Autonomous vehicle detection of and response to intersection priority

• US 9,528,838 B2
• Filed: 12/09/2014
• Issued: 12/27/2016
• Est. Priority Date: 12/09/2014
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Motor Engineering & Manufacturing North America Incorporated (Toyota Motor Corporation)
• Inventors: Okumura, Bunyo
• Primary Examiner(s): Elchanti, Hussein A.
• Application Number:
  US14/565,278
• Publication Number:
  US 20160161271A1
• Time in Patent Office: 749 Days
• Field of Search: 701/25
• US Class Current: 1/1
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2420/54 Audio sensitive means, e.g. ultrasound
• CPC Class Codes: B60W 2420/905 the sensor being an xyz axis sensor
• CPC Class Codes: B60W 2552/05 Type of road, e.g. motorways, local streets, paved or unpaved roads
• CPC Class Codes: B60W 2555/60 Traffic rules, e.g. speed limits or right of way
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 30/181 Preparing for stopping
• CPC Class Codes: B60W 30/18154 Approaching an intersection
• CPC Class Codes: G01C 21/34 Route searching; Route guidance
• CPC Class Codes: G05D 1/0276 using signals provided by a source external to the vehicle involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058

Abstract

An automated driving system and methods are disclosed. The automated driving system includes a perception system disposed on an autonomous vehicle. The automated driving system can detect, using the perception system, a neighboring vehicle proximate to an intersection, identify two or more potential paths through the intersection for the neighboring vehicle, determine a path priority for each of the two or more potential paths, and determine a path priority for a planned path through the intersection for the autonomous vehicle. If the path priority of at least one of the potential paths is higher than the path priority of the planned path, the automated driving system can send a command to one or more vehicle systems configured to allow the neighboring vehicle to proceed through the intersection before the autonomous vehicle.

Claims

1. An automated driving system, comprising:

a perception system disposed on an autonomous vehicle; and

a computing device in communication with the perception system, the computing device being disposed on an autonomous vehicle, the computing device comprising;

one or more processors for controlling operations of the computing device; and

a memory for storing data and program instructions used by the one or more processors, wherein the one or more processors are configured to execute instructions stored in the memory to;

detect, using the perception system, a neighboring vehicle proximate to an intersection;

identify two or more potential paths through the intersection for the detected neighboring vehicle;

determine a path priority for each of the identified two or more potential paths for the detected neighboring vehicle based on at least one of a position and an orientation of the detected neighboring vehicle, the path priority being independent of information sent by the detected neighboring vehicle;

determine a path priority for a planned path through the intersection for the autonomous vehicle, the planned path through the intersection for the autonomous vehicle conflicting with at least one of the identified two or more potential paths through the intersection for the detected neighboring vehicle; and

if the determined path priority of at least one of the identified two or more potential paths for the detected neighboring vehicle is higher than the determined path priority of the planned path for the autonomous vehicle, send a command to one or more vehicle systems of the autonomous vehicle, the command being to allow the neighboring vehicle to proceed through the intersection before the autonomous vehicle.

2. The automated driving system of claim 1, wherein the intersection is one of a roundabout, a merging lane, and a junction of at least two roads.

3. The automated driving system of claim 1, wherein the identified two or more potential paths through the intersection for the detected neighboring vehicle are identified based on at least one of a lane structure of the intersection and one or more traffic rules for the intersection.

4. The automated driving system of claim 1, wherein the position and the orientation of the detected neighboring vehicle is in respect to the autonomous vehicle.

5. The automated driving system of claim 1, wherein the position and the orientation of the detected neighboring vehicle is in respect to the identified two or more potential paths through the intersection for the detected neighboring vehicle.

6. The automated driving system of claim 1, wherein determining the path priority for each of the identified two or more potential paths through the intersection for the detected neighboring vehicle are further based on at least one of a velocity, an acceleration, and a deceleration of the detected neighboring vehicle.

7. The automated driving system of claim 1, wherein determining the path priority for the planned path through the intersection for the autonomous vehicle and the path priority for each of the identified two or more potential paths through the intersection for the detected neighboring vehicle are further based on one or more traffic rules for the intersection.

8. The automated driving system of claim 1, wherein the one or more processors are further configured to:

if the determined path priority of all of the identified two or more potential paths for the detected neighboring vehicle are lower than the determined path priority of the planned path for the autonomous vehicle, send a command to one or more vehicle systems of the autonomous vehicle, the command being to drive the autonomous vehicle through the intersection before the detected neighboring vehicle.

9. A computer-implemented method of automated driving, comprising:

detecting, using a perception system disposed on an autonomous vehicle, a neighboring vehicle proximate to an intersection;

identifying, using a computing device being disposed on an autonomous vehicle, two or more potential paths through the intersection for the detected neighboring vehicle;

determining a path priority for each of the identified two or more potential paths for the detected neighboring vehicle based on at least one of a position and an orientation of the detected neighboring vehicle, the path priority being independent of information sent by the detected neighboring vehicle;

determining a path priority for a planned path through the intersection for the autonomous vehicle, the planned path through the intersection for the autonomous vehicle conflicting with at least one of the identified two or more potential paths through the intersection for the detected neighboring vehicle; and

if the determined path priority of at least one of the identified two or more potential paths for the detected neighboring vehicle is higher than the determined path priority of the planned path for the autonomous vehicle, sending a command to one or more vehicle systems of the autonomous vehicle, the command being to allow the neighboring vehicle to proceed through the intersection before the autonomous vehicle.

10. The method of claim 9, wherein the position and the orientation of the detected neighboring vehicle is in respect to the autonomous vehicle.

11. The method of claim 9, wherein the position and the orientation of the detected neighboring vehicle is in respect to the identified two or more potential paths through the intersection for the detected neighboring vehicle.

12. The method of claim 9, wherein determining the path priority for each of the identified two or more potential paths through the intersection for the detected neighboring vehicle are further based on at least one of a velocity and an acceleration and a deceleration of the detected neighboring vehicle.

13. The method of claim 9, wherein determining the path priority for the planned path through the intersection for the autonomous vehicle and the path priority for each of the identified two or more potential paths through the intersection for the detected neighboring vehicle are further based on one or more traffic rules for the intersection.

14. The method of claim 9, further comprising:

if the determined path priority of all of the identified two or more potential paths for the detected neighboring vehicle are lower than the determined path priority of the planned path for the autonomous vehicle, sending a command to one or more vehicle systems of the autonomous vehicle, the command being to drive the autonomous vehicle through the intersection before the detected neighboring vehicle.

15. A computing device, comprising:

one or more processors for controlling operations of the computing device, the one or more processors being disposed on an autonomous vehicle; and

a memory for storing data and program instructions used by the one or more processors, wherein the one or more processors are configured to execute instructions stored in the memory to;

detect, using a perception system disposed on an autonomous vehicle, a neighboring vehicle proximate to an intersection;

determine a path priority for each of two or more potential paths through the intersection for the neighboring vehicle, the path priority being independent of information sent by the detected neighboring vehicle;

determine a path priority for a planned path through the intersection for the autonomous vehicle, the planned path through the intersection for the autonomous vehicle conflicting with at least one of the identified two or more potential paths through the intersection for the detected neighboring vehicle; and

if the determined path priority of at least one of the two or more potential paths for the detected neighboring vehicle is higher than the determined path priority of the planned path for the autonomous vehicle, send a command to one or more vehicle systems of the autonomous vehicle, the command being to allow the neighboring vehicle to proceed through the intersection before the autonomous vehicle.

16. The computing device of claim 15, wherein the intersection is one of a roundabout, a merging lane, and a junction of at least two roads.

17. The computing device of claim 15, wherein determining the path priority for each of the two or more potential paths through the intersection for the detected neighboring vehicle are based on at least one of a position, an orientation, a velocity, an acceleration, and a deceleration of the detected neighboring vehicle.

18. The computing device of claim 17, wherein the position and the orientation of the detected neighboring vehicle is in respect to the two or more potential paths through the intersection for the detected neighboring vehicle.

19. The computing device of claim 17, wherein the position and the orientation of the detected neighboring vehicle is in respect to the autonomous vehicle.

20. The computing device of claim 15, wherein the one or more processors are further configured to:

if the determined path priority of all of the two or more potential paths for the detected neighboring vehicle are lower than the determined path priority of the planned path for the autonomous vehicle, send a command to one or more vehicle systems of the autonomous vehicle, the command being to drive the autonomous vehicle through the intersection before the detected neighboring vehicle.