Driverless vehicle

• US 8,532,862 B2
• Filed: 11/26/2007
• Issued: 09/10/2013
• Est. Priority Date: 11/29/2006
• Status: Active Grant

• Current Assignee: Arriver Software AB (Qualcomm, Inc.)
• Original Assignee: Ryan A. Neff
• Inventors: Neff, Ryan A.
• Primary Examiner(s): Keith, Jack
• Assistant Examiner(s): Khatib, Rami
• Application Number:
  US11/986,711
• Publication Number:
  US 20110184605A1
• Time in Patent Office: 2,115 Days
• Field of Search: 701/23, 701/25, 701/26, 701/27, 701 41- 45, 701 70- 99, 701116-119, 701200-204, 701207-210, 701/213, 701300-302, 701/24, 701/36, 701/101, 701/400, 701408-410, 701/412, 701/414, 701/416, 701/422, 701/423, 701/445, 701468-469, 701/472, 701/478, 701482-484, 701/495, 180167-170, 706/3, 706/45, 706/900, 706/903, 706/905, 706/913
• US Class Current: 701/25
• CPC Class Codes: B60W 60/0011 involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
• CPC Class Codes: G01S 19/42 Determining position
• CPC Class Codes: G05D 1/0231 using optical position detecting means position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0251 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0285 using signals transmitted via a public communication network, e.g. GSM network

Abstract

Each respective vehicle of a plurality of vehicles transports a vehicle navigation system. A position determining system determines a position and a velocity of the respective vehicle and an information acquisition system is operable to determine a displacement and velocity between the respective vehicle and a vehicle adjacent to the respective vehicle. An information communication system of a respective vehicle is operable to transmit first information (that vehicle'"'"'s velocity and position) to other vehicles and to receive information from other vehicles regarding their velocities and positions. A vehicle routing system can determine a target routing and target velocity for moving the respective vehicle over a path including the roadway. Based on the received or determined information, the velocity of the respective vehicle can be controlled.

Claims

1. A processor-based electronic system for use in a state of the electronic system being installed on or in a first vehicle or transported by the first vehicle, the electronic system being configured to automatically control a velocity of the first vehicle on a roadway subject to traffic by a plurality of vehicles thereon, the electronic system comprising:

a clock configured to maintain synchronization with a common clock reference signal received from a terrestrial station;

a position determining system configured to determine and record a position and a velocity of the first vehicle with respect to points in a coordinate space and with respect to the clock;

an information communication system configured to transmit first information from the first vehicle for reception by the plurality of vehicles on the roadway within a transmission range of the first vehicle, the first information including the position and velocity of the first vehicle, the information communication system further being configured to receive second information transmitted from the plurality of vehicles, the second information including position information and velocity information regarding positions and velocities, respectively, of the plurality of vehicles determined by electronic systems carried by respective vehicles of the plurality of vehicles relative to the coordinate space and relative to clocks of the respective electronic systems which are configured to maintain synchronization with the common transmitted clock reference signal, the second information including timestamps, each timestamp based on the clock of the electronic system of each respective vehicle, the timestamps indicating times at which the position information and the velocity information are generated by the electronic system of each respective vehicle;

a vehicle routing system configured to determine a target routing of the first vehicle between a given location and a destination over a path including the roadway; and

a vehicle velocity control system configured to control the velocity of the first vehicle based on the target routing, the determined position and the determined velocity of the first vehicle, and the received second information from the plurality of vehicles indicating the positions and the velocities of the plurality of vehicles and the times, indicated by the timestamps, at which the position information and velocity information are generated.

2. The electronic system as claimed in claim 1, wherein the vehicle velocity control system is configured to determine an estimate of a velocity of traffic on the roadway based on the received second information.

3. The electronic system as claimed in claim 1, wherein the position determining system is configured to determine the position and velocity of the first vehicle using the received second information.

4. The electronic system as claimed in claim 1, wherein the information communication system is configured to retransmit an item of the second information received from at least one of the plurality of vehicles for reception at at least one vehicle of the plurality of vehicles other than from which the item of second information is received.

5. The electronic system as claimed in claim 1, wherein the vehicle velocity control system is configured to a) assign a first weight to the velocity of a selected one of the plurality of vehicles which is near the first vehicle, b) assign a second weight to the velocity of a second one of the plurality of vehicles farther away from the first vehicle than the selected vehicle, the second weight being lower than the first weight, and c) control the velocity of the first vehicle based on the weighted velocities of the selected vehicle and the second vehicle.

6. The electronic system as claimed in claim 1, wherein the system is configured to detect presence of a non-communicating vehicle proximate to the first vehicle with which the information communication system is not in communication and the vehicle velocity control system is configured to control the velocity of the first vehicle so as to maintain a greater displacement between the first vehicle and the non-communicating vehicle than a minimum displacement permitted between the first vehicle and any of the plurality of vehicles.

7. The electronic system as claimed in claim 1, wherein the vehicle velocity control system includes a mechanism for steering the first vehicle without requiring an action of a human driver.

8. The electronic system as claimed in claim 1, wherein the vehicle velocity control system includes a mechanism for accelerating the first vehicle without requiring an action of a human driver.

9. The electronic system as claimed in claim 1, wherein the vehicle velocity control system includes a mechanism for decelerating the first vehicle without requiring an action of a human driver.

10. The electronic system as claimed in claim 1, further comprising an information acquisition system having a plurality of sensors configured to sense a displacement between the first vehicle and at least one vehicle adjacent to the first vehicle and to determine a velocity of the at least one adjacent vehicle using the sensors, wherein the vehicle velocity control system is configured to control the velocity of the first vehicle further based on the displacement between the first vehicle and the at least one adjacent vehicle, and the velocity of the at least one adjacent vehicle.

11. The electronic system as claimed in claim 10, wherein the sensors of the information acquisition system are configured to detect a hazard on the roadway, to measure displacement of the first vehicle from the detected hazard, and the vehicle velocity control system of the first vehicle is configured to control the velocity of the first vehicle based further on the displacement of the first vehicle from the detected hazard.

12. The electronic system as claimed in claim 10, wherein the information acquisition system is configured further to determine a boundary of the roadway.

13. The electronic system as claimed in claim 10, wherein the information acquisition system is configured further to detect impaired fraction between the first vehicle and a surface of the roadway and the first information includes information relating to the detected impaired traction.

14. The electronic system as claimed in claim 13, wherein the second information includes information relating to impaired traction detected between at least one of the plurality of vehicles and the surface of the roadway, and the vehicle velocity control system is configured to control the velocity of the first vehicle based further on the information relating to the impaired traction of the at least one vehicle of the plurality of vehicles.

15. The electronic system as claimed in claim 10, wherein the sensors of the information acquisition system include a plurality of electronic cameras and the information acquisition system is configured to determine the displacement between the first vehicle and the at least one adjacent vehicle through processing of stereoscopic imaging obtained from the electronic cameras.

16. The system as in claim 1, wherein the information communication system is further configured to retransmit the position information and velocity information received from:

at least one vehicle of the plurality of vehicles regarding the determined position and the determined velocity of the at least one vehicle,

to at least one other vehicle of the plurality of vehicles.

17. The system as in claim 1, wherein the information communication system is configured to not utilize second information received by the information communication system which relates to a position and a velocity of any vehicle of the plurality of vehicles which is positioned beyond a radius of potential interaction from the determined position of the first vehicle.

18. A method of automatically controlling a velocity of a first vehicle on a roadway subject to traffic by a plurality of individual vehicles thereon, comprising:

using a processor-based electronic system installed in or on the first vehicle or transported by the first vehicle in;

maintaining synchronization of a clock of the electronic system with a common clock reference signal received from a terrestrial station;

determining and recording a position and a velocity of the first vehicle with respect to points in a coordinate space and with respect to the clock;

transmitting first information from the first vehicle for reception by the plurality of vehicles on the roadway within a transmission range of the first vehicle, the first information including the position and velocity of the first vehicle;

receiving second information transmitted from the plurality of vehicles, the second information including position information and velocity information regarding positions and velocities, respectively, of the plurality of vehicles determined by electronic systems installed in or transported by respective vehicles of the plurality of vehicles relative to the coordinate space and relative to clocks of the respective electronic systems synchronized with the common transmitted clock reference signal, the second information including timestamps, each timestamp based on the clock of the electronic system of each respective vehicle, the timestamps indicating times at which the position information and the velocity information are generated by the electronic system of each respective vehicle;

determining a target routing of the first vehicle between a given location and a destination over a path including the roadway; and

controlling the velocity of the first vehicle based on the target routing, the determined position and the determined velocity of the first vehicle, and the received second information from the plurality of vehicles including the position information and velocity information regarding the positions and the velocities of the plurality of vehicles and the times indicated by the timestamps at which the position information and velocity information are generated.

19. The method as claimed in claim 18, further comprising using the electronic system in retransmitting from the first vehicle an item of the second information received from at least one of the plurality of vehicles for reception at at least one vehicle of the plurality of vehicles other than from which the item of second information is received.

20. The method as claimed in claim 18, wherein the step of controlling the velocity of the first vehicle includes a) assigning a first weight to the velocity of a selected one of the plurality of vehicles which is near the first vehicle, b) assigning a second weight to the velocity of a second one of the plurality of vehicles farther away from the first vehicle than the selected vehicle, the second weight being lower than the first weight, and c) controlling the velocity of the first vehicle based on the weighted velocities of the selected vehicle and the second vehicle.

21. The method as claimed in claim 18, further comprising using the electronic system in detecting presence of a non-communicating vehicle proximate to the first vehicle and the step of controlling the velocity of the first vehicle includes maintaining a greater displacement between the first vehicle and the non-communicating vehicle than a minimum displacement permitted between the first vehicle and any of the plurality of vehicles.

22. The method as claimed in claim 18, wherein the step of controlling the velocity of the first vehicle includes steering the first vehicle without requiring an action of a human driver.

23. The method as claimed in claim 18, wherein the step of controlling the velocity of the first vehicle includes accelerating the first vehicle without requiring an action of a human driver.

24. The method as claimed in claim 18, wherein the step of controlling the velocity of the first vehicle includes decelerating the first vehicle without requiring an action of a human driver.