Modifying a vehicle state based on the presence of a special-purpose vehicle
First Claim
1. A method comprising:
- determining, a first route for a first vehicle to follow, the first route is determined using a first value for a cost associated with a road section;
receiving sensor data from a sensor of the first vehicle;
generating from the sensor data a model representing a characteristic for a second vehicle that shares a road with the first vehicle;
comparing the model to a pre-determined template representing a characteristic for a vehicle that is known to be a special purpose vehicle in order to determine whether the model and the pre-determined template match to a threshold degree;
upon the model matching the pre-determined template to the threshold degree, determining, by a processor, onboard the first vehicle a second route that leads to a travel destination, the second route is determined by using a second value for the cost associated with the road section, the second value being different from the first value; and
switching the first vehicle from following the first route to following the second route.
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Abstract
A method is provided that includes receiving user input identifying a travel destination for a first vehicle, determining, by a processor, a first route for the first vehicle to follow, and configuring the first vehicle to follow the first route. The method further includes obtaining a model for a second vehicle that shares a road with the first vehicle and comparing model to a pre-determined template for a vehicle that is known to be a special purpose vehicle in order to determine whether the first template and the second template match. The method further includes determining, by the processor, a second route that leads to the travel destination, when a match is found to exist, and switching the first vehicle from following the first route to following the second route.
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Citations
18 Claims
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1. A method comprising:
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determining, a first route for a first vehicle to follow, the first route is determined using a first value for a cost associated with a road section; receiving sensor data from a sensor of the first vehicle; generating from the sensor data a model representing a characteristic for a second vehicle that shares a road with the first vehicle; comparing the model to a pre-determined template representing a characteristic for a vehicle that is known to be a special purpose vehicle in order to determine whether the model and the pre-determined template match to a threshold degree; upon the model matching the pre-determined template to the threshold degree, determining, by a processor, onboard the first vehicle a second route that leads to a travel destination, the second route is determined by using a second value for the cost associated with the road section, the second value being different from the first value; and switching the first vehicle from following the first route to following the second route. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method comprising:
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receiving sensor data from a sensor of a first vehicle; determining, by a processor, onboard the first vehicle a first operational context for the first vehicle based on environmental information for the first vehicle determined from the sensor data, the first operational context including a first plurality of control rules for governing the operation of the first vehicle in a first environment type, wherein the first environment type is determined based on a weighted value for the sensor data, the weighted value for the sensor data being used to generate a first probability value that the first vehicle is present in the first environment type; operating the first vehicle within the first operational context; generating from the sensor data a model representing a characteristic for a second vehicle that shares a road with the first vehicle; comparing the model to a pre-determined template representing a characteristic for a vehicle that is known to be a special-purpose vehicle to determine whether the first model and the pre-determined template match to a threshold degree; upon the model matching the pre-determined template to the threshold degree, determining a second environment type that is different from the first environment type based on a second weighted value for the sensor data, the second weighted value for the sensor data being used to generate a second probability value that the second vehicle is present in a second environment type; and determining the environment type based on a comparison of the first probability value and the second probability value; in response to the determination of the environment type, switching the first vehicle from operating within the first operational context to operating within a second operational context, the second operational context including a second plurality of control rules for governing the operation of the first vehicle in a second environment type, the second plurality of control rules being different from the first plurality of control rules. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 16)
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17. A system comprising:
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a processor onboard a first vehicle, the processor being configured to; determine a first route for a first vehicle to follow, the first route is determined using a first value for the cost associated with a road section; receive sensor data from a sensor of the first vehicle; generate from the sensor data a model representing a characteristic for a second vehicle that shares a road with the first vehicle; compare the model to a pre-determined template representing a characteristic for a vehicle that is known to be a special purpose vehicle in order to determine whether the model and the pre-determined template match to a threshold degree; upon the model matching the pre-determined template to the threshold degree, determine a second route that leads to a travel destination, the second route is determined by using a second value for the cost associated with the road section, the second value being different from the first value; and switch the first vehicle from following the first route to following the second route.
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18. A system comprising:
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a processor onboard a first vehicle, the processor being configured to; receive sensor data from a sensor of the first vehicle; determine a first operational context for the first vehicle based on environmental information for the first vehicle determined from the sensor data, the first operational context including a first plurality of control rules for governing the operation of the first vehicle in a first environment type, wherein the first environment type is determined based on a weighted value for the sensor data, the weighted value for the sensor data being used to generate a first probability value that the first vehicle is present in the first environment type; operate the first vehicle within the first operational context; generate from the sensor data a model representing a characteristic for a second vehicle that shares a road with the first vehicle; compare the model to a pre-determined template representing a characteristic for a vehicle that is known to be a special-purpose vehicle to determine whether the model and the pre-determined template match to a threshold degree; upon the model matching the pre-determined template to the threshold degree, determining a second environment type that is different from the first environment type based on a second weighted value for the sensor data, the second weighted value for the sensor data being used to generate a second probability value that the second vehicle is present in a second environment type; and in response to the determination of the environment type, switch the first vehicle from operating within the first operational context to operating within a second operational context, the second operational context including a second plurality of control rules for governing the operation of the first vehicle in a second environment type, the second plurality of control rules being different from the first plurality of control rules.
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Specification