Transitioning a mixed-mode vehicle to autonomous mode

• US 8,849,493 B2
• Filed: 10/25/2012
• Issued: 09/30/2014
• Est. Priority Date: 05/11/2011
• Status: Active Grant

• Current Assignee: Waymo LLC (Alphabet Inc.)
• Original Assignee: Google Inc. (Alphabet Inc.)
• Inventors: Prada Gomez, Luis Ricardo, Fairfield, Nathaniel, Szybalski, Andy, Nemec, Philip, Urmson, Christopher
• Primary Examiner(s): EL CHANTI, HUSSEIN A
• Application Number:
  US13/660,071
• Publication Number:
  US 20140018992A1
• Time in Patent Office: 705 Days
• Field of Search: 701/2, 701/23
• US Class Current: 701/23
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2552/53 Road markings, e.g. lane marker or crosswalk
• CPC Class Codes: B60W 60/0051 from occupants to vehicle
• CPC Class Codes: B62D 15/0285 Parking performed automatically
• CPC Class Codes: G05D 1/0022 characterised by the communication link data switching networks in general H04L12/00
• CPC Class Codes: G05D 1/0061 for transition from automatic pilot to manual pilot and vice versa
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G08G 1/09623 Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle G08G1/0967 takes precedence

Abstract

Disclosed are methods and devices for transitioning a mixed-mode autonomous vehicle from a human driven mode to an autonomously driven mode. Transitioning may include stopping a vehicle on a predefined landing strip and detecting a reference indicator. Based on the reference indicator, the vehicle may be able to know its exact position. Additionally, the vehicle may use the reference indictor to obtain an autonomous vehicle instruction via a URL. After the vehicle knows its precise location and has an autonomous vehicle instruction, it can operate in autonomous mode.

Claims

1. An apparatus comprising:

a landing strip, the landing strip comprising an indication of an autonomous parking location; and

a reference indicator associated with the landing strip capable of being read by an autonomous vehicle, wherein the reference indicator is configured to provide reference data having an associated autonomous vehicle instruction and having associated location information comprising global coordinate information.

2. The apparatus of claim 1, wherein the autonomous vehicle transitions from a manual mode to an autonomous mode after parking and receiving the autonomous vehicle instruction.

3. The apparatus of claim 1, wherein the landing strip comprises a marking on a ground surface.

4. The apparatus of claim 1, wherein the landing strip comprises a marking on a wall.

5. The apparatus of claim 1, wherein the landing strip comprises a sign.

6. The apparatus of claim 1, wherein the reference data comprises an internet address.

7. The apparatus of claim 1, wherein the autonomous vehicle instruction is based in part on a serial number of the vehicle.

8. The apparatus of claim 1, wherein the reference indicator is a graphic.

9. The apparatus of claim 8, wherein the graphic is a Quick Response (QR) code.

10. A method comprising:

detecting a reference indicator using a reference sensor in a vehicle, wherein the reference indicator provides reference data, and wherein the reference data provides associated location information comprising global coordinate information;

the vehicle wirelessly retrieving an autonomous vehicle instruction associated with both the reference data and a serial number of the vehicle; and

,

the vehicle executing the autonomous vehicle instruction.

11. The method of claim 10, wherein the reference data comprises an internet address.

12. The method of claim 10, further comprising detecting a landing strip using a landing sensor.

13. The method of claim 12, further comprising detecting the reference indicator using the reference sensor responsive to detecting a landing strip with the landing sensor.

14. The method of claim 10, further comprising:

storing the wirelessly retrieved autonomous vehicle instruction in a memory unit; and

reading the autonomous vehicle instruction associated with the reference data from a database comprising autonomous vehicle instructions, wherein the database is stored in the memory unit.

15. The method of claim 10, further comprising reading a graphic containing the reference data with the reference sensor.

16. The method of claim 15, wherein the graphic is a Quick Response (QR) code.

17. An article of manufacture including a tangible non-transitory computer-readable storage medium having stored thereon computer-readable instructions that, upon execution by a computing device, cause the computing device to perform functions comprising:

detecting a reference indicator using a reference sensor in a vehicle, wherein the reference indicator provides reference data, and wherein the reference data provides associated location information including global coordinate information;

wirelessly retrieving an autonomous vehicle instruction associated with both the reference data and a serial number of the vehicle; and

,

executing the autonomous vehicle instruction.

18. The article of manufacture of claim 17, wherein the reference data comprises an internet address.

19. The article of manufacture of claim 17, wherein the reference indicator is a graphic.