Methods for operation of autonomous vehicles in special control zones

• US 9,298,186 B2
• Filed: 08/27/2015
• Issued: 03/29/2016
• Est. Priority Date: 02/01/2015
• Status: Active Grant

• Current Assignee: LYFT Incorporated
• Original Assignee: Thomas Danaher Harvey
• Inventors: Harvey, Thomas Danaher
• Primary Examiner(s): MARC-COLEMAN, MARTHE Y
• Application Number:
  US14/837,114
• Publication Number:
  US 20150370255A1
• Time in Patent Office: 215 Days
• Field of Search: 701/23, 701/2, 701/24, 701/431, 701/96, 701/49, 701/48, 180/170, 340/917, 901/7
• US Class Current: 1/1
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: B62D 15/0285 Parking performed automatically
• CPC Class Codes: E04H 6/422 Automatically operated car-parks
• CPC Class Codes: G05D 1/0027 involving a plurality of vehicles, e.g. fleet or convoy travelling fleet control of land vehicles from a control room G05D1/0297; traffic control systems for road vehicles G08G1/00; for marine craft G08G3/00; for aircraft G08G5/00
• CPC Class Codes: G05D 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• CPC Class Codes: G05D 1/0287 involving a plurality of land vehicles, e.g. fleet or convoy travelling traffic control systems for road vehicles G08G1/00, particularly anticollision systems G08G1/16
• CPC Class Codes: G05D 1/0297 by controlling means in a control room

Abstract

A method of controlling autonomous or driverless vehicles in a specific control zone is disclosed. The vehicles enter the zone and come under the control of a zone authority that coordinates the movements of the vehicles until they leave the zone. The behavior of the vehicles is modified to insure that it matches a set of rules established by the zone authority. The zone may be an area such as a bridge, tunnel or construction zone where efficient, possibly single lane, travel requires tight coordination. Other possible zones include parking areas, indoor passages and areas with security concerns. The zone authority simultaneously controls multiple autonomous vehicles and possible additional driver operated vehicles. The messages establishing control or providing continuing administration of rules may be delivered by any type of communications link or may be associated with a device issued to vehicles entering the zone which is collected on exit.

Claims

1. A method of controlling operation of autonomous vehicles in a zone of operations comprising:

establishing a zone wherein;

a system of zone rules established by a zone authority are in effect,

the zone rules coordinate simultaneous actions of multiple vehicles, and

the zone rules allow admission of a plurality of autonomous vehicles,

admitting a vehicle to the zone,

transmitting a first message to the vehicle wherein the first message comprises information to cause the vehicle to enter a mode of operation designed to follow the zone rules, and

transmitting a second message to the vehicle comprising information to be used by the vehicle to follow the operation rules.

2. The method of claim 1 wherein:

admission to the zone is limited to vehicles which are capable of receiving messages from the zone authority and adhering to the zone rules.

3. The method of claim 1 wherein:

the vehicle is supplied on entry to the zone of operations with a communication device to receive a message from the zone authority.

4. The method of claim 1 wherein:

the speed of a stream of vehicles is controlled by placing into the stream a vehicle which has entered the mode of operation and is operated by a zone rule which produces a controlled speed.

5. The method of claim 1 wherein:

the zone rules are designed to optimize the speed of the vehicle in the zone.

6. The method of claim 1 wherein:

the zone rules are designed to limit an area of operation of the vehicle in the zone.

7. The method of claim 1 wherein:

the zone rules are designed to move the vehicle to a parking location in the zone.

8. A method of controlling operation of a driver operated vehicle with a driver in a zone of operations comprising:

establishing a zone of operations wherein;

a system of zone rules established by the zone authority are in effect,

the zone rules coordinate actions of vehicles,

the zone rules allow admission of an autonomous vehicle, and

the autonomous vehicle is constrained to follow the zone rules,

admitting the driver operated vehicle to the zone, and

transmitting at least one message to a communication device on the vehicle comprising information to be used by the driver of the vehicle to follow the zone rules.

9. The method of claim 8 wherein:

the vehicle is supplied on entry to the zone of operations with a communication device to receive a message from the zone authority.

10. The method of claim 8 wherein:

the zone rules are designed to optimize the speed of the driver operated vehicle in the zone.

11. The method of claim 8 wherein:

the zone rules are designed to limit an area of operation of the driver operated vehicle in the zone.

12. The method of claim 8 wherein:

the zone rules are designed to move the driver operated vehicle to a parking location in the zone.