COLLISION MITIGATED BRAKING FOR AUTONOMOUS VEHICLES
First Claim
1. A computer-implemented method for collision mitigated braking in a vehicle operating in an autonomous mode, the method comprising:
- receiving, by one or more processors of one or more computing devices, heading and location information of one or more objects located externally to the vehicle from one or more sensors of the vehicle;
analyzing, by the one or more processors, the received heading and location information to filter selected ones of the objects that may collide with the vehicle in accordance with a predetermined false positive collision rate;
evaluating, by the one or more processors, the filtered selected objects to determine whether immediate braking is required to avoid a collision with any of the filtered selected objects; and
when it is determined that immediate braking is required and a main driving system of the vehicle has not initiated braking during the autonomous mode, sending a signal from the one or more processors to a deceleration system of the vehicle to initiate immediate braking.
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Accused Products
Abstract
Aspects of the disclosure involve a collision mitigated braking system employed in vehicles operating in a self-driving (autonomous) mode. Collision mitigated braking provides redundancy to the vehicle'"'"'s main driving system in emergency situations. The collision mitigated braking system is configured to cause the vehicle to come to a stop when an imminent collision is perceived and the main driving system has not initiated a braking maneuver. A perception component employs information received from vehicle sensors, analyzing the sensor data to identify nearby objects of interest that are determined to be in the vehicle'"'"'s path or that could otherwise collide with the vehicle. A control component evaluates the objects of interest to determine whether immediate braking is required. If this is the case and the main driving system has not begun to brake, the control component causes the vehicle to perform immediate braking to avoid a possible collision.
63 Citations
20 Claims
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1. A computer-implemented method for collision mitigated braking in a vehicle operating in an autonomous mode, the method comprising:
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receiving, by one or more processors of one or more computing devices, heading and location information of one or more objects located externally to the vehicle from one or more sensors of the vehicle; analyzing, by the one or more processors, the received heading and location information to filter selected ones of the objects that may collide with the vehicle in accordance with a predetermined false positive collision rate; evaluating, by the one or more processors, the filtered selected objects to determine whether immediate braking is required to avoid a collision with any of the filtered selected objects; and when it is determined that immediate braking is required and a main driving system of the vehicle has not initiated braking during the autonomous mode, sending a signal from the one or more processors to a deceleration system of the vehicle to initiate immediate braking. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A vehicle control system for a vehicle, the vehicle control system comprising one or more computing devices configured to:
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receive heading and location information of one or more objects located externally to the vehicle from one or more sensors of the vehicle; analyze the received heading and location information to filter selected ones of the objects that may collide with the vehicle in accordance with a predetermined false positive collision rate; evaluate the filtered selected objects to determine whether immediate braking is required to avoid a collision with any of the filtered selected objects; and when it is determined that immediate braking is required and a main driving system of the vehicle has not initiated braking during an autonomous driving mode, send a signal to initiate immediate braking of the vehicle. - View Dependent Claims (11, 12, 13, 14, 15, 16)
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17. A non-transitory computer-readable medium on which instructions are stored, the instructions, when executed by one or more processors, cause the one or more processors to perform a method for collision mitigated braking in a vehicle operating in an autonomous mode, the method comprising:
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receiving heading and location information of one or more objects located externally to the vehicle from one or more sensors of the vehicle; analyzing the received heading and location information to filter selected ones of the objects that may collide with the vehicle in accordance with a predetermined false positive collision rate; evaluating the filtered selected objects to determine whether immediate braking is required to avoid a collision with any of the filtered selected objects; and when it is determined that immediate braking is required and a main driving system of the vehicle has not initiated braking during the autonomous mode, sending a signal from the one or more processors to a deceleration system of the vehicle to initiate immediate braking. - View Dependent Claims (18, 19, 20)
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Specification