System And Method To Operate An Automated Vehicle

• US 20160231746A1
• Filed: 12/30/2015
• Published: 08/11/2016
• Est. Priority Date: 02/06/2015
• Status: Abandoned Application

• Current Assignee: Delphi Technologies, Inc. (BorgWarner Incorporated)
• Original Assignee: Delphi Technologies, Inc. (BorgWarner Incorporated)
• Inventors: Myers, Robert James, Chan, James M., Hazelton, Lawrence Dean, Baldwin, Craig A., Griffin, Patrick Mitchell
• Application Number:
  US14/983,695
• Publication Number:
  US 20160231746A1
• Time in Patent Office: Days
• US Class Current: 1/1
• 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 2554/402 Type
• CPC Class Codes: B60W 30/00 Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
• CPC Class Codes: B60W 40/04 Traffic conditions
• CPC Class Codes: G01S 13/84 for distance determination by phase measurement
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 2013/9316 combined with communication equipment with other vehicles or with base stations
• CPC Class Codes: G01S 2013/9318 Controlling the steering
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/9319 Controlling the accelerator
• CPC Class Codes: G01S 2013/93276 in the windshield area
• 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 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

Systems and methods for operating an automated vehicle such as an autonomous vehicle may include an autonomous guidance system, a method of automatically controlling and autonomous vehicle based on electronic messages from roadside infrastructure or other-vehicles, a method of automatically controlling an autonomous vehicle based on cellular telephone location information, pulsed LED vehicle-to-vehicle (V2V) communication system, a method and apparatus for controlling an autonomous vehicle, an autonomous vehicle with unobtrusive sensors, and adaptive cruise control integrated with a lane keeping assist system. The systems and methods may use information from radar, lidar, a camera or vision/image devices, ultrasonic sensors, and digital map data to determine a route or roadway position and provide for steering, braking, and acceleration control of a host vehicle.

Claims

1. An autonomous guidance system (110A) that operates a vehicle (10A) in an autonomous mode, said system (110A) comprising:

a camera module (22A) that outputs an image signal (116A) indicative of an image of an object (16A) in an area (18A) about a vehicle (10A);

a radar module (30A) that outputs a reflection signal (112A) indicative of a reflected signal (114A) reflected by the object (16A); and

a controller (120A) that determines an object-location (128A) of the object (16A) on a map (122A) of the area (18A) based on a vehicle-location (126A) of the vehicle (10A) on the map (122A), the image signal (116A), and the reflection signal (112A), wherein the controller (120A) classifies the object (16A) as small when a magnitude of the reflection signal (112A) associated with the object (16A) is less than a signal-threshold.

2. The system (110A) in accordance with claim 1, wherein the controller (120A) classifies the object (16A) as verified if the object (16A) is classified as small and the object (16A) is detected a plurality of occasions that the vehicle (10A) passes through the area (18A).

3. The system (110A) in accordance with claim 2, wherein the controller (120A) adds the object (16A) to the map (122A) after the object (16A) is classified as verified.

4. The system (110A) in accordance with claim 1, wherein the controller (120A) determines a size of the object (16A) based on the image signal (116A) and the reflection signal (112A), and classifies the object (16A) as verified if the object (16A) is classified as small and a confidence level assigned to the object (16A) is greater than a confidence-threshold, wherein the confidence-threshold is based on the magnitude of the reflection signal (112A) and a number of occasions that the object (16A) is detected.

5. The system (110A) in accordance with claim 4, wherein the controller (120A) adds the object (16A) to the map (122A) after the object (16A) is classified as verified.

6. An autonomous guidance system (110A) that operates a vehicle (10A) in an autonomous mode, said system (110A) comprising:

a camera module (22A) that outputs an image signal (116A) indicative of an image of an object (16A) in an area (18A) about a vehicle (10A);

a radar module (30A) that outputs a reflection signal (112A) indicative of a reflected signal (114A) reflected by the object (16A); and

a controller (120A) that generates a map (122A) of the area (18A) based on a vehicle-location (126A) of the vehicle (10A), the image signal (116A), and the reflection signal (112A), wherein the controller (120A) classifies the object (16A) as small when a magnitude of the reflection signal (112A) associated with the object (16A) is less than a signal-threshold.

7. The system (110A) in accordance with claim 6, wherein the controller (120A) classifies the object (16A) as verified if the object (16A) is classified as small and the object (16A) is detected a plurality of occasions that the vehicle (10A) passes through the area (18A).

8. The system (110A) in accordance with claim 7, wherein the controller (120A) adds the object (16A) to the map (122A) after the object (16A) is classified as verified.

9. The system (110A) in accordance with claim 6, wherein the controller (120A) determines a size of the object (16A) based on the image signal (116A) and the reflection signal (112A), and classifies the object (16A) as verified if the object (16A) is classified as small and a confidence level assigned to the object (16A) is greater than a confidence-threshold, wherein the confidence-threshold is based on the magnitude of the reflection signal (112A) and a number of occasions that the object (16A) is detected.

10. The system (110A) in accordance with claim 9, wherein the controller (120A) adds the object (16A) to the map (122A) after the object (16A) is classified as verified.

11. A method (100B) of operating a vehicle (10B), comprising the steps of:

receiving a message from roadside infrastructure via an electronic receiver (102B); and

providing, by a computer system in communication with said electronic receiver, instructions based on the message to automatically implement countermeasure behavior by a vehicle system (104B).

12. The method (100B) of operating a vehicle (10B) according to claim 11, wherein the roadside infrastructure is a traffic signaling device (14B) and data contained in the message includes a device location, a signal phase, and a phase timing, wherein the vehicle system is a braking system, and wherein the step of providing instructions includes the sub-steps of:

determining a vehicle speed (1102B);

determining the signal phase in a current vehicle path (1104B);

determining a distance between the vehicle (10B) and the device location (1106B); and

providing, by the computer system, instructions to the braking system to apply vehicle brakes based on the vehicle speed, the signal phase of the current vehicle path, and the distance between the vehicle (10B) and the device location (1108B).

13. The method (100B) of operating a vehicle (10B) according to claim 11, wherein the roadside infrastructure is a construction zone warning device (16B) and data contained in the message includes information selected from the group consisting of:

a zone location, a zone direction, a zone length, a zone speed limit, and lane closures, wherein the vehicle system is selected from the group consisting of;

a braking system, a steering system, and a powertrain system, and wherein the step of providing instructions includes the sub-steps selected from the group consisting of;

determining a vehicle speed (2102B);

determining a lateral vehicle location within a roadway (2104B);

determining a distance between the vehicle (10B) and the zone location (2106B);

providing, by the computer system, instructions to the braking system to apply vehicle brakes based on the difference between the vehicle speed and the zone speed limit, and the distance between the vehicle (10B) and the zone location (2110B);

determining a steering angle based on the lateral vehicle location, the lane closures, the vehicle speed, and the distance between the vehicle (10B) and the zone location (2112B);

providing, by the computer system, instructions to the steering system to adjust a vehicle path based on the steering angle (2114B); and

providing, by the computer system, instructions to the powertrain system to adjust the vehicle speed so that the vehicle speed is less than or equal to the zone speed limit (2116B).

14. The method (100B) of operating a vehicle (10B) according to claim 11, wherein the roadside infrastructure is a stop sign (18B) and data contained in the message includes sign location and stop direction, wherein the vehicle system is a braking system, and wherein the step of providing instructions includes the sub-steps selected from the group consisting of:

determining vehicle speed (3102B);

determining the stop direction of a current vehicle path (3104B);

determining a distance between the vehicle (10B) and the sign location (3106B); and

providing, by the computer system, instructions to the braking system to apply vehicle brakes based on a vehicle speed, the stop direction of the current vehicle path, and the distance between the vehicle (10B) and the sign location (3108B).

15. The method (100B) of operating a vehicle (10B) according to claim 11, wherein the roadside infrastructure is a railroad crossing warning device (20B) and data contained in the message includes device location and warning state, wherein the vehicle system is a braking system, and wherein the step of providing instructions includes the sub-steps of:

determining vehicle speed (4102B);

determining the warning state (4104B);

determining a distance between the vehicle (10B) and the device location (4106B); and

providing, by the computer system, instructions to the braking system to apply vehicle brakes based on the vehicle speed, warning state, and the distance between the vehicle (10B) and the device location (4108B).

16. The method (100B) of operating a vehicle (10B) according to claim 11, wherein the roadside infrastructure is an animal crossing zone warning device (22B) and data contained in the message includes zone location, zone direction, and zone length, wherein the vehicle system is a forward looking sensor (40B), and wherein the step of providing instructions includes the sub-step of providing, by the computer system, instructions to the forward looking sensor (40B) to widen a field of view so as to include at least both road shoulders within the field of view (5102B).

17. The method (100B) of operating a vehicle (10B) according to claim 11, wherein the roadside infrastructure is a pedestrian crossing warning device (24B) and data contained in the message is selected from the group consisting of:

crossing location and warning state, wherein the vehicle system is selected from the group consisting of;

a braking system and a forward looking sensor (40B), and wherein the step of providing instructions includes the sub-steps selected from the group consisting of;

providing, by the computer system, instructions to the forward looking sensor (40B) to widen a field of view so as to include at least both road shoulders within the field of view (6102B);

determining vehicle speed (6104B);

determining a distance between the vehicle (10B) and the crossing location (6106B); and

providing, by the computer system, instructions to the braking system to apply vehicle brakes based on the vehicle speed, warning state, and the distance between the vehicle (10B) and the crossing location (6108B).

18. The method (100B) of operating a vehicle (10B) according to claim 11, wherein the roadside infrastructure is a school crossing warning device (26B) and data contained in the message is selected from the group consisting of:

device location and warning state, wherein the vehicle system is a braking system, and wherein the step of providing instructions includes the sub-steps of;

determining vehicle speed (7102B);

determining a lateral location of the device location within a roadway (7104B);

determining a distance between the vehicle (10B) and the device location (7106B); and

providing, by the computer system, instructions to the braking system to apply vehicle brakes based on data selected from the group consisting of;

a vehicle speed, the lateral location, the warning state, and the distance between the vehicle and the device location (7108B).

19. The method (100B) of operating a vehicle (10B) according to claim 11, wherein the roadside infrastructure is a lane direction indicating device (28B) and data contained in the message is a lane location and a lane direction, wherein the vehicle system is a roadway mapping system, and wherein the step of providing instructions includes the sub-step of:

providing, by the computer system, instructions to the roadway mapping system to dynamically update the roadway mapping system'"'"'s lane direction information (8102B).

20. The method (100B) of operating a vehicle (10B) according to claim 11, wherein the roadside infrastructure is a speed limiting device (30B) and data contained in the message includes a speed zone location, a speed zone direction, a speed zone length, and a zone speed limit, wherein the vehicle system is a powertrain system, and wherein the step of providing instructions includes the sub-steps selected from the group consisting of:

determining a vehicle speed (9102B);

determining a distance between the vehicle location and the speed zone location (9104B); and

providing, by the computer system, instructions to the powertrain system to adjust the vehicle speed so that the vehicle speed is less than or equal to the zone speed limit (9108B).

21. The method (100B) of operating a vehicle (10B) according to claim 11, wherein the roadside infrastructure is a no passing zone device (32B) and data contained in the message includes a no passing zone location, a no passing zone direction, and a no passing zone length wherein the vehicle system includes selected from the group consisting of:

a powertrain system, a forward looking sensor (40B) and a braking system, and wherein the step of providing instructions includes the sub-steps selected from the group consisting of;

detecting another vehicle ahead of the vehicle (10B) via the forward looking sensor (40B) (10102B);

determining a vehicle speed (10104B);

determining an another vehicle speed and a distance between the vehicle (10B) and the another vehicle (10106B);

determine a safe passing distance for overtaking the another vehicle (10108B);

determining a distance between the vehicle (10B) and the no passing zone location (10110B);

providing, by the computer system, instructions to the powertrain system to adjust the vehicle speed so that the speed differential is less than or equal to zero when the safe passing distance would end within the no passing zone (10112B); and

providing, by the computer system, instructions to the braking system to adjust the vehicle speed so that the vehicle speed is less than or equal to the another vehicle speed when the safe passing distance would end within the no passing zone (10114B).

22. A method (200B) of operating a vehicle (10B), comprising the steps of:

receiving a message from another vehicle via an electronic receiver (202B); and

providing, by a computer system in communication with said electronic receiver, instructions based on the message to automatically implement countermeasure behavior by a vehicle system (204B).

23. The method (200B) of operating a vehicle (10B) according to claim 22, wherein the another vehicle is a school bus (34B) and data contained in the message includes school bus location and stop signal status, wherein the vehicle system is a braking system, and wherein the step of providing instructions includes the sub-steps of:

determining a vehicle speed (1202B);

determining the stop signal status (1204B);

determining a distance between the vehicle (10B) and the school bus location (1206B); and

providing, by the computer system, instructions to the braking system to apply vehicle brakes based on the vehicle speed, the stop signal status, and the distance between the vehicle (10B) and the school bus location (1208B).

24. The method (200B) of operating a vehicle (10B) according to claim 22, wherein the another vehicle is a maintenance vehicle (36B) and data contained in the message includes maintenance vehicle location and safe following distance, the vehicle system is selected from the group consisting of:

a powertrain system and a braking system, and wherein the step of providing instructions includes the sub-steps selected from the group consisting of;

determining a distance between the vehicle (10B) and the maintenance vehicle location (2202B);

determining a difference between the safe following distance and the distance between the vehicle (10B) and the maintenance vehicle location (2204B);

providing, by the computer system, instructions to the braking system to apply vehicle brakes when the difference is less than zero (2206B); and

providing, by the computer system, instructions to the powertrain system to adjust a vehicle speed so that the difference is less than or equal to zero (2208B).

25. The method (200B) of operating a vehicle (10B) according to claim 22, wherein the another vehicle is an emergency vehicle (38B) and data contained in the message includes information selected from the group consisting of:

an emergency vehicle location, an emergency vehicle speed, and a warning light status, wherein the vehicle system is selected from the group consisting of;

a braking system, a steering system, a forward looking sensor (40B), and a powertrain system, and wherein the step of providing instructions includes the sub-steps selected from the group consisting of;

determining a distance between the vehicle (10B) and the emergency vehicle (38B) (3202B);

determine a location of an unobstructed portion of a road shoulder via the forward looking sensor (40B) based on the distance between the vehicle (10B) and the emergency vehicle (38B), the emergency vehicle speed, and warning light status (3204B);

providing, by the computer system, instructions to the braking system to apply vehicle brakes based on the distance between the vehicle (10B) and the emergency vehicle (38B), the emergency vehicle speed, and the location of the unobstructed portion of the road shoulder (3206B);

determining a steering angle based on the distance between the vehicle (10B) and the emergency vehicle (38B), the emergency vehicle speed, and the location of the unobstructed portion of the road shoulder (3208B);

providing, by the computer system, instructions to the steering system to adjust a vehicle path based on the steering angle (3210B); and

providing, by the computer system, instructions to the powertrain system to adjust a vehicle speed based on the distance between the vehicle (10B) and the emergency vehicle (38B), the emergency vehicle speed, and the location of the unobstructed portion of the road shoulder (3212B).

26. A method (100C) of operating a vehicle (10C), comprising the steps of:

receiving a message via an electronic receiver indicating a cellular telephone location (26C) proximate to the vehicle (10C) (102C);

determining a cellular telephone velocity (28C) of the based on changes in the cellular telephone location (26C) over a period of time (104C); and

providing, by a computer system in communication with said electronic receiver, instructions based on the cellular telephone location (26C) and the cellular telephone velocity (28C) to automatically implement countermeasure behavior by a vehicle system (106C).

27. The method (100C) of operating a vehicle (10C) according to claim 26, wherein the vehicle system is a braking system, and wherein the method (100C) further includes the steps of:

determining a vehicle velocity (18C) (108C);

comparing the vehicle velocity (18C) with the cellular telephone velocity (28C) (110C);

determining whether a concurrence between the vehicle location (16C) and the cellular telephone location (26C) will occur (112C); and

providing, by the computer system, instructions to the braking system to apply vehicle brakes to avoid the concurrence if it is determined that the concurrence between the vehicle location (16C) and the cellular telephone location (26C) will occur (114C).

28. The method (100C) of operating a vehicle (10C) according to claim 26, wherein the vehicle system is a powertrain system, and wherein the method (100C) further includes the steps of:

determining a vehicle velocity (18C) (108C);

comparing the vehicle velocity (18C) with the cellular telephone velocity (28C) (110C);

determining whether a concurrence between the vehicle location (16C) and the cellular telephone (14C) will occur (112C); and

providing, by the computer system, instructions to the powertrain system to adjust the vehicle velocity (18C) to avoid the concurrence if it is determined that the concurrence will occur (116C).

29. The method (100C) of operating a vehicle (10C) according to claim 26, wherein the vehicle system is a steering system, and wherein the method (100C) further includes the steps of:

determining a vehicle velocity (18C) (108C);

comparing the vehicle velocity (18C) with the cellular telephone velocity (28C) (110C);

determining whether a concurrence between the vehicle location (16C) and the cellular telephone location (26C) will occur (112C);

determining a steering angle to avoid the concurrence if it is determined that the concurrence between the vehicle location (16C) and the cellular telephone location (26C) will occur (118C); and

providing, by the computer system, instructions to the steering system to adjust a vehicle path based on the steering angle (120C).

30. The method (100C) of operating a vehicle (10C) according to claim 26, wherein the vehicle system is a powertrain system, wherein the cellular telephone (14C) is carried by an other vehicle (24C), and wherein the method (100C) further includes the steps of:

determining a vehicle velocity (18C) (108C);

comparing the vehicle velocity (18C) with the cellular telephone velocity (28C) (110C);

determining whether the vehicle velocity (18C) and the cellular telephone velocity (28C) are substantially parallel and in a same direction (122C);

determining whether a concurrence between the vehicle location (16C) and the cellular telephone location (26C) will occur (112C); and

providing, by the computer system, instructions to the powertrain system to adjust the vehicle velocity (18C) to maintain a following distance if it is determined that the vehicle velocity (18C) and the cellular telephone velocity (28C) are substantially parallel and in the same direction (124C).

31. The method (100C) of operating a vehicle (10C) according to claim 26, wherein the cellular telephone (14C) is carried by a pedestrian (20C).

32. The method (100C) of operating a vehicle (10C) according to claim 26, wherein the cellular telephone (14C) is carried by the other vehicle (24C).

33. A vehicle-to-vehicle communication system (100D) comprising:

a front light emitting diode (LEDD) array;

a central-processing-unit (110D) in communication with said front LED array (102D);

wherein said central-processing-unit is configured to receive a vehicle (10D) input information and generates a vehicle (10D) output information based on the vehicle (10D) input information, and send the vehicle (10D) output information to said front LED array (102D);

wherein said front LED array (102D) is configured to receive the vehicle (10D) output information from said central-processing-unit and generates a luminous digital signal based on the vehicle (10D) output information.

34. The vehicle-to-vehicle communication system (100D) of claim 33 further comprising:

a rear LED array (104D);

wherein said central-processing-unit (110D) is configured to send the vehicle (10D) output information to said rear LED array (104D);

wherein said rear LED array (104D) is configured to receive the vehicle (10D) output information from said central-processing-unit (110D) and generates a luminous digital signal based on the vehicle (10D) output information.

35. The vehicle-to-vehicle communication system (100D) of claim 34 further comprising:

a front optical receiver (106D); and

a rear optical receiver (108D);

wherein said front optical receiver (106D) and rear optical receiver (108D) are configured to receive luminous digital signals from adjacent front and rear vehicles, respectively, and generate incoming messages based on the received luminous digital signal, and sends the incoming messages to said central-processing-unit;

wherein said central-processing-unit is configured to receive said incoming messages, and generates action signals based on said incoming messages.

36. The vehicle-to-vehicle communication system (100D) of claim 35, further comprising

a control bus (112D) configured to receive action signals from said central-processing-unit and relays action signals to select vehicle (10D) systems based on received action signals.

37. The vehicle-to-vehicle communication system (100D) of claim 35, wherein said luminous digital signal comprises pulses of light.

38. The vehicle-to-vehicle communication system (100D) of claim 37, wherein said luminous pulse signal is in the infra-red or ultra-violet range of the light spectrum not visible to the human eye.

39. A vehicle (10D) having a vehicle-to-vehicle communication system (100D), wherein said vehicle (10D) comprising:

a front light emitting diode (LEDD) array and a front optical receiver (106D) mounted onto front of said vehicle (10D);

a rear LED array (104D) and a rear optical receiver (108D) mounted onto rear of said vehicle (10D); and

a central-processing-unit (110D) in electronic communication with said LED arrays (102D) and said optical receivers (106D).

40. The vehicle (10D) of claim 39, wherein:

said central-processing-unit is configured to instruct LED arrays (102D) to transmit a luminous pulse digital signal;

said LED arrays (102D) are configured to transmit the luminous pulse digital signal to adjacent vehicles;

said optical receivers (106D) are configured to receive a reflection of the luminous pulse digital signal from the adjacent vehicles; and

wherein said central-processing-unit is configured to calculate the relative distance, velocity, and acceleration of the adjacent vehicles based on the time difference between said LED arrays (102D) transmitting luminous pulse digital signal and said optical receivers (106D) receiving the reflection of the luminous pulse digital signal.

41. The vehicle (10D) of claim 40, further comprising a control bus (112D) in electronic communication with said central-processing-unit and a plurality of vehicle (10D) safety systems (118D).

42. The vehicle-to-vehicle communication system (100D) of claim 41 further comprising a human to machine interface configured to receive voice or text data and generates an input information to said central processor unit,

wherein said central processor unit generates an output information based on the input information from said human to machine interface and sends output information to one of said LED arrays (102D),

wherein said one of said LED arrays (102D) generates a luminous pulse digital signal based on the vehicle (10D) output information and transmit the voice or text data to adjacent vehicles.

43. A method of vehicle-to-vehicle communication comprising the steps of:

receiving an input information from an occupant or vehicle (10D) system of a transmit vehicle (10D);

generating a output information based on the input information of the transmit vehicle (10D);

generating a digital signal based output information of the transmit vehicle (10D); and

transmitting said digital signal in the form of luminous digital pulses to a receive vehicle (10D).

44. The method of claim 43, further comprising the steps of:

receiving said digital signal in the form of luminous digital pulses by a receive vehicle (10D);

generating an incoming message based on said received digital signal;

generating an action signal based on incoming message; and

relaying said action signal to an occupant of the receiving vehicle (10D) or a vehicle (10D) system of the received vehicle (10D).

45. The method of claim 44, wherein said luminous digital pulses are in the infra-red or ultra-violet frequency invisible to the human eye.

46. A method (400E) comprising:

controlling, by one or more computing devices (170E, 120E), an autonomous vehicle (100E) in accordance with a first control strategy (416E);

developing (402E), by the one or more computing devices, said first control strategy (416E) based on map data (160E) contained on a first map (300E);

receiving (406E, 506E), from one or more sensors (112E, 114E, 116E), sensor data (330E, 332E, 334E, 336E) corresponding to a first set (370E, 372E, 374E, 376E, 378E) of data contained on said first map (300E);

comparing (408E) said sensor data to said first set of data on said first map on a periodic basis;

determining (410E, 510E) a first correlation rate between said sensor data and said first set of data on said first map; and

selecting (412E, 512E) a second control strategy (414E, 516E) when said correlation rate drops below a predetermined value.

47. The method of claim 46, wherein said first map (300E) is simultaneously accessible by more than one vehicle, and said method includes identifying on said first map (300E) at least one region (350E) in which said correlation rate is below said predetermined value.

48. The method of claim 46, wherein said first set of data on said first map (300E) includes data relating to the location of a road surface edge (336E).

49. The method of claim 46, wherein said first set of data on said first map (300E) includes data relating to the condition of the road surface (650E).

50. The method of claim 46, wherein said first set of data on said first map (300E) includes data relating to vehicular traffic (220E, 230E, 240E).

51. The method of claim 46, wherein said first set of data on said first map (300E) includes data relating to environmental conditions.

52. The method of claim 46, wherein said first control strategy includes a routing strategy for directing said vehicle to a destination (610E) on said first map (300E).

53. The method of claim 46, wherein said first control strategy includes the speed at which said vehicle will drive.

54. The method of claim 46, wherein said first control strategy includes the preferred distance (260E) between surrounding vehicles (620E).

55. The method of claim 46, including making dynamic routing decisions based primarily on said sensor data when said first correlation rate is below said predetermined value.

56. The method of claim 46, wherein said second control strategy includes following an other-vehicle (220E) in front of said autonomous vehicle (100E).

57. The method of claim 46, including:

developing a second correlation rate between said sensor data and a second set of data on said first map (300E), wherein said second control strategy includes making dynamic routing decisions based on said second set of data when said first correlation rate is below said predetermined value and said second correlation rate is above said predetermined value.

58. The method of claim 46, wherein said step of developing a correlation rate includes:

detecting a discrepancy between said sensor data and said set of data on said first map; and

changing the frequency of the comparisons between said sensor data and said first map.

59. A method comprising:

controlling, by one or more computing devices (170E, 120E), an autonomous vehicle (100E) in accordance with a first control strategy (416E);

receiving by one or more computing devices map data (330E, 332E, 334E, 336E) corresponding to a planned route (320E) of said vehicle (100E);

developing (402E) by one or more computing devices a lane selection strategy;

receiving (406E, 506E) by one or more computing devices sensor data from said vehicle (100E) corresponding to objects in the vicinity of said vehicle (100E); and

changing (412E, 512E) said lane selection strategy based on changes to said sensor data.

60. The method of claim 59, including:

driving said autonomous vehicle (100E) on a multi-lane road (200E); and

determining by one or more computing devices a desired exit point (270E) from the multi-lane road (200E), wherein said lane selection strategy includes a target distance from said exit point at which a lane change protocol should begin, and wherein said step of changing said lane selection strategy includes changing said target distance.

61. The method of claim 59, including:

calculating with said one or more computing devices a traffic density based on said sensor data; and

changing said lane selection strategy based on changes to said traffic density.

62. The method of claim 59, including

determining by one or more computing devices available pathways between said objects for moving said vehicle between lanes (202E, 204E, 206E) on said multi-lane road (200E).

63. The method of claim 62, including:

assessing with one or more computing devices said available pathways to determine a freedom of movement factor of said vehicle;

categorizing said freedom of movement factor into a first category or a second category; and

wherein said step of developing a lane selection strategy is based at least in part on whether said freedom of movement is said first category or said second category.

64. The method of claim 63, wherein said assessing step includes evaluating the complexity of said available pathways.

65. The method of claim 63, wherein said assessing step includes evaluating the number of said available pathways.

66. The method of claim 63, wherein said assessing step includes evaluating the amount of time when there are no available pathways.

67. A method comprising:

controlling by one or more computing devices (170E, 120E) an autonomous vehicle (100E) in accordance with a first control strategy (416E);

receiving (406E) by one or more computing devices (112E, 114E, 116E) sensor data from said vehicle corresponding to moving objects in a vicinity of said vehicle;

receiving by one or more computing devices road condition data;

determining by one or more computing devices undesirable locations for said vehicle relative to said moving objects;

wherein

said step of determining undesirable locations for said vehicle is based at least in part on said road condition data.

68. The method of claim 67, wherein said road condition data includes information about the existence of precipitation on a road surface.

69. The method of claim 67, including:

categorizing by one or more computing devices said moving objects into first and second categories;

wherein

said step of determining undesirable locations for said vehicle is based at least in part on whether said moving objects are in said first or said second category.

70. The method of claim 67, wherein:

said road condition data includes information about the existence of water on a road surface;

said first category includes large vehicles (240E); and

said step of determining undesirable locations includes identifying areas (720E) where said first category of objects are likely to displace water.

71. A method comprising:

controlling by one or more computing devices an autonomous vehicle (100E) in accordance with a first control strategy (416E, 516E);

developing by one or more computing devices said first control strategy based at least in part on data contained on a first map (300E), wherein said first map (300E) is simultaneously accessible by more than one vehicle (100E);

receiving by one or more computing devices sensor data from said vehicle (100E) corresponding to objects in the vicinity of said vehicle (100E); and

updating by said one or more computing devices said first map (300E) to include information about at least one of said objects based on said sensor data.

72. The method of claim 71, including:

determining by one or more computing devices whether any of said objects constitute a hazard (650E, 670E); and

updating said first map (300E) to include information about said hazard.

73. A method comprising:

controlling by one or more computing devices an autonomous vehicle (100E);

activating a visible signal (730E) on said autonomous vehicle (100E) when said vehicle (100E) is being controlled by said one or more computing devices; and

keeping said visible signal activated during the entire time that said vehicle (100E) is being controlled by said one or more computing devices.

74. The method of claim 73, wherein:

said visible signal includes a light; and

said light is other than a headlight, brake light, or turn signal on said vehicle (100E).

75. The method of claim 74, wherein said light is a flashing light of a color other than red, orange, or yellow.

76. A method comprising:

controlling by one or more computing devices an autonomous vehicle (100E) in accordance with a first control strategy (416E, 516E);

receiving by one or more computing devices sensor (860E) data corresponding to a first location;

detecting a first moving object (850E) at said first location;

changing said first control strategy based on said sensor data relating to said first moving object; and

wherein said sensor data is obtained from a first sensor that is not a component of said autonomous vehicle (100E).

77. The method of claim 76, wherein said sensor data is obtained from a remote-sensor mounted on a fixed structure (870E).

78. The method of claim 76, wherein:

said sensor is mounted on a fixed structure (870E) in the vicinity of an intersection (820E) at which a first roadway meets a second roadway;

wherein said autonomous vehicle (100E) is travelling on said first roadway; and

wherein said first moving object is moving on said second roadway.

79. The method of claim 76, wherein said autonomous vehicle (100E) includes a second sensor attached to said vehicle (100E) that can detect objects within a detection field in the vicinity of said vehicle (100E);

and

wherein said first location is outside of said detection field.

80. A method comprising:

controlling by one or more computing devices an autonomous vehicle (100E) in accordance with a first control strategy;

approaching an intersection (820E) with said vehicle (100E);

receiving by one or more computing devices sensor data from said vehicle (100E) corresponding to objects in the vicinity of said vehicle (100E);

determining whether another vehicle (840E) is at said intersection (820E) based on said sensor data;

determining by one or more computing devices whether said other vehicle (840E) or said autonomous vehicle (100E) has priority to proceed through said intersection (820E);

activating a yield signal (790E) to indicate to said other vehicle (830E) that said autonomous vehicle (100E) is yielding said intersection (820E).

81. A vehicle (14F) having a pre-determined exterior surface comprised of body sections (16F, 18F, 26F) and at least a front windshield (22F), said vehicle (14F) further including sensors (30F, 32F) capable of providing data from a substantially 360 degree perimeter of said vehicle (14F), all of said sensors being mounted without protrusion beyond said exterior surface.

82. The vehicle (14F) according to claim 81, in which said sensors include at least one radar-camera fusion unit (30F) mounted entirely behind said front windshield and operating through said front windshield (22F).

83. The vehicle (14F) according to claim 81, in which said sensors include one or more radar units (32F) mounted entirely within said exterior surface.

84. The vehicle (14F) according to claim 81, in which said sensors include both a camera-radar fusion unit (30F) and at least one radar unit (32F).

85. A method (30G) of operating an adaptive cruise control system (28G) for use in a vehicle configured to actively maintain a following-distance behind a leading-vehicle at no less than a predetermined threshold-distance, said method comprising:

determining (14G) when a following-distance of a trailing-vehicle (10G) behind a leading-vehicle (12G) is less than a threshold-distance (T);

maintaining (16G) the following-distance when the following-distance is not less than the threshold-distance;

determining (18G) when the following-distance is less than a minimum-distance (X) that is less than the threshold-distance;

decelerating (20G) the trailing-vehicle at a normal-deceleration-rate when the following-distance is less than the threshold-distance and not less than the minimum-distance (X); and

decelerating (22G) the trailing-vehicle at an aggressive-deceleration-rate when the following-distance is less than the minimum-distance.

86. An adaptive cruise control system for use in a vehicle that actively maintains a following-distance at a pre-determined threshold behind a leading-vehicle, the improvement comprising:

means for providing a more aggressive deceleration (22G) to the threshold-distance when the vehicle is at a following-distance less that the threshold-distance.

87. A system suitable for use on an automated vehicle, said system comprising:

a sensor operable to detect an object proximate to a vehicle; and

a controller in communication with the sensor, said controller configured to operate a vehicle control of the vehicle.