detected object before or after the identified speed limit sign;

determining a response of the vehicle based on the determined effect zone of the identified speed limit sign; and

controlling the vehicle based on the determined response.

19. The medium of claim 18, wherein determining the effect zone of the identified speed limit sign includes determining a confidence level for whether a speed limit on the identified speed limit sign applies to a point in a road;

wherein the confidence level is determined to be;

higher for points of the road at or past the identified speed limit sign and before another speed limit sign than for points before the identified speed limit sign;

higher for points of the road in a temporary speed change location than for points of the road outside the temporary speed change location;

higher for points of the road at or past a first detected sign having text or symbols related to an upcoming change in speed; and

lower for points of the road at or past a second detected sign having text or symbols related to an end of the effect zone.

20. The medium of claim 18, wherein determining the effect zone of the identified speed limit sign includes determining a confidence level for whether a speed limit on the identified speed limit sign applies to a point in a road by comparing the confidence level to a first confidence threshold and a second confidence threshold;

wherein;

when a first point of the road has a first confidence level above the first confidence threshold, the first point of the road is determined to be a start point of the effect zone; and

when a second point of the road has a second confidence level below the second confidence threshold, the second point of the road is determined to be an end point of the effect zone.