Real-time Occupancy Mapping System for Autonomous Vehicles

• US 20160260328A1
• Filed: 03/06/2015
• Published: 09/08/2016
• Est. Priority Date: 03/06/2015
• Status: Abandoned Application

• Current Assignee: Qualcomm, Inc.
• Original Assignee: Qualcomm, Inc.
• Inventors: Mishra, Lalan Jee, Wietfeldt, Richard Dominic, Czompo, Joseph
• Application Number:
  US14/640,144
• Publication Number:
  US 20160260328A1
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 19/14 specially adapted for specific applications
• CPC Class Codes: G01S 19/28 Satellite selection
• CPC Class Codes: G01S 19/51 Relative positioning
• CPC Class Codes: G01S 19/53 Determining attitude
• CPC Class Codes: G01S 2013/9316 combined with communication equipment with other vehicles or with base stations
• CPC Class Codes: G01S 5/0072 Transmission between mobile stations, e.g. anti-collision systems
• CPC Class Codes: G01S 5/0284 Relative positioning
• 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: G08G 1/163 involving continuous checking
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

Methods, devices, systems, and non-transitory process-readable storage media for a computing device of an autonomous vehicle to generate real-time mappings of nearby vehicles. An embodiment method executed by a computing device may include operations for obtaining origin point coordinates via a first satellite-based navigation functionality, obtaining termination point coordinates via a second satellite-based navigation functionality, calculating a unit vector based on the obtained origin point coordinates and the obtained termination point coordinates, identifying a position, a direction, and an occupancy of the autonomous vehicle based on the obtained origin point coordinates, the calculated unit vector, and stored vehicle dimensions data (e.g., length, width, height), and transmitting a message using DSRC with the origin point coordinates, the stored vehicle dimensions data, and data for identifying the vehicle'"'"'s direction. The computing device may compare the direction, position, and occupancy to data of nearby vehicles based on incoming messages received via DSRC.

Claims

1. A method for a computing device of an autonomous vehicle to generate real-time mappings of nearby autonomous vehicles using dedicated short-range communications (DSRC), comprising:

obtaining, by the computing device, origin point coordinates via a first satellite-based navigation functionality;

obtaining, by the computing device, termination point coordinates via a second satellite-based navigation functionality;

calculating, by the computing device, a unit vector based on the obtained origin point coordinates and the obtained termination point coordinates;

identifying, by the computing device, a first position, a first direction, and a first occupancy of the autonomous vehicle based on the obtained origin point coordinates, the calculated unit vector, and stored vehicle dimensions data, wherein the stored vehicle dimensions data include a length measurement and a width measurement of the autonomous vehicle; and

transmitting, by the computing device, a message using the DSRC that includes the obtained origin point coordinates, the stored vehicle dimensions data, and data for identifying the first direction of the autonomous vehicle.

2. The method of claim 1, further comprising:

identifying, by the computing device, relative positions of a center point of the autonomous vehicle, the first satellite-based navigation functionality, and the second satellite-based navigation functionality; and

offsetting, by the computing device, the obtained origin point coordinates and the obtained termination point coordinates based on the identified relative positions of the center point of the autonomous vehicle, the first satellite-based navigation functionality, and the second satellite-based navigation functionality,

wherein identifying, by the computing device, the first position and the first occupancy of the autonomous vehicle is based on the offset obtained origin point coordinates.

3. The method of claim 1, further comprising:

receiving, by the computing device, an incoming message from a nearby autonomous vehicle via the DSRC;

obtaining, by the computing device, nearby autonomous vehicle origin point coordinates, nearby autonomous vehicle dimensions data, and data for identifying an orientation of the nearby autonomous vehicle from the received incoming message;

identifying, by the computing device, a second position, a second direction, and a second occupancy of the nearby autonomous vehicle based on the obtained data from the received incoming message;

determining, by the computing device, whether any navigational conditions exist based on a comparison of the first position, the first direction, and the first occupancy of the autonomous vehicle and the second position, the second direction, and the second occupancy of the nearby autonomous vehicle; and

re-configuring, by the computing device, an autonomous control parameter in response to determining that a navigational condition exists.

4. The method of claim 3, further comprising transmitting, by the computing device using the DSRC, a response message indicating the identified navigational condition.

5. The method of claim 3, wherein the navigational condition is a risk of a collision between the autonomous vehicle and the nearby autonomous vehicle.

6. The method of claim 3, wherein re-configuring, by the computing device, the autonomous control parameter in response to determining that the navigational condition exists comprises adjusting, by the computing device, one or more of a traversal path, a speed, and an application of brakes of the autonomous vehicle.

7. The method of claim 3, further comprising determining, by the computing device, whether a signal strength of the incoming message exceeds a predefined threshold,

wherein obtaining, by the computing device, the nearby autonomous vehicle origin point coordinates, the nearby autonomous vehicle dimensions data, and the data for identifying the orientation of the nearby autonomous vehicle from the received incoming message comprises obtaining, by the computing device, the nearby autonomous vehicle origin point coordinates, the nearby autonomous vehicle dimensions data, and the data for identifying the orientation of the nearby autonomous vehicle from the received incoming message in response to determining that the signal strength of the incoming message exceeds the predefined threshold.

8. The method of claim 3, further comprising determining, by the computing device, whether the nearby autonomous vehicle is outside a relevance range threshold based on the comparison,

wherein determining, by the computing device, whether any navigational conditions exist based on the comparison of the first position, the first direction, and the first occupancy of the autonomous vehicle and the second position, the second direction, and the second occupancy of the nearby autonomous vehicle comprises determining, by the computing device, whether any navigational conditions exist based on the comparison of the first position, the first direction, and the first occupancy of the autonomous vehicle and the second position, the second direction, and the second occupancy of the nearby autonomous vehicle in response to determining that the nearby autonomous vehicle is within the relevance range threshold.

9. The method of claim 8, further comprising adjusting, by the computing device, the relevance range threshold based on the re-configured autonomous control parameter.

10. The method of claim 1, wherein the data for identifying the first direction of the autonomous vehicle includes the unit vector or the obtained termination point coordinates.

11. The method of claim 1, wherein the stored vehicle dimensions data includes a height measurement of the autonomous vehicle.

12. A computing device, comprising a processor configured with processor-executable instructions to:

obtain origin point coordinates via a first satellite-based navigation functionality;

obtain termination point coordinates via a second satellite-based navigation functionality;

calculate a unit vector based on the obtained origin point coordinates and the obtained termination point coordinates;

identify a first position, a first direction, and a first occupancy of an autonomous vehicle based on the obtained origin point coordinates, the calculated unit vector, and stored vehicle dimensions data, wherein the stored vehicle dimensions data include a length measurement and a width measurement of the autonomous vehicle, wherein the computing device is associated with the autonomous vehicle; and

transmit a message using dedicated short-range communications (DSRC) that includes the obtained origin point coordinates, the stored vehicle dimensions data, and data for identifying the first direction of the autonomous vehicle.

13. The computing device of claim 12, wherein the processor is further configured with processor-executable instructions to:

identify relative positions of a center point of the autonomous vehicle, the first satellite-based navigation functionality, and the second satellite-based navigation functionality;

offset the obtained origin point coordinates and the obtained termination point coordinates based on the identified relative positions of the center point of the autonomous vehicle, the first satellite-based navigation functionality, and the second satellite-based navigation functionality; and

identify the first position and the first occupancy of the autonomous vehicle based on the offset obtained origin point coordinates.

14. The computing device of claim 12, wherein the processor is further configured with processor-executable instructions to:

receive an incoming message from a nearby autonomous vehicle via the DSRC;

obtain nearby autonomous vehicle origin point coordinates, nearby autonomous vehicle dimensions data, and data for identifying an orientation of the nearby autonomous vehicle from the received incoming message;

identify a second position, a second direction, and a second occupancy of the nearby autonomous vehicle based on the obtained data from the received incoming message;

determine whether any navigational conditions exist based on a comparison of the first position, the first direction, and the first occupancy of the autonomous vehicle and the second position, the second direction, and the second occupancy of the nearby autonomous vehicle; and

re-configure an autonomous control parameter in response to determining that a navigational condition exists.

15. The computing device of claim 14, wherein the processor is further configured with processor-executable instructions to transmit a response message indicating the identified navigational condition.

16. The computing device of claim 14, wherein the navigational condition is a risk of a collision between the autonomous vehicle and the nearby autonomous vehicle.

17. The computing device of claim 14, wherein the processor is further configured with processor-executable instructions to re-configure the autonomous control parameter in response to determining that the navigational condition exists by adjusting one or more of a traversal path, a speed, and an application of brakes of the autonomous vehicle.

18. The computing device of claim 14, wherein the processor is further configured with processor-executable instructions to:

determine whether a signal strength of the incoming message exceeds a predefined threshold; and

obtain the nearby autonomous vehicle origin point coordinates, the nearby autonomous vehicle dimensions data, and the data for identifying the orientation of the nearby autonomous vehicle from the received incoming message in response to determining that the signal strength of the incoming message exceeds the predefined threshold.

19. The computing device of claim 14, wherein the processor is further configured with processor-executable instructions to determine whether the nearby autonomous vehicle is outside a relevance range threshold based on the comparison,

wherein the processor is further configured with processor-executable instructions to determine whether any navigational conditions exist based on the comparison of the first position, the first direction, and the first occupancy of the autonomous vehicle and the second position, the second direction, and the second occupancy of the nearby autonomous vehicle in response to determining that the nearby autonomous vehicle is within the relevance range threshold.

20. The computing device of claim 19, wherein the processor is further configured with processor-executable instructions to adjust the relevance range threshold based on the re-configured autonomous control parameter.

21. The computing device of claim 12, wherein the data for identifying the first direction of the autonomous vehicle includes the unit vector or the obtained termination point coordinates.

22. The computing device of claim 12, wherein the stored vehicle dimensions data includes a height measurement of the autonomous vehicle.

23. A non-transitory processor-readable storage medium having stored thereon processor-executable instructions configured to cause a processor of a computing device to perform operations comprising:

obtaining origin point coordinates via a first satellite-based navigation functionality;

obtaining termination point coordinates via a second satellite-based navigation functionality;

calculating a unit vector based on the obtained origin point coordinates and the obtained termination point coordinates;

identifying a first position, a first direction, and a first occupancy of an autonomous vehicle based on the obtained origin point coordinates, the calculated unit vector, and stored vehicle dimensions data, wherein the stored vehicle dimensions data include a length measurement and a width measurement of the autonomous vehicle, wherein the computing device is associated with the autonomous vehicle; and

transmitting a message using dedicated short-range communications (DSRC) that includes the obtained origin point coordinates, the stored vehicle dimensions data, and data for identifying the first direction of the autonomous vehicle.

24. The non-transitory processor-readable storage medium of claim 23, wherein the stored processor-executable instructions are configured to cause the processor of the computing device to perform operations further comprising:

identifying relative positions of a center point of the autonomous vehicle, the first satellite-based navigation functionality, and the second satellite-based navigation functionality; and

offsetting the obtained origin point coordinates and the obtained termination point coordinates based on the identified relative positions of the center point of the autonomous vehicle, the first satellite-based navigation functionality, and the second satellite-based navigation functionality,

wherein identifying the first position and the first occupancy of the autonomous vehicle is based on the offset obtained origin point coordinates.

25. The non-transitory processor-readable storage medium of claim 23, wherein the stored processor-executable instructions are configured to cause the processor of the computing device to perform operations further comprising:

receiving an incoming message from a nearby autonomous vehicle via the DSRC;

obtaining nearby autonomous vehicle origin point coordinates, nearby autonomous vehicle dimensions data, and data for identifying an orientation of the nearby autonomous vehicle from the received incoming message;

identifying a second position, a second direction, and a second occupancy of the nearby autonomous vehicle based on the obtained data from the received incoming message;

determining whether any navigational conditions exist based on a comparison of the first position, the first direction, and the first occupancy of the autonomous vehicle and the second position, the second direction, and the second occupancy of the nearby autonomous vehicle; and

re-configuring an autonomous control parameter in response to determining that a navigational condition exists.

26. The non-transitory processor-readable storage medium of claim 25, wherein the processor is configured with processor-executable instructions to perform operations further comprising transmitting a response message indicating the identified navigational condition.

27. The non-transitory processor-readable storage medium of claim 25, wherein the navigational condition is a risk of a collision between the autonomous vehicle and the nearby autonomous vehicle.

28. The non-transitory processor-readable storage medium of claim 25, wherein the processor is configured with processor-executable instructions to perform operations such that re-configuring the autonomous control parameter in response to determining that the navigational condition exists comprises adjusting one or more of a traversal path, a speed, and an application of brakes of the autonomous vehicle.

29. The non-transitory processor-readable storage medium of claim 25, wherein the processor is configured with processor-executable instructions to perform operations further comprising determining whether a signal strength of the incoming message exceeds a predefined threshold, and

wherein the processor is configured with processor-executable instructions to perform operations such that obtaining the nearby autonomous vehicle origin point coordinates, the nearby autonomous vehicle dimensions data, and the data for identifying the orientation of the nearby autonomous vehicle from the received incoming message comprises obtaining the nearby autonomous vehicle origin point coordinates, the nearby autonomous vehicle dimensions data, and the data for identifying the orientation of the nearby autonomous vehicle from the received incoming message in response to determining that the signal strength of the incoming message exceeds the predefined threshold.

30. A computing device, comprising:

means for obtaining origin point coordinates via a first satellite-based navigation functionality;

means for obtaining termination point coordinates via a second satellite-based navigation functionality;

means for calculating a unit vector based on the obtained origin point coordinates and the obtained termination point coordinates;

means for identifying a first position, a first direction, and a first occupancy of an autonomous vehicle based on the obtained origin point coordinates, the calculated unit vector, and stored vehicle dimensions data, wherein the stored vehicle dimensions data include a length measurement and a width measurement of the autonomous vehicle, wherein the computing device is associated with the autonomous vehicle; and

means for transmitting a message using dedicated short-range communications (DSRC) that includes the obtained origin point coordinates, the stored vehicle dimensions data, and data for identifying the first direction of the autonomous vehicle.