Predictive reasoning for controlling speed of a vehicle

• US 9,254,846 B2
• Filed: 05/03/2013
• Issued: 02/09/2016
• Est. Priority Date: 05/03/2013
• Status: Active Grant

• Current Assignee: Google LLC (Alphabet Inc.)
• Original Assignee: Google Inc. (Alphabet Inc.)
• Inventors: Dolgov, Dmitri, Ferguson, Dave
• Primary Examiner(s): Beaulieu, Y.
• Assistant Examiner(s): INGRAM, THOMAS P
• Application Number:
  US13/886,563
• Publication Number:
  US 20140330479A1
• Time in Patent Office: 1,012 Days
• US Class Current: 1/1
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2554/803 Relative lateral speed
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2554/805 Azimuth angle
• CPC Class Codes: B60W 2555/60 Traffic rules, e.g. speed limits or right of way
• CPC Class Codes: B60W 2754/30 Longitudinal distance
• CPC Class Codes: B60W 30/143 Speed control B60W30/16 takes precedence
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 60/0016 of the vehicle or its occupants
• CPC Class Codes: G01S 13/865 Combination of radar systems with lidar systems
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection
• CPC Class Codes: G08G 1/22 Platooning, i.e. convoy of communicating vehicles

Abstract

Methods and systems for predictive reasoning for controlling speed of a vehicle are described. A computing device may be configured to identify a first and second vehicle travelling ahead of an autonomous vehicle and in a same lane as the autonomous vehicle. The computing device may also be configured to determine a first buffer distance behind the first vehicle at which the autonomous vehicle will substantially reach a speed of the first vehicle and a second buffer distance behind the second vehicle at which the first vehicle will substantially reach a speed of the second vehicle. The computing device may further be configured to determine a distance at which to adjust a speed of the autonomous vehicle based on the first and second buffer distances and the speed of the autonomous vehicle, and then provide instructions to adjust the speed of the autonomous vehicle based on the distance.

Claims

1. A method comprising:

identifying a first vehicle travelling ahead of an autonomous vehicle;

identifying a second vehicle ahead of the first vehicle, the first and second vehicles travelling in substantially a same lane as the autonomous vehicle;

determining a first buffer distance, the first buffer distance being a minimal distance behind the first vehicle at which the autonomous vehicle is predicted to substantially reach a speed of the first vehicle;

determining a second buffer distance, the second buffer distance being a minimal distance behind the second vehicle at which the first vehicle is predicted to substantially reach a speed of the second vehicle;

determining a distance at which to adjust a speed of the autonomous vehicle based on the first and second buffer distances and the speed of the autonomous vehicle; and

providing instructions by a computing device to adjust the speed of the autonomous vehicle based on the distance.

2. The method of claim 1, wherein providing the instructions by the computing device to adjust the speed of the autonomous vehicle comprises providing the instructions to adjust the speed of the autonomous vehicle prior to determining a change of the speed of at least one of the first and second vehicles.

3. The method of claim 1, further comprising:

receiving, from an image-capture device coupled to the autonomous vehicle, an image; and

wherein identifying the first and second vehicles comprises identifying at least one of the first and second vehicles in the image.

4. The method of claim 1, wherein the first and second vehicles are within a longitudinal distance threshold from the autonomous vehicle and within a lateral distance threshold from the autonomous vehicle.

5. The method of claim 1, wherein the speed of the first and second vehicles includes one or more of a longitudinal speed of the first and second vehicles and a lateral speed of the first and second vehicles, and

wherein the distance at which to adjust the speed of the autonomous vehicle is further based on characteristics of the first and second vehicles, the characteristics including one or more of:

an acceleration of a vehicle of the first and second vehicles, a deceleration of the vehicle, whether the vehicle is moving or stationary, a direction of motion of the vehicle, a size of the vehicle, a weight of the vehicle, a position of the vehicle on a road of travel, and a type of the vehicle.

6. The method of claim 1, wherein the distance at which to adjust the speed of the autonomous vehicle is further based on characteristics of the autonomous vehicle, the characteristics including one or more of:

an acceleration of the autonomous vehicle, a deceleration of the autonomous vehicle, a direction of motion of the autonomous vehicle, a size of the autonomous vehicle, a position of the autonomous vehicle on a road of travel, and a type of the autonomous vehicle.

7. The method of claim 1, further comprising:

identifying an object ahead of the second vehicle, wherein the object includes another vehicle or a traffic control object; and

determining a third buffer distance, the third buffer distance being a minimal distance behind the object at which the second vehicle is predicted to substantially reach a speed of the object,

wherein the distance at which to adjust the speed of the autonomous vehicle is further based on the third buffer distance.

8. A non-transitory computer readable medium having stored thereon instructions that, upon execution by a computing device, cause the computing device to perform functions comprising:

identifying a first vehicle travelling ahead of an autonomous vehicle;

identifying a second vehicle ahead of the first vehicle, the first and second vehicles travelling in substantially a same lane as the autonomous vehicle;

determining a first buffer distance, the first buffer distance being a minimal distance behind the first vehicle at which the autonomous vehicle is predicted to substantially reach a speed of the first vehicle;

determining a second buffer distance, the second buffer distance being a minimal distance behind the second vehicle at which the first vehicle is predicted to substantially reach a speed of the second vehicle;

determining a distance at which to adjust a speed of the autonomous vehicle based on the first and second buffer distances and the speed of the autonomous vehicle; and

providing instructions to adjust the speed of the autonomous vehicle based on the distance.

9. The non-transitory computer readable medium of claim 8, wherein providing the instructions to adjust the speed of the autonomous vehicle comprises providing the instructions to adjust the speed of the autonomous vehicle prior to determining a change of the speed of at least one of the first and second vehicles.

10. The non-transitory computer readable medium of claim 8, wherein the first and second buffer distances are further based on lengths of the first and second vehicles and a predetermined minimal gap between the first and second vehicles at zero speed.

11. The non-transitory computer readable medium of claim 8, wherein the distance at which to adjust the speed of the autonomous vehicle is based in part on a time constant multiplied by the speed of the autonomous vehicle.

12. A system comprising:

at least one processor; and

a memory having stored thereon instructions that, upon execution by the at least one processor, cause the system to perform functions comprising;

identifying a first object ahead of an autonomous vehicle;

identifying a second object ahead of the first object, wherein the first and second objects are in substantially a same lane as the autonomous vehicle;

determining a first buffer distance, the first buffer distance being a minimal distance behind the first object at which the autonomous vehicle is predicted to substantially reach a speed of the first object;

determining a second buffer distance, the second buffer distance being a minimal distance behind the second object at which the first object is predicted to substantially reach a speed of the second object;

determining a distance at which to adjust a speed of the autonomous vehicle based on the first and second buffer distances and the speed of the autonomous vehicle; and

providing instructions to adjust the speed of the autonomous vehicle based on the distance.

13. The system of claim 12, wherein providing the instructions to adjust the speed of the autonomous vehicle comprises providing the instructions to adjust the speed of the autonomous vehicle prior to determining a change of the speed of at least one of the first and second objects.

14. The system of claim 13, wherein the change of the speed of at least one of the first and second objects includes an increase of the speed of the first object, and wherein the instructions to adjust the speed of the autonomous vehicle include instructions to increase the speed of the autonomous vehicle so as to substantially reach the increased speed of the first object.

15. The system of claim 13, wherein the change of the speed of at least one of the first and second objects includes a decrease of the speed of the first object, and wherein the instructions to adjust the speed of the autonomous vehicle include instructions to decrease the speed of the autonomous vehicle so as to substantially reach the decreased speed of the first object.

16. The system of claim 12, wherein the second object includes one or more of a stop sign, a traffic light, a traffic cone, a road surface marking, and a road boundary barrier.

17. The system of claim 12, wherein at least one of the first and second objects includes a vehicle travelling ahead of the autonomous vehicle.

18. The system of claim 12, wherein determining the distance at which to adjust the speed of the autonomous vehicle comprises reducing a distance from the autonomous vehicle to the second object by the first and second buffer distances.

19. The system of claim 12, wherein the distance at which to adjust the speed of the autonomous vehicle is further based on characteristics of the first and second objects, the characteristics including one or more of:

a longitudinal speed of an object of the first and second objects, a lateral speed of the object, an acceleration of the object, a deceleration of the object, a direction of motion of the object, a size of the object, a weight of the object, a position of the object on a road of travel, and a type of the object.

20. The system of claim 19, further comprising:

a light detection and ranging (LIDAR) device coupled to the autonomous vehicle, wherein the LIDAR device is configured to provide LIDAR-based information comprising a three-dimensional (3D) point cloud that includes a set of points based on light emitted from the LIDAR device and reflected from the first and second objects;

a camera coupled to the autonomous vehicle, wherein the camera is configured to provide one or more images of the first and second objects; and

a radio detection and ranging (RADAR) device coupled to the autonomous vehicle, wherein the RADAR device is configured to provide RADAR-based information relating to at least one of the characteristics of the first and second objects.