Avoiding blind spots of other vehicles
First Claim
1. A method for maneuvering a first vehicle, the method comprising:
- receiving, by one or more processors, sensor data collected along a roadway;
detecting, by the one or more processors, objects in the roadway based on the sensor data;
identifying, by the one or more processors, from the detected objects, a set of objects that are relevant for blind spot detection such that each object of the set of identified objects is another vehicle traveling in a respective lane adjacent to a first lane in which the first vehicle is currently traveling and every object of the set of identified objects is currently traveling in a same direction of traffic as the first vehicle;
for each identified object of the set of identified objects, determining, by the one or more processors, a blind spot area that defines a space in the first lane that is adjacent to a particular identified object of the set of identified objects, the blind spot area being determined by the one or more processors executing an algorithm that determines the blind spot area based on at least one of an estimated speed of the particular identified object, or a heading of the particular identified object;
predicting, by the one or more processors, future locations of the set of identified objects and the first vehicle;
determining, by the one or more processors, whether the predicted future locations indicate that the first vehicle would drive in any of the determined blind spot areas for more than a threshold period of time, wherein the threshold period of time is greater than zero;
when the predicted future locations indicate that the first vehicle would drive in any of the determined blind spot areas for more than the threshold period of time, determining, by the one or more processors, a controlling factor for each determined blind spot area; and
maneuvering, by the one or more processors, the first vehicle based on the controlling factor determined for each determined blind spot area.
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Accused Products
Abstract
Aspects of the disclosure relate generally to detecting and avoiding blind spots of other vehicles when maneuvering an autonomous vehicle. Blind spots may include both areas adjacent to another vehicle in which the driver of that vehicle would be unable to identify another object as well as areas that a second driver in a second vehicle may be uncomfortable driving. In one example, a computer of the autonomous vehicle may identify objects that may be relevant for blind spot detecting and may determine the blind spots for these other vehicles. The computer may predict the future locations of the autonomous vehicle and the identified vehicles to determine whether the autonomous vehicle would drive in any of the determined blind spots. If so, the autonomous driving system may adjust its speed to avoid or limit the autonomous vehicle'"'"'s time in any of the blind spots.
32 Citations
20 Claims
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1. A method for maneuvering a first vehicle, the method comprising:
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receiving, by one or more processors, sensor data collected along a roadway; detecting, by the one or more processors, objects in the roadway based on the sensor data; identifying, by the one or more processors, from the detected objects, a set of objects that are relevant for blind spot detection such that each object of the set of identified objects is another vehicle traveling in a respective lane adjacent to a first lane in which the first vehicle is currently traveling and every object of the set of identified objects is currently traveling in a same direction of traffic as the first vehicle; for each identified object of the set of identified objects, determining, by the one or more processors, a blind spot area that defines a space in the first lane that is adjacent to a particular identified object of the set of identified objects, the blind spot area being determined by the one or more processors executing an algorithm that determines the blind spot area based on at least one of an estimated speed of the particular identified object, or a heading of the particular identified object; predicting, by the one or more processors, future locations of the set of identified objects and the first vehicle; determining, by the one or more processors, whether the predicted future locations indicate that the first vehicle would drive in any of the determined blind spot areas for more than a threshold period of time, wherein the threshold period of time is greater than zero; when the predicted future locations indicate that the first vehicle would drive in any of the determined blind spot areas for more than the threshold period of time, determining, by the one or more processors, a controlling factor for each determined blind spot area; and maneuvering, by the one or more processors, the first vehicle based on the controlling factor determined for each determined blind spot area. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A device comprising:
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one or more processors configured to; receive sensor data collected as a first vehicle is maneuvered along a roadway; detect objects in the roadway based on the sensor data; identify, from the detected objects, a set of objects that are relevant for blind spot detection such that each object of the set of identified objects is another vehicle traveling in a respective lane adjacent to a first lane in which the first vehicle is currently traveling and every object of the set of identified objects is currently traveling in a same direction of traffic as the first vehicle; for each identified object of the set of identified objects, determine a blind spot area that defines a space in the first lane that is adjacent to a particular identified object of the set of identified objects, the blind spot area being determined by the one or more processors executing an algorithm that determines the blind spot area based on at least one of an estimated speed of the particular identified object, or a heading of the particular identified object; predict future locations of the set of identified objects and the first vehicle; determine whether the predicted future locations indicate that the first vehicle would drive in any of the determined blind spot areas for more than a threshold period of time, wherein the threshold period of time is greater than zero; when the predicted future locations indicate that the first vehicle would drive in any of the determined blind spot areas for more than the threshold period of time, determine a controlling factor for each determined blind spot area; and generate instructions for maneuvering the first vehicle based on the controlling factor determined for each determined blind spot area. - View Dependent Claims (11, 12, 13, 14)
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15. 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 for maneuvering a first vehicle, the method comprising:
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receiving sensor data collected along a roadway; detecting objects in the roadway based on the sensor data; identifying, from the detected objects, a set of objects that are relevant for blind spot detection such that each object of the set of identified objects is another vehicle traveling in a respective lane adjacent to a first lane in which the first vehicle is currently traveling and every object of the set of identified objects is currently traveling in a same direction of traffic as the first vehicle; for each identified object of the set of identified objects, determining a blind spot area that defines a space in the first lane that is adjacent to a particular identified object of the set of identified objects, the blind spot area being determined by the processor executing an algorithm that determines the blind spot area based on at least one of an estimated speed of the particular identified object, or a heading of the particular identified object; predicting future locations of the set of identified objects and the vehicle; determining whether the predicted future locations indicate that the first vehicle would drive in any of the determined blind spot areas for more than a threshold period of time, wherein the threshold period of time is greater than zero; when the predicted future locations indicate that the vehicle would drive in any of the determined blind spot areas for more than the threshold period of time, determining a controlling factor for each determined blind spot area; and maneuvering the vehicle based on the controlling factor determined for each determined blind spot area. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification