Modifying speed of an autonomous vehicle based on traffic conditions

• US 9,381,918 B1
• Filed: 08/07/2014
• Issued: 07/05/2016
• Est. Priority Date: 09/24/2012
• Status: Active Grant

• Current Assignee: Google LLC (Alphabet Inc.)
• Original Assignee: Google Inc. (Alphabet Inc.)
• Inventors: Ferguson, David Ian Franklin, Dolgov, Dmitri A.
• Primary Examiner(s): Beaulieu, Yonel
• Assistant Examiner(s): Kleinman, Lail
• Application Number:
  US14/454,241
• Time in Patent Office: 698 Days
• Field of Search: None
• US Class Current: 1/1
• CPC Class Codes: B60L 2240/00 Control parameters of input or output; Target parameters
• CPC Class Codes: B60L 2240/10 Vehicle control parameters
• CPC Class Codes: B60L 2240/12 Speed
• CPC Class Codes: B60L 2240/14 Acceleration
• CPC Class Codes: B60L 2240/16 longitudinal
• CPC Class Codes: B60T 7/042 by electrical means, e.g. using travel or force sensors
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2552/05 Type of road, e.g. motorways, local streets, paved or unpaved roads
• CPC Class Codes: B60W 2552/53 Road markings, e.g. lane marker or crosswalk
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2554/4042 Longitudinal speed
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2555/60 Traffic rules, e.g. speed limits or right of way
• CPC Class Codes: B60W 30/14 Adaptive cruise control
• CPC Class Codes: B60W 30/143 Speed control B60W30/16 takes precedence
• CPC Class Codes: B60W 30/146 Speed limiting
• CPC Class Codes: B60W 50/085 Changing the parameters of the control units, e.g. changing limit values, working points by control input
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00

Abstract

Aspects of the disclosure relate generally to speed control in an autonomous vehicle. For example, an autonomous vehicle may include a user interface which allows the driver to input speed preferences. These preferences may include the maximum speed above the speed limit the user would like the autonomous vehicle to drive when other vehicles are present and driving above or below certain speeds. The other vehicles may be in adjacent or the same lane the vehicle, and need not be in front of the vehicle.

Claims

1. A method comprising:

receiving, by one or more computing devices, sensor data collected as a vehicle is maneuvered by the one or more computing devices along a roadway;

determining, by the one or more computing devices, a set of objects likely to be vehicles traveling in the same general direction as the autonomous vehicle from the sensor data;

identifying, by the one or more computing devices, a speed preference for the vehicle based on the set of objects and data including a set of two or more speed scenarios for objects likely to be vehicles traveling in the same general direction as the autonomous vehicle;

calculating, by the one or more computing devices, a preferred speed based on the identified speed preference; and

adjusting, by the one or more computing devices, a speed of the autonomous vehicle to the preferred speed.

2. The method of claim 1, further comprising:

identifying a driver of the vehicle; and

wherein identifying the speed preference includes selecting the speed preference from a plurality of speed preferences for different drivers based on the identified driver.

3. The method of claim 1, wherein when the set of objects is empty, the speed preference includes a maximum speed value above a speed limit for the roadway.

4. The method of claim 1, wherein when the set of objects is empty, the speed preference includes a speed limit for the roadway.

5. The method of claim 1, wherein identifying the speed preference further includes identifying a scenario of the set of two or more speed scenarios based a speed of an object of the set of objects that is slower than a speed of any other object of the set of objects and the speed preference is associated with the identified scenario.

6. The method of claim 1, wherein identifying the speed preference further includes identifying a scenario of the set of two or more speed scenarios based on an average speed of the objects of the set of objects and the speed preference is associated with the identified scenario.

7. The method of claim 1, wherein identifying the speed preference further includes identifying a scenario of the set of two or more speed scenarios based on an average speed of the objects of the set of objects above a speed limit of the roadway and the speed preference is associated with the identified scenario.

8. The method of claim 1, wherein identifying the speed preference further includes identifying a scenario of the set of two or more speed scenarios based on a speed of an object of the set of objects that is faster than a speed of any other object of the set of objects and the speed preference is associated with the identified scenario.

9. The method of claim 1, wherein the speed preference is a percentage above a speed limit for the roadway.

10. The method of claim 1, wherein the speed preference is a percentage below a speed limit for the roadway.

11. The method of claim 1, wherein the speed preference is a percentage above a speed limit for the roadway.

12. The method of claim 1, wherein the speed preference is fixed speed value below a speed limit for the roadway.

13. A system comprising:

memory; and

a processor configured to;

receive sensor data collected as a vehicle is maneuvered by the one or more computing devices along a roadway;

determine a set of objects likely to be vehicles traveling in the same general direction as the autonomous vehicle from the sensor data;

identify a speed preference for the vehicle based on the set of objects and data including a set of two or more speed scenarios for objects likely to be vehicles traveling in the same general direction as the autonomous vehicle;

calculate a preferred speed based on the identified speed preference; and

adjust a speed of the autonomous vehicle to the preferred speed.

14. The system of claim 13, wherein the one or more processors are further configured to:

identify a driver of the vehicle; and

identify the speed preference by selecting the speed preference from a plurality of speed preferences for different drivers based on the identified driver.

15. The system of claim 13, wherein when the set of objects is empty, the speed preference includes a maximum speed value above a speed limit for the roadway.

16. The system of claim 13, wherein the one or more processors are further configured to identify the speed preference by identifying a scenario of the set of two or more speed scenarios based a speed of an object of the set of objects that is slower than a speed of any other object of the set of objects and the speed preference is associated with the identified scenario.

17. The system of claim 13, wherein the one or more processors are further configured to identify the speed preference by identifying a scenario of the set of two or more speed scenarios based on an average speed of the objects of the set of objects and the speed preference is associated with the identified scenario.

18. The system of claim 13, wherein the one or more processors are further configured to identify the speed preference by a scenario of the set of two or more speed scenarios based on an average speed of the objects of the set of objects above a speed limit of the roadway and the speed preference is associated with the identified scenario.

19. The system of claim 13, wherein the one or more processors are further configured to identify the speed preference by a scenario of the set of two or more speed scenarios based on a speed of an object of the set of objects that is faster than a speed of any other object of the set of objects and the speed preference is associated with the identified scenario.

20. A non-transitory, tangible machine readable medium on which instructions are stored, the instructions, when executed by one or more processors, cause the one or more processors to perform a method, the method comprising:

receiving sensor data collected as a vehicle is maneuvered by the one or more computing devices along a roadway;

determining, by the one or more computing devices, a set of objects likely to be vehicles traveling in the same general direction as the autonomous vehicle from the sensor data;

identifying a speed preference for the vehicle based on the set of objects and data including a set of two or more speed scenarios for objects likely to be vehicles traveling in the same general direction as the autonomous vehicle;

calculating a preferred speed based on the identified speed preference; and

adjusting a speed of the autonomous vehicle to the preferred speed.