Methods And Systems For Determining Instructions For Pulling Over An Autonomous Vehicle

• US 20170057510A1
• Filed: 11/09/2016
• Published: 03/02/2017
• Est. Priority Date: 07/12/2013
• Status: Active Grant

• Current Assignee: Google LLC (Alphabet Inc.)
• Original Assignee: Google Inc. (Alphabet Inc.)
• Inventors: Herbach, Joshua Seth, Fairfield, Nathaniel
• Granted Patent: US 9,707,966 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2555/00 Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
• CPC Class Codes: B60W 2710/18 Braking system
• CPC Class Codes: B60W 2710/20 Steering systems
• CPC Class Codes: B60W 2720/103 Speed profile
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/18009 related to particular drive situations
• CPC Class Codes: B60W 30/181 Preparing for stopping
• CPC Class Codes: B60W 50/0225 Failure correction strategy
• CPC Class Codes: B60W 60/0015 specially adapted for safety
• CPC Class Codes: B62D 15/025 Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence
• CPC Class Codes: B62D 15/0265 Automatic obstacle avoidance by steering
• 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

Abstract

Methods and systems for determining instructions for pulling over an autonomous vehicle are described. An example method may involve identifying a region of a road ahead of the autonomous vehicle based on lane boundaries of the road, one or more road boundaries indicating an edge of the road, and a size of the autonomous vehicle. The method may also involve determining a braking profile for reducing the speed of the autonomous vehicle based on the region and a speed of the autonomous vehicle. The method may also involve determining, based on the braking profile, a trajectory such that the autonomous vehicle will travel within the region while reducing the speed of the autonomous vehicle. The method may further involve determining instructions for pulling over and stopping the autonomous vehicle in the region in accordance with the determined trajectory and storing the instructions in a memory accessible by a computing device.

Claims

1. A method performed by a computing system configured to control an autonomous vehicle, the method comprising:

receiving, by at least one processor of the computing system, and from one or more sensors in communication with the computing system, sensor data indicative of a region of a road of travel ahead of the autonomous vehicle;

based on the sensor data, the at least one processor selecting the region to be a region in which to pull over and stop the autonomous vehicle;

based on a speed of the autonomous vehicle and based on the region, determining, by the at least one processor, a braking profile for reducing the speed of the autonomous vehicle while travelling within the region;

based on the braking profile, determining, by the at least one processor, a trajectory the autonomous vehicle navigates within the region while reducing the speed of the autonomous vehicle in accordance with the braking profile;

the at least one processor periodically determining up-to-date instructions to cause the autonomous vehicle to pull over and stop during travel as an environment of the autonomous vehicle changes and storing the up-to-date instructions in a memory of the computing system accessible by the at least one processor; and

based on the stored up-to-date instructions, the computing system causing the autonomous vehicle to pull over and stop in the region while navigating along the trajectory and reducing the speed of the autonomous vehicle in accordance with the braking profile.

2. The method of claim 1, wherein determining the braking profile comprises:

determining a plurality of phases during which the autonomous vehicle will reduce the speed of the autonomous vehicle, pull over, and stop in the region;

determining, for each phase of the plurality of phases, a respective rate at which to reduce the speed of the autonomous vehicle while travelling within the region during the phase; and

determining, for each phase of the plurality of phases, a respective lateral displacement the autonomous vehicle navigates within the region during the phase.

3. The method of claim 1, further comprising:

periodically determining, by the at least one processor, as the environment of the autonomous vehicle changes, up-to-date default instructions for maintaining a current trajectory of the autonomous vehicle and maintaining the speed of the autonomous vehicle so as to not pull over and stop the autonomous vehicle; and

the at least one processor storing the up-to-date default instructions in the memory accessible by the at least one processor.

4. The method of claim 1, further comprising:

receiving, by the at least one processor, information indicative of a failure of one or more systems of the autonomous vehicle; and

in response to receiving the information indicative of the failure of the one or more systems of the autonomous vehicle, and based on the stored up-to-date instructions, the at least one processor causing the autonomous vehicle to pull over and stop in the region while navigating along the trajectory and reducing the speed of the autonomous vehicle in accordance with the braking profile.

5. The method of claim 1, wherein the stored up-to-date instructions include instructions to adjust a steering angle of the autonomous vehicle so as to navigate the determined traj ectory.

6. The method of claim 1, wherein selecting the region to be a region in which to pull over and stop the autonomous vehicle comprises:

based on the sensor data, making a determination of whether a distance from a center of a rightmost lane in the region to a rightmost boundary of the rightmost lane plus a width of the autonomous vehicle plus a predetermined threshold distance is less than a distance from the center of the rightmost lane to the rightmost edge of the road, and

selecting the region to be the region in which to pull over and stop the autonomous vehicle in response to the determination being that the distance from the center of the rightmost lane to the rightmost boundary of the rightmost lane plus the width of the autonomous vehicle plus the predetermined threshold distance is less than the distance from the center of the rightmost lane to the rightmost edge of the road.

7. The method of claim 6, further comprising:

determining the predetermined threshold distance based on one or more of;

a boundary type of the rightmost boundary, a width of the road, and a speed limit of the road.

8. A system comprising:

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 functions comprising;

receiving, from one or more sensors coupled to the autonomous vehicle, sensor data indicative of a region of a road of travel ahead of the autonomous vehicle;

based on the sensor data, selecting the region to be a region in which to pull over and stop the autonomous vehicle;

based on a speed of the autonomous vehicle and based on the region, determining a braking profile for reducing the speed of the autonomous vehicle while travelling within the region;

based on the braking profile, determining a trajectory the autonomous vehicle navigates within the region while reducing the speed of the autonomous vehicle in accordance with the braking profile;

determining instructions for causing the autonomous vehicle to pull over and stop in the region while navigating along the trajectory and reducing the speed of the autonomous vehicle in accordance with the braking profile;

periodically determining up-to-date instructions to cause the autonomous vehicle to pull over and stop during travel as an environment of the autonomous vehicle changes and storing the up-to-date instructions in the memory accessible and executable by the at least one processor; and

based on the stored up-to-date instructions, causing the autonomous vehicle to pull over and stop in the region while navigating along the trajectory and reducing the speed of the autonomous vehicle in accordance with the braking profile.

9. The system of claim 8, wherein the braking profile comprises a plurality of phases including respective rates at which to reduce the speed of the autonomous vehicle while travelling within the region, and wherein the braking profile includes a piecewise linear function associated with the plurality of phases and representative of the respective rates.

10. The system of claim 8, wherein determining the braking profile comprises:

determining a plurality of phases including a first phase, a second phase following the first phase, and a third phase following the second phase;

determining, for each phase of the plurality of phases, a respective rate at which to reduce the speed of the autonomous vehicle while travelling within the region; and

determining respective lateral displacements the autonomous vehicle navigates within the region during the plurality of phases, wherein the lateral displacement of the autonomous vehicle during the second phase is at least equal to the lateral displacement of the autonomous vehicle during the first phase and the lateral displacement of the autonomous vehicle during the third phase, and wherein the respective rate of the third phase is greater than the respective rates of the first phase and the second phase.

11. The system of claim 10, wherein the sensor data is further indicative of one or more objects ahead of the autonomous vehicle on the road, and wherein determining the braking profile comprises determining the respective rates and lateral displacements of the first, second, and third phases based on the one or more objects such that the autonomous vehicle will avoid the one or more objects within the region while reducing the speed of the autonomous vehicle in accordance with the braking profile.

12. The system of claim 11, wherein determining the trajectory comprises determining a trajectory the autonomous vehicle navigates within the region while avoiding the one or more objects within the region and while reducing the speed of the autonomous vehicle in accordance with the braking profile.

13. A method performed by a computing system configured to control an autonomous vehicle, the method comprising:

while the autonomous vehicle is travelling on a road along a trajectory at a speed and while an environment of the autonomous vehicle changes, at least one processor of the computing system (i) determining up-to-date instructions to cause the autonomous vehicle to pull over and stop during travel and (ii) storing the up-to-date instructions in a memory of the computing system accessible by the at least one processor, wherein determining and storing the up-to-date instructions comprises;

the at least one processor selecting a suitable region of the road ahead of an autonomous vehicle to be an up-to-date region in which to pull over and stop the autonomous vehicle;

based on the speed of the autonomous vehicle and based on the up-to-date region, the at least one processor determining a braking profile corresponding to the up-to-date region, the braking profile being for reducing the speed of the autonomous vehicle while travelling within the up-to-date region; and

based on the braking profile, the at least one processor (i) determining the up-to-date instructions for causing the autonomous vehicle to pull over and stop in the up-to-date region while navigating along an adjusted trajectory and reducing the speed of the autonomous vehicle in accordance with the braking profile corresponding to the up-to-date region, and (ii) storing the up-to-date instructions in the memory; and

based on the stored up-to-date instructions, the computing system causing the autonomous vehicle to pull over and stop in the up-to-date region while navigating along the adjusted trajectory and reducing the speed of the autonomous vehicle in accordance with the braking profile corresponding to the up-to-date region.

14. The method of claim 13, wherein selecting a suitable region of the road ahead of an autonomous vehicle to be an up-to-date region in which to pull over and stop the autonomous vehicle comprises:

receiving sensor data indicating, for a region of the road, one or more lane boundaries of the road and further indicating one or more road boundaries of the road;

determining a first distance between the autonomous vehicle and the one or more lane boundaries;

determining a second distance between the autonomous vehicle and the one or more road boundaries;

making a comparison of the first and second distances to a predetermined threshold distance and to a size of the autonomous vehicle; and

based on the comparison, selecting the region to be the up-to-date region in which to pull over and stop the autonomous vehicle.

15. The method of claim 14, further comprising:

before making the comparison, the at least one processor;

receiving sensor data that indicates a speed limit of the road; and

based on the sensor data that indicates the speed limit of the road, adjusting the predetermined threshold distance,

wherein making the comparison of the first and second distances to the predetermined threshold distance and to the size of the autonomous vehicle comprises making the comparison of the first and second distances to the adjusted predetermined threshold distance and to the size of the autonomous vehicle.

16. The method of claim 14, further comprising:

before making the comparison, the at least one processor;

based on predetermined map data of the road stored in the memory, determining a width of the road in the region; and

based on the width of the road in the region, adjusting the predetermined threshold distance,

wherein making the comparison of the first and second distances to the predetermined threshold distance and to the size of the autonomous vehicle comprises making the comparison of the first and second distances to the adjusted predetermined threshold distance and to the size of the autonomous vehicle.

17. A system comprising:

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 functions comprising;

while the autonomous vehicle is travelling on a road along a trajectory at a speed and while an environment of the autonomous vehicle changes, (i) determining up-to-date instructions to cause the autonomous vehicle to pull over and stop during travel and (ii) storing the up-to-date instructions in the memory accessible by the at least one processor, wherein determining and storing the up-to-date instructions comprises;

selecting a suitable region of the road ahead of an autonomous vehicle to be an up-to-date region in which to pull over and stop the autonomous vehicle,

based on the speed of the autonomous vehicle and based on the up-to-date region, determining a braking profile corresponding to the up-to-date region, the braking profile being for reducing the speed of the autonomous vehicle while travelling within the up-to-date region, and

based on the braking profile, (i) determining the up-to-date instructions for causing the autonomous vehicle to pull over and stop in the up-to-date region while navigating along an adjusted trajectory and reducing the speed of the autonomous vehicle in accordance with the braking profile corresponding to the up-to-date region, and (ii) storing the up-to-date instructions in the memory accessible by the at least one processor; and

based on the stored up-to-date instructions, causing the autonomous vehicle to pull over and stop in the up-to-date region while navigating along the adjusted trajectory and reducing the speed of the autonomous vehicle in accordance with the braking profile corresponding to the up-to-date region.

18. The system of claim 17, wherein determining and storing the up-to-date instructions comprises periodically determining and storing the up-to-date instructions comprises

19. The system of claim 17, the functions further comprising:

receiving information indicative of a failure of one or more systems of the autonomous vehicle; and

in response to receiving the information indicative of the failure of the one or more systems of the autonomous vehicle, and based on the stored up-to-date instructions, causing the autonomous vehicle to pull over and stop in the region while navigating along the trajectory and reducing the speed of the autonomous vehicle in accordance with the braking profile.

20. The system of claim 17, wherein the braking profile includes a plurality of phases, wherein each phase of the plurality of phases has a respective rate at which to reduce the speed of the autonomous vehicle, and wherein the braking profile includes a piecewise linear function associated with the plurality of phases and representative of the respective rates.