Predictive Reasoning For Controlling Speed Of A Vehicle
First Claim
1. A method comprising:
- identifying, by at least one processor of a computing device, based on data received from at least one sensor communicatively linked to the computing device, (i) a first vehicle travelling at a speed ahead of an autonomous vehicle in substantially a same lane as the autonomous vehicle and (ii) a second vehicle travelling ahead of the autonomous vehicle in substantially a different lane than the autonomous vehicle;
the at least one processor predicting a behavior of the first vehicle based on the speed of the first vehicle;
the at least one processor determining a distance based on the predicted behavior of the first vehicle, the distance being a distance behind the first vehicle at which the autonomous vehicle should begin adjusting a speed of the autonomous vehicle;
the at least one processor determining that the second vehicle is predicted to enter substantially the same lane as the autonomous vehicle;
based on the determining that the second vehicle is predicted to enter substantially the same lane as the autonomous vehicle, the at least one processor adjusting the determined distance; and
based on the adjusted distance, the at least one processor controlling the autonomous vehicle to adjust the speed of the autonomous vehicle.
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Abstract
Methods and systems for predictive reasoning for controlling speed of a vehicle are described. A computing device may be configured to identify a first and second vehicle travelling ahead of an autonomous vehicle and in a same lane as the autonomous vehicle. The computing device may also be configured to determine a first buffer distance behind the first vehicle at which the autonomous vehicle will substantially reach a speed of the first vehicle and a second buffer distance behind the second vehicle at which the first vehicle will substantially reach a speed of the second vehicle. The computing device may further be configured to determine a distance at which to adjust a speed of the autonomous vehicle based on the first and second buffer distances and the speed of the autonomous vehicle, and then provide instructions to adjust the speed of the autonomous vehicle based on the distance.
37 Citations
20 Claims
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1. A method comprising:
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identifying, by at least one processor of a computing device, based on data received from at least one sensor communicatively linked to the computing device, (i) a first vehicle travelling at a speed ahead of an autonomous vehicle in substantially a same lane as the autonomous vehicle and (ii) a second vehicle travelling ahead of the autonomous vehicle in substantially a different lane than the autonomous vehicle; the at least one processor predicting a behavior of the first vehicle based on the speed of the first vehicle; the at least one processor determining a distance based on the predicted behavior of the first vehicle, the distance being a distance behind the first vehicle at which the autonomous vehicle should begin adjusting a speed of the autonomous vehicle; the at least one processor determining that the second vehicle is predicted to enter substantially the same lane as the autonomous vehicle; based on the determining that the second vehicle is predicted to enter substantially the same lane as the autonomous vehicle, the at least one processor adjusting the determined distance; and based on the adjusted distance, the at least one processor controlling the autonomous vehicle to adjust the speed of the autonomous vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A system comprising:
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at least one sensor; at least one processor; and a memory having stored thereon instructions that, upon execution by the at least one processor, cause the system to perform operations comprising; identifying, based on data received from the at least one sensor, (i) a first vehicle travelling at a speed ahead of an autonomous vehicle in substantially a same lane as the autonomous vehicle and (ii) a second vehicle travelling ahead of the autonomous vehicle in substantially a different lane than the autonomous vehicle; predicting a behavior of the first vehicle based on the speed of the first vehicle; determining a distance based on the predicted behavior of the first vehicle, the distance being a distance behind the first vehicle at which the autonomous vehicle should begin adjusting a speed of the autonomous vehicle; determining that the second vehicle is predicted to enter substantially the same lane as the autonomous vehicle; based on the determining that the second vehicle is predicted to enter substantially the same lane as the autonomous vehicle, adjusting the determined distance; and based on the adjusted distance, controlling the autonomous vehicle to adjust the speed of the autonomous vehicle. - View Dependent Claims (11, 12, 13, 14, 15, 16)
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17. A non-transitory computer readable medium having stored thereon instructions that, upon execution by a computing device, cause the computing device to perform operations comprising:
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identifying, based on data received from at least one sensor communicatively linked to the computing device, (i) a first vehicle travelling at a speed ahead of an autonomous vehicle in substantially a same lane as the autonomous vehicle and (ii) a second vehicle travelling ahead of the autonomous vehicle in substantially a different lane than the autonomous vehicle; predicting a behavior of the first vehicle based on the speed of the first vehicle; determining a distance based on the predicted behavior of the first vehicle, the distance being a distance behind the first vehicle at which the autonomous vehicle should begin adjusting a speed of the autonomous vehicle; determining that the second vehicle is predicted to enter substantially the same lane as the autonomous vehicle; based on the determining that the second vehicle is predicted to enter substantially the same lane as the autonomous vehicle, adjusting the determined distance; and based on the adjusted distance, controlling the autonomous vehicle to adjust the speed of the autonomous vehicle. - View Dependent Claims (18, 19, 20)
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Specification