Safely navigating on roads through maintaining safe distance from other vehicles

• US 8,725,342 B2
• Filed: 07/18/2013
• Issued: 05/13/2014
• Est. Priority Date: 04/27/2012
• Status: Active Grant

• Current Assignee: Waymo 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:
  US13/944,877
• Publication Number:
  US 20140018995A1
• Time in Patent Office: 299 Days
• Field of Search: 701/23, 382/103, 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: G05D 2201/0213 Road vehicle, e.g. car or truck
• 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 lane information that provides an estimated location of a lane of a road on which a vehicle is traveling. The example method further includes determining that the lane information has become unavailable or unreliable and, in response, using a sensor to monitor a first distance and a second distance between the vehicle and a neighboring vehicle, determining first and second relative positions of the neighboring vehicle based on the first and second distances, respectively, and, based on the first and second relative positions, determining an estimated path of the neighboring vehicle. The example method further includes, based on the estimated path, determining an updated estimated location of the lane, and controlling the vehicle based on the updated estimated location of the lane.

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;

(i) using at least one sensor to monitor at least a first distance and a second distance, wherein the first distance comprises a distance between the vehicle and a neighboring vehicle at a first time and the second distance comprises a distance between the vehicle and the neighboring vehicle at a second time,

(ii) based on the first distance, determining a first relative position of the neighboring vehicle,

(iii) based on the second distance, determining a second relative position of the neighboring vehicle,

(iv) based on the first relative position and the second relative position, determining an estimated path of the neighboring vehicle,

(v) based on the estimated path, determining an updated estimated location of the lane, and

(vi) controlling the vehicle based on the updated estimated location of the lane.

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, further comprising:

periodically obtaining, by a computer system, updated lane information;

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 based on the updated estimated location of the lane.

6. The method of claim 5, 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.

7. The method of claim 1, further comprising:

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

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

8. The method of claim 1, wherein determining the estimated path of the neighboring vehicle based on the first relative position and the second relative position comprises:

based on the first relative position and the second relative position, determining a trajectory of the neighboring vehicle; and

extrapolating the trajectory to determine the estimated path of the neighboring vehicle.

9. The method of claim 8, wherein extrapolating the trajectory comprises extrapolating the trajectory with a constant curvature.

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 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 a 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;

(i) use the at least one sensor to monitor at least a first distance and a second distance, wherein the first distance comprises a distance between the vehicle and a neighboring vehicle at a first time and the second distance comprises a distance between the vehicle and the neighboring vehicle at a second time,

(ii) based on the first distance, determine a first relative position of the neighboring vehicle,

(iii) based on the second distance, determine a second relative position of the neighboring vehicle,

(iv) based on the first relative position and the second relative position, determine an estimated path of the neighboring vehicle,

(v) based on the estimated path, determine an updated estimated location of the lane, and

(vi) control the vehicle based on the updated estimated location of the lane.

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.

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;

(i) using at least one sensor to monitor at least a first distance and a second distance, wherein the first distance comprises a distance between the vehicle and a neighboring vehicle at a first time and the second distance comprises a distance between the vehicle and the neighboring vehicle at a second time,

(ii) based on the first distance, determining a first relative position of the neighboring vehicle,

(iii) based on the second distance, determining a second relative position of the neighboring vehicle,

(iv) based on the first relative position and the second relative position, determining an estimated path of the neighboring vehicle,

(v) based on the estimated path, determining an updated estimated location of the lane, and

(vi) controlling the vehicle based on the updated estimated location of the lane.

19. The non-transitory computer-readable medium of claim 18, wherein determining the estimated path of the neighboring vehicle based on the first relative position and the second relative position comprises:

based on the first relative position and the second relative position, determining a trajectory of the neighboring vehicle; and

extrapolating the trajectory to determine the estimated path of the neighboring vehicle.

20. The non-transitory computer-readable medium of claim 18, wherein the functions further comprise:

periodically obtaining updated lane information;

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 based on the updated estimated location of the lane.