System and method for automatically detecting key behaviors by vehicles
First Claim
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1. A method comprising:
- controlling, by one or more computing devices, an autonomous vehicle in accordance with a first control strategy;
receiving, by the one or more computing devices, sensor data indicating a detection of a first vehicle;
accessing, by the one or more computing devices, behavior data, wherein the behavior data identifies potential actions of the first vehicle that are to result in a change in control strategy, and wherein at least one of the potential actions identified in the behavior data is the action of changing from traveling on a first road element to travelling on a second road element;
determining, by the one or more computing devices, that the first vehicle has performed an action identified in the behavior data; and
based on the determination, altering the control strategy of the autonomous vehicle by the one or more computing devices.
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Abstract
Aspects of the disclosure relate generally to detecting discrete actions by traveling vehicles. The features described improve the safety, use, driver experience, and performance of autonomously controlled vehicles by performing a behavior analysis on mobile objects in the vicinity of an autonomous vehicle. Specifically, an autonomous vehicle is capable of detecting and tracking nearby vehicles and is able to determine when these nearby vehicles have performed actions of interest by comparing their tracked movements with map data.
66 Citations
20 Claims
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1. A method comprising:
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controlling, by one or more computing devices, an autonomous vehicle in accordance with a first control strategy; receiving, by the one or more computing devices, sensor data indicating a detection of a first vehicle; accessing, by the one or more computing devices, behavior data, wherein the behavior data identifies potential actions of the first vehicle that are to result in a change in control strategy, and wherein at least one of the potential actions identified in the behavior data is the action of changing from traveling on a first road element to travelling on a second road element; determining, by the one or more computing devices, that the first vehicle has performed an action identified in the behavior data; and based on the determination, altering the control strategy of the autonomous vehicle by the one or more computing devices. - View Dependent Claims (2, 3, 4, 5, 6, 7, 9, 10, 11, 12)
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8. A method comprising:
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controlling, by one or more computing devices, an autonomous vehicle; receiving, by the one or more computing devices, sensor data indicating a position of a first vehicle external to the autonomous vehicle; accessing, by the one or more computing devices, map data having a plurality of road elements; comparing the sensor data with the map data; identifying, by the one or more computing devices, that the first vehicle is travelling on a first road element from the plurality of road elements; determining, by the one or more computing devices, that based on the comparison of the sensor data with the map data, the first vehicle has travelled from the first road element to a second road element; and altering, by the one or more computing devices, at least one of a position, heading, speed, and acceleration of the autonomous vehicle based on the determination that the first vehicle has travelled from the first road element to the second road element.
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13. A system for controlling an autonomous vehicle, the system comprising:
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one or more sensors for detecting a one or more vehicles in an autonomous vehicle'"'"'s surroundings; and one or more processors configured to; control an autonomous vehicle in accordance with a first control strategy; receive sensor data indicating a detection of a first vehicle; access behavior data, wherein the behavior data identifies potential actions of the first vehicle that are to result in a change in control strategy, and wherein at least one of the potential actions of the first vehicle is the first vehicle changing from traveling on a first road element to travelling on a second road element; determine that the first vehicle has performed an action identified in the behavior data; and alter the control strategy of the autonomous vehicle based on the determination. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
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Specification