Transitioning a mixed-mode vehicle to autonomous mode

• US 8,078,349 B1
• Filed: 05/11/2011
• Issued: 12/13/2011
• Est. Priority Date: 05/11/2011
• Status: Expired due to Fees

• Current Assignee: Google LLC (Alphabet Inc.)
• Original Assignee: Google Inc. (Alphabet Inc.)
• Inventors: Prada Gomez, Luis Ricardo, Fairfield, Nathaniel, Urmson, Christopher, Szybalski, Andy, Nemec, Philip
• Primary Examiner(s): EL CHANTI, HUSSEIN A
• Application Number:
  US13/105,101
• Time in Patent Office: 216 Days
• Field of Search: 701/1, 701/2, 701/23
• US Class Current: 701/23
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/42 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2552/53 Road markings, e.g. lane marker or crosswalk
• CPC Class Codes: B60W 60/0051 from occupants to vehicle
• CPC Class Codes: B62D 15/0285 Parking performed automatically
• CPC Class Codes: G05D 1/0022 characterised by the communication link data switching networks in general H04L12/00
• CPC Class Codes: G05D 1/0061 for transition from automatic pilot to manual pilot and vice versa
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G08G 1/09623 Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle G08G1/0967 takes precedence

Abstract

Disclosed are methods and devices for transitioning a mixed-mode autonomous vehicle from a human driven mode to an autonomously driven mode. Transitioning may include stopping a vehicle on a predefined landing strip and detecting a reference indicator. Based on the reference indicator, the vehicle may be able to know its exact position. Additionally, the vehicle may use the reference indictor to obtain an autonomous vehicle instruction via a URL. After the vehicle knows its precise location and has an autonomous vehicle instruction, it can operate in autonomous mode.

Claims

1. An autonomous vehicle comprising:

a first sensor configured to detect a landing strip responsive to the vehicle stopping;

a second sensor configured to detect a reference indicator, responsive to the first sensor detecting the landing strip;

an analysis module configured to identify reference data associated with the detected reference indicator, wherein the reference data comprises an internet address;

a wireless unit configured to wirelessly retrieve an autonomous vehicle instruction based on at least the reference data; and

,

a control module configured to switch the vehicle into an autonomous operation mode, wherein the autonomous operation mode comprises the control module executing the autonomous vehicle instruction.

2. The autonomous vehicle of claim 1, further comprising:

a memory unit configured to;

store data comprising at least one autonomous vehicle instruction; and

,

responsively store the wirelessly retrieved autonomous vehicle instruction with the memory unit; and

,

an instruction module configured to read an autonomous vehicle instruction associated with the reference data from the memory unit.

3. The autonomous vehicle of claim 1, wherein the second sensor is configured to read a graphic containing the reference data.

4. The autonomous vehicle of claim 3, wherein the graphic containing the reference data is a QR code.

5. The autonomous vehicle of claim 1, wherein the analysis module is further configured to decode the reference data.

6. The autonomous vehicle of claim 1, wherein the second sensor is a radio receiver configured to receive radio waves.

7. The autonomous vehicle of claim 1, wherein the analysis module is further configured to calculate a distance and bearing from the reference indicator to the vehicle.

8. A method comprising:

detecting a landing strip with a first sensor responsive to a vehicle stopping;

detecting a reference indicator with a second sensor, responsive to the first sensor detecting the landing strip;

identifying reference data associated with the detected reference indicator, wherein the reference data comprises an internet address;

wirelessly retrieving the autonomous vehicle instruction based on at least the reference data;

switching a vehicle to autonomous operation mode; and

,

performing the autonomous vehicle instruction.

9. The method of claim 8, further comprising:

storing the retrieved autonomous vehicle instruction with a memory unit; and

,

reading an autonomous vehicle instruction from a memory, wherein the autonomous vehicle instruction is associated with the reference data.

10. The method of claim 8, wherein the reference indicator is a graphic containing the reference data.

11. The method of claim 10, wherein the graphic containing the reference data is a QR code.

12. The method of claim 8, further comprising decoding the reference data.

13. The method of claim 8, further comprising receiving radio waves containing the reference data.

14. The method of claim 8, further comprising calculating a distance and bearing from the reference indicator to the vehicle.

15. An article of manufacture including a tangible non-transitory computer-readable storage medium having computer-readable instructions encoded thereon, the instructions comprising:

instructions for detecting a landing strip with a first sensor responsive to a vehicle stopping;

instructions for detecting a reference indicator with a second sensor, responsive to the first sensor detecting the landing strip;

instructions for identifying reference data associated with the detected reference indicator, wherein the reference data comprises an internet address;

instructions for wirelessly retrieving the autonomous vehicle instruction based on at least the reference data;

instructions for switching a vehicle to autonomous operation mode; and

,

instructions for performing the autonomous vehicle instruction.

16. The article of manufacture of claim 15, further comprising:

instructions for storing the retrieved autonomous vehicle instruction with the memory unit; and

,

instructions for reading an autonomous vehicle instruction from a memory, wherein the autonomous vehicle instruction is associated with the reference data.

17. The article of manufacture of claim 15, further comprising, instructions for decoding the reference data.

18. The article of manufacture of claim 15, wherein the reference data is received with radio waves.

19. The article of manufacture of claim 15, wherein reference indicator is a graphic containing the reference data.

20. The article of manufacture of claim 15, further comprising instructions for calculating a distance from the reference indicator to the vehicle.