Sensor field selection

• US 8,589,014 B2
• Filed: 06/01/2011
• Issued: 11/19/2013
• Est. Priority Date: 06/01/2011
• Status: Active Grant

• Current Assignee: Google LLC (Alphabet Inc.)
• Original Assignee: Google Inc. (Alphabet Inc.)
• Inventors: Fairfield, Nathaniel, Zhu, Jiajun, Dolgov, Dmitri A.
• Primary Examiner(s): Trammell, James
• Assistant Examiner(s): TESTARDI, DAVID A
• Application Number:
  US13/150,385
• Publication Number:
  US 20120310466A1
• Time in Patent Office: 902 Days
• Field of Search: 701/28
• US Class Current: 701/28
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93

Abstract

Aspects of the present disclosure relate generally to safe and effective use of autonomous vehicles. More specifically, an autonomous vehicle is able to detect objects in its surroundings which are within the sensor fields. In response to detecting objects, the computer may adjust the autonomous vehicle'"'"'s speed or change direction. In some examples, however, the sensor fields may be changed or become less reliable based on objects or other features in the vehicle'"'"'s surroundings. As a result, the vehicle'"'"'s computer may calculate the size and shape of the area of sensor diminution and a new sensor field based on this area of diminution. In response to identifying the area of sensor diminution or the new sensor field, the vehicle'"'"'s computer may change the control strategies of the vehicle.

Claims

1. A method for controlling a vehicle having an autonomous operation mode, the method comprising:

controlling, by a processor, operation of the vehicle based on a first control strategy;

identifying a sensor field based on a field of view of one or more sensors of the vehicle;

receiving sensor data from selected ones of the one or more sensors;

detecting a moving object in the roadway and a location of the object in the sensor field based on the received sensor data;

identifying a change in sensor perception of the one or more sensors based on the location of the object, the change in the sensor perception including a decrease in an ability to detect objects within the sensor field;

determining, based on the change, a second control strategy for increasing the ability to detect objects within the sensor field; and

responsive to identifying the change, maneuvering, by the processor, the vehicle in the autonomous mode so that the vehicle falls behind the object according to the second control strategy in order to increase the ability to detect objects within the sensor field.

2. The method of claim 1, wherein identifying the change in sensor perception includes calculating an area of diminished sensor perception based on the location of the object in the sensor field, and determining the second control strategy is based on the area of diminished sensor perception.

3. The method of claim 1, wherein identifying the change in sensor perception includes calculating a current sensor field based on the location of the object in the sensor field, and determining the second control strategy is based on the current sensor field.

4. The method of claim 1, wherein the object is another vehicle.

5. The method of claim 1, further comprising:

determining that the sensor data indicates that a given one of the one or more sensors is providing unreliable information; and

wherein identifying the change is based on the determined indication.

6. The method of claim 5, wherein the unreliable information includes one or more camera images.

7. The method of claim 1, further comprising:

determining that there is no longer a change in sensor perception of the one or more sensors based on the sensor data;

wherein controlling the operation of the vehicle is further based on the first control strategy based on the determination that there is no longer a change.

8. The method of claim 1, wherein controlling the operation of the vehicle based on the first control strategy includes maneuvering the vehicle at a first speed and wherein controlling the operation of the vehicle based on the second control strategy includes maneuvering the vehicle at a second speed different from the first speed.

9. A device for controlling a vehicle having an autonomous operation mode, the device comprising:

one or more sensors for detecting objects in the vehicle'"'"'s surroundings; and

a processor coupled to the one or more sensors, the processor being operable to;

control operation of the vehicle based on a first control strategy;

identify a sensor field based on a field of view of the one or more sensors of the vehicle;

receive sensor data from selected ones of the one or more sensors;

detect a moving object in the roadway and a location of the object in the sensor field based on the received sensor data;

identify a change in sensor perception of the one or more sensors based on the location of the object, the change in the sensor perception including a decrease in an ability to detect objects within the sensor field;

determine, based on the change, a second control strategy for increasing the ability to detect objects in the sensor field; and

responsive to identifying the change, maneuver the vehicle in the autonomous mode so that the vehicle falls behind the object according to the second control strategy in order to increase the ability to detect objects within the sensor field.

10. The device of claim 9, wherein the processor is operable to identify the change in sensor perception by calculating an area of diminished sensor perception based on the location of the object in the sensor field, and determining the second control strategy is based on the area of diminished sensor perception.

11. The device of claim 9, wherein the processor is operable to identify the change in sensor perception by calculating a current sensor field based on the location of the object in the sensor field, and determining the second control strategy is based on the current sensor field.

12. The device of claim 9, wherein the processor is further operable to identify the object as another vehicle.

13. The device of claim 9, wherein the processor is further operable to determine that the sensor data indicates that a given one of the one or more sensors is providing unreliable information, and the processor identifies the change based on the determined indication.

14. The device of claim 13, wherein the unreliable information includes one or more camera images.

15. The device of claim 9, wherein the processor is further operable to:

determine that there is no longer a change in sensor perception of the one or more sensors based on the sensor data; and

control the operation of the vehicle based on the first control strategy based on the determination that there is no longer a change.

16. The device of claim 9, wherein the processor is further operable to:

control the operation of the vehicle based on the first control strategy by maneuvering the vehicle at a first speed; and

control the operation of the vehicle based on the second control strategy by maneuvering the vehicle at a second speed different from the first speed.

17. A non-transitory, tangible computer-readable storage medium on which computer readable instructions of a program are stored, the instructions, when executed by a processor, cause the processor to perform a method of controlling a vehicle having an autonomous operation mode, the method comprising:

controlling operation of a vehicle based on a first control strategy;

identifying a sensor field based on a field of view of one or more sensors of the vehicle;

receiving sensor data from selected ones of the one or more sensors;

detecting a moving object in the roadway and a location of the object in the sensor field based on the received sensor data;

identifying a change in sensor perception of the one or more sensors based on the location of the object, the change in the sensor perception including a decrease in an ability to detect objects within the sensor field;

determining, based on the change, a second control strategy for increasing the ability to detect objects within the sensor field; and

responsive to identifying the change, maneuvering the vehicle in the autonomous mode so that the vehicle falls behind the object according to the second control strategy in order to increase the ability to detect objects within the sensor field.