TAILGATING SITUATION HANDLING BY AN AUTOMATED DRIVING VEHICLE

• US 20190308617A1
• Filed: 04/10/2018
• Published: 10/10/2019
• Est. Priority Date: 04/10/2018
• Status: Active Grant

• Current Assignee: Valeo Schalter und Sensoren GmbH (Valeo SE)
• Original Assignee: Valeo Schalter und Sensoren GmbH (Valeo SE)
• Inventors: GROULT, Xavier Marie, GARNAULT, Alexandre Jacques, HEITZMANN, Thomas, QUIVY, Charles-Henri Francois
• Granted Patent: US 10,710,580 B2
• Time in Patent Office: Days
• CPC Class Codes: B60Q 1/46 for giving flashing caution signals during drive, other than signalling change of direction, e.g. flashing the headlights or hazard lights
• CPC Class Codes: B60Q 1/507 specific to autonomous vehicles
• CPC Class Codes: B60Q 1/535 to prevent rear-end collisions, e.g. by indicating safety distance at the rear of the vehicle
• CPC Class Codes: B60Q 1/543 for indicating other states or conditions of the vehicle indicating taxis' state of hire or fare G07B13/045
• CPC Class Codes: B60Q 1/547 for issuing requests to other traffic participants; for confirming to other traffic participants they can proceed, e.g. they can overtake
• CPC Class Codes: B60W 2400/00 Indexing codes relating to detected, measured or calculated conditions or factors
• 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 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2555/60 Traffic rules, e.g. speed limits or right of way
• CPC Class Codes: B60W 2556/00 Input parameters relating to data
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 2754/30 Longitudinal distance
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 30/18163 : Lane change; Overtaking manoeuvres
• CPC Class Codes: B60W 40/04 : Traffic conditions
• CPC Class Codes: B60W 50/0098 : Details of control systems ensuring comfort, safety or stability not otherwise provided for

Abstract

An apparatus and corresponding methods for detecting a tailgating situation involving a second motor vehicle behind an automated vehicle, and performing an automated safety routine in response to the detected tailgating situation. The tailgating situation is detected based on a simultaneous occurrence of two or more conditions involving an estimated time to collision, lateral offsets of both vehicles with respect to a center of a lane, activation of a turn signal blinker of the second motor vehicle, or flashing of a headlamp of the second motor vehicle. The safety routine includes performing a lane change to an adjacent lane. When no adjacent lanes are available for a lane change, a maximum permissible deceleration rate is decreased while increasing a time gap between the automated vehicle and a third motor vehicle directly in front of the automated vehicle by automatically adjusting an amount of at least one of acceleration or braking.

Claims

1. A computer implemented method, comprising:

detecting, by a processor of a computer in a first motor vehicle, while the first motor vehicle is in an automated driving mode, a tailgating situation involving a second motor vehicle behind the first motor vehicle; and

responsive to the detected tailgating situation, performing an automated safety routine including;

as an initial course of action, performing a lane change to an adjacent lane when the adjacent lane is available; and

when no adjacent lanes are available for a lane change, decreasing a maximum permissible deceleration rate while increasing a time gap between the first motor vehicle and a third motor vehicle directly in front of the first motor vehicle by automatically adjusting an amount of at least one of acceleration or braking.

2. The method of claim 1, wherein the tailgating situation is detected in response to identifying, by the processor of the computer, a simultaneous occurrence of two or more of the following conditions:

an estimated time to collision between the first and second motor vehicles being below a threshold time to collision;

a lateral offset of the second motor vehicle with respect to a center of a lane in which the first and second motor vehicles are traveling exceeding a first offset threshold while a lateral offset of the first motor vehicle with respect to the center of the lane is below a second offset threshold;

activation of a turn signal blinker of the second motor vehicle; and

flashing of a headlamp of the second motor vehicle.

3. The method of claim 2, further comprising:

capturing a plurality of images of the second motor vehicle using a camera mounted on a rear of the first motor vehicle; and

detecting at least one of the activation of the turn signal blinker or the flashing of the headlamp from the images, including distinguishing between turn signal blinker activation and headlamp flashing based on at least one of a brightness, a color, a duration, or a position with respect to the second motor vehicle, of an illuminated region in the images, wherein the two or more conditions include one or more of the activation of the turn signal blinker and the flashing of the headlamp.

4. The method of claim 2, further comprising:

capturing data by a plurality of sensors, including radar sensors and Light Detection and Ranging (LIDAR) sensors, wherein the radar sensors provide at least a partial overlap in coverage with the LIDAR sensors in an environment around the first motor vehicle; and

estimating the time to collision and the lateral offsets of the first and second motor vehicles using the captured data,

wherein the two or more conditions include the estimated time to collision being below the threshold time to collision and the lateral offset of the second motor vehicle exceeding the first offset threshold while the lateral offset of the first motor vehicle is below the second offset threshold.

5. The method of claim 2, wherein the two or more conditions include the lateral offset of the second motor vehicle exceeding the first offset threshold while the lateral offset of the first motor vehicle is below the second offset threshold, and wherein the first offset threshold is greater than the second offset threshold.

6. The method of claim 1, further comprising:

setting the maximum permissible deceleration rate based on one or more of a speed difference between the first and the second motor vehicles, and a distance between the first and second motor vehicles.

7. The method of claim 6, further comprising:

setting a lower maximum permissible deceleration rate when the speed difference between the first and second motor vehicles is larger.

8. The method of claim 1, further comprising:

increasing the time gap by a predefined percentage in response to the detected tailgating situation.

9. The method of claim 1, further comprising:

responsive to continued detection of the tailgating situation after increasing the time gap between the first motor vehicle and the third motor vehicle, activating a warning light towards the second motor vehicle.

10. The method of claim 1, further comprising:

identifying, using an electronic map, a speed limit of an upcoming section of a road along which the first motor vehicle is traveling, the speed limit being lower than a current speed of the first motor vehicle; and

responsive to the detected tailgating situation, and when no adjacent lanes are available for a lane change;

calculating an amount of time needed to decelerate to the speed limit from the current speed without exceeding the maximum permissible deceleration rate, and

automatically adjusting an amount of at least one of acceleration or braking to reach the speed limit within at least the calculated amount of time.

11. The method of claim 1, further comprising:

estimating a time to collision between the first and second motor vehicles;

determining an amount of time needed for a driver of the first motor vehicle to take back full control; and

activating a manual driving mode in response to detecting that the tailgating situation continues or worsens after the decreasing of the maximum permissible deceleration rate, wherein the activating of the manual driving mode is conditioned upon the amount of time needed to take back full control being less than the time to collision.

12. The method of claim 1, further comprising:

enabling the safety routine only when the automated driving mode is Society of Automotive Engineers (SAE) level 2 or higher.

13. A computer-readable storage medium containing instructions that, when executed by one or more processors of a computer, cause the one or more processors to:

detect, while a first motor vehicle is in an automated driving mode, a tailgating situation involving a second motor vehicle behind the first motor vehicle; and

responsive to the detected tailgating situation, perform an automated safety routine including;

as an initial course of action, performing a lane change to an adjacent lane when the adjacent lane is available; and

when no adjacent lanes are available for a lane change, decreasing a maximum permissible deceleration rate while increasing a time gap between the first motor vehicle and a third motor vehicle directly in front of the first motor vehicle by automatically adjusting an amount of at least one of acceleration or braking.

14. An automated driving apparatus, comprising:

a control circuit in a first motor vehicle, the control circuit operable to;

receive data from a plurality of sensors positioned along a perimeter of the first motor vehicle, the sensors including radar sensors, Light Detection and Ranging (LIDAR) sensors, and cameras;

detect, while the first motor vehicle is in an automated driving mode, a tailgating situation involving a second motor vehicle behind the first motor vehicle; and

responsive to the detected tailgating situation, perform an automated safety routine including;

as an initial course of action, initiating a lane change to an adjacent lane when the adjacent lane is available; and

when no adjacent lanes are available for a lane change, decreasing a maximum permissible deceleration rate while increasing a time gap between the first motor vehicle and a third motor vehicle directly in front of the first motor vehicle by automatically adjusting an amount of at least one of acceleration or braking.

15. The automated driving apparatus of claim 14, wherein the control circuit detects the tailgating situation in response to identifying a simultaneous occurrence of two or more of the following conditions:

an estimated time to collision between the first and second motor vehicles being below a threshold time to collision;

a lateral offset of the second motor vehicle with respect to a center of a lane in which the first and second motor vehicles are traveling exceeding a first offset threshold while a lateral offset of the first motor vehicle with respect to the center of the lane is below a second offset threshold;

activation of a turn signal blinker of the second motor vehicle; and

flashing of a headlamp of the second motor vehicle.

16. The automated driving apparatus of claim 15, wherein the control circuit is operable to:

capture a plurality of images of the second motor vehicle using a camera mounted on a rear of the first motor vehicle; and

detect at least one of the activation of the turn signal blinker or the flashing of the headlamp from the images, including distinguishing between turn signal blinker activation and headlamp flashing based on at least one of a brightness, a color, a duration, or a position with respect to the second motor vehicle, of an illuminated region in the images,

wherein the two or more conditions include the estimated time to collision being below the threshold time to collision and the lateral offset of the second motor vehicle exceeding the first offset threshold while the lateral offset of the first motor vehicle is below the second offset threshold.

17. The automated driving apparatus of claim 15, wherein the two or more conditions include the lateral offset of the second motor vehicle exceeding the first offset threshold while the lateral offset of the first motor vehicle is below the second offset threshold, and wherein the first offset threshold is greater than the second offset threshold.

18. The automated driving apparatus of claim 14, wherein the control circuit is operable to:

set the maximum permissible deceleration rate based on one or more of a speed difference between the first and second motor vehicles, and a distance between the first and second motor vehicles.

19. The automated driving apparatus of claim 14, wherein the control circuit is operable to:

responsive to continued detection of the tailgating situation after increasing the time gap between the first motor vehicle and the third motor vehicle, activate a warning light towards the second motor vehicle.

20. The automated driving apparatus of claim 14, wherein the control circuit is operable to:

identify, using an electronic map, a speed limit of an upcoming section of a road along which the first motor vehicle is traveling, the speed limit being lower than a current speed of the first motor vehicle; and

responsive to the detected tailgating situation, and when no adjacent lanes are available for a lane change;

calculate an amount of time needed to decelerate to the speed limit from the current speed without exceeding the maximum permissible deceleration rate, and

automatically adjust an amount of at least one of acceleration or braking to reach the speed limit within at least the calculated amount of time.