Safely navigating on roads through maintaining safe distance from other vehicles

• US 8,504,233 B1
• Filed: 04/27/2012
• Issued: 08/06/2013
• Est. Priority Date: 04/27/2012
• Status: Active Grant

• Current Assignee: Google LLC (Alphabet Inc.)
• Original Assignee: Google Inc. (Alphabet Inc.)
• Inventors: Ferguson, David I., Dolgov, Dmitri
• Primary Examiner(s): Black, Thomas
• Assistant Examiner(s): PAIGE, TYLER D
• Application Number:
  US13/457,628
• Time in Patent Office: 466 Days
• Field of Search: 701/23, 340/463
• US Class Current: 701/23
• CPC Class Codes: B60W 2552/00 Input parameters relating to infrastructure
• CPC Class Codes: B60W 2552/53 Road markings, e.g. lane marker or crosswalk
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 50/029 Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
• CPC Class Codes: B60W 60/00 Drive control systems specially adapted for autonomous road vehicles
• CPC Class Codes: G05D 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• CPC Class Codes: G05D 1/0289 with means for avoiding collisions between vehicles vehicle fittings for automatically controlling speed including means for detecting potential obstacles B60K31/0008; avoiding obstacles by action on the steering system B62D; radar, sonar, lidar systems designed for anti-collision purposes G01S13/93, G01S15/93, G01S17/93
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road

Abstract

Methods and devices for controlling a vehicle in an autonomous mode are disclosed. In one aspect, an example method is disclosed that includes obtaining, by a computer system, lane information that provides an estimated location of a lane of a road on which a vehicle is traveling, where the computer system is configured to control the vehicle in an autonomous mode. The example method further includes determining, by the computer system, that the lane information has become unavailable or unreliable and, in response to determining that the lane information has become unavailable or unreliable, the computer system using at least one sensor to monitor at least one neighboring vehicle and controlling the vehicle to maintain a distance between the vehicle and the at least one neighboring vehicle to be at least a predetermined minimum distance.

Claims

1. A method comprising:

obtaining, by a computer system, lane information that provides an estimated location of a lane of a road on which a vehicle is traveling, wherein the computer system is configured to control the vehicle in an autonomous mode;

determining, by the computer system, that the lane information has become unavailable or unreliable; and

in response to determining that the lane information has become unavailable or unreliable, the computer system;

using at least one sensor to monitor at least one neighboring vehicle, and

controlling the vehicle to maintain a distance between the vehicle and the at least one neighboring vehicle to be at least a predetermined minimum distance.

2. The method of claim 1, wherein the lane information is based on at least one of a lane marking on the road, a geographic location of the vehicle, and a predetermined map of the road.

3. The method of claim 1, wherein determining that the lane information has become unavailable or unreliable comprises detecting that a confidence of the lane information is less than a predetermined threshold.

4. The method of claim 1, wherein determining that the lane information has become unavailable or unreliable comprises detecting that a confidence of the lane information is less than a predetermined threshold for at least a predetermined amount of time.

5. The method of claim 1, wherein:

the at least one neighboring vehicle comprises a first neighboring vehicle and a second neighboring vehicle; and

maintaining the distance between the vehicle and the at least one neighboring vehicle to be at least the predetermined minimum distance comprises maximizing both a first distance between the vehicle and the first neighboring vehicle and a second distance between the vehicle and the second neighboring vehicle, while maintaining each of the first distance and the second distance to be greater than the predetermined minimum distance.

6. The method of claim 1, wherein using the at least one sensor to monitor the at least one neighboring vehicle comprises using the at least one sensor to monitor at least a first distance and a second distance to the at least one neighboring vehicle, the method further comprising:

based on the first distance and the second distance, determining a first relative position and a second relative position of the at least one neighboring vehicle;

based on the first relative position and the second relative position, estimating a path for the at least one neighboring vehicle; and

based on the estimated path, determining an updated estimated location of the lane.

7. The method of claim 1, further comprising:

using a speed sensor to monitor a speed of the at least one neighboring vehicle; and

modifying a speed of the vehicle to be less than the speed of the at least one neighboring vehicle.

8. The method of claim 1, further comprising:

periodically obtaining, by a computer system, updated lane information that provides an updated estimated location of the lane;

determining, by the computer system, that the updated lane information has become reliable; and

in response to determining that the updated lane information has become reliable, ceasing to control the vehicle to maintain the distance between the vehicle and the at least one neighboring vehicle to be at least the predetermined minimum distance.

9. The method of claim 8, wherein determining that the updated lane information has become reliable comprises detecting that a confidence of the updated lane information is greater than a predetermined threshold.

10. A vehicle configured to operate in an autonomous mode, the vehicle comprising:

at least one sensor;

at least one processor; and

data storage comprising a predetermined minimum distance and instructions executable by the at least one processor to;

obtain lane information that provides an estimated location of a lane of a road on which the vehicle is traveling;

determine that the lane information has become unavailable or unreliable; and

in response to determining that the lane information has become unavailable or unreliable;

use the at least one sensor to monitor at least one neighboring vehicle, and

control the vehicle to maintain a distance between the vehicle and the at least one neighboring vehicle to be at least a predetermined minimum distance.

11. The vehicle of claim 10, wherein the at least one sensor comprises a laser.

12. The vehicle of claim 10, wherein the at least one sensor comprises at least one of a lane marking sensor configured to sense a lane marking on the road and a location sensor configured to sense a geographic location of the vehicle.

13. The vehicle of claim 12, wherein the lane information is based on at least one of the lane marking on the road and the geographic location of the vehicle.

14. The vehicle of claim 10, wherein the data storage further comprises a predetermined map of the road.

15. The vehicle of claim 14, wherein the lane information is based on the predetermined map.

16. The vehicle of claim 10, further comprising a speed sensor configured to sense a speed of the at least one neighboring vehicle.

17. The vehicle of claim 10, further comprising a throttle configured to modify a speed of the vehicle to be less than the speed of the at least one neighboring vehicle.

20. The non-transitory computer-readable medium of claim 17, wherein the functions further comprise:

periodically obtaining updated lane information that provides an updated estimated location of the lane;

determining that the updated lane information has become reliable; and

in response to determining that the updated lane information has become reliable, ceasing to control the vehicle to maintain the distance between the vehicle and the at least one neighboring vehicle to be at least the predetermined minimum distance.

18. A non-transitory computer-readable medium having stored therein instructions executable by a computing device to cause the computing device to perform functions comprising:

obtaining lane information that provides an estimated location of a lane of a road on which a vehicle is traveling;

determining that the lane information has become unavailable or unreliable; and

in response to determining that the lane information has become unavailable or unreliable;

using at least one sensor to monitor at least one neighboring vehicle, and

controlling the vehicle to maintain a distance between the vehicle and the at least one neighboring vehicle to be at least a predetermined minimum distance.

19. The non-transitory computer-readable medium of claim 18, wherein using the at least one sensor to monitor the at least one neighboring vehicle comprises using the at least one sensor to monitor at least a first distance and a second distance to the at least one neighboring vehicle, the method further comprising:

based on the first distance and the second distance, determining a first relative position and a second relative position of the at least one neighboring vehicle;

based on the first relative position and the second relative position, estimating a path for the at least one neighboring vehicle; and

based on the estimated path, determining an updated estimated location of the lane.