Risk mitigation for autonomous vehicles relative to oncoming objects

• US 9,573,592 B2
• Filed: 12/23/2014
• Issued: 02/21/2017
• Est. Priority Date: 12/23/2014
• 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: Prokhorov, Danil V., Vladimerou, Vladimeros
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): PAIGE, TYLER D
• Application Number:
  US14/581,739
• Publication Number:
  US 20160176397A1
• Time in Patent Office: 791 Days
• Field of Search: 701/25, 701/45, 340/901
• US Class Current: 1/1
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/4046 Behavior, e.g. aggressive or erratic
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 60/0015 specially adapted for safety
• CPC Class Codes: B60W 60/0016 of the vehicle or its occupants
• CPC Class Codes: B60W 60/00272 relying on extrapolation of current movement
• CPC Class Codes: G05D 1/0214 in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13

Abstract

Arrangements related to mitigating risk for an autonomous vehicle with respect to oncoming objects are described. An oncoming object in an external environment of the autonomous vehicle can be detected. It can be determined whether the oncoming object exhibits a hazardous behavior. Responsive to determining that the oncoming object exhibits a hazardous behavior, an altered travel route for the autonomous vehicle while maintaining safe operation of the autonomous vehicle can be determined. At least a portion of the altered travel route can safely violate a traffic rule. The autonomous vehicle can be caused to implement the altered travel route.

Claims

1. A method of mitigating risk for an autonomous automobile relative to oncoming objects, the method comprising:

detecting an oncoming object in an external environment of the autonomous automobile, the oncoming object moving toward the autonomous automobile in a first travel direction that is generally opposite to a second travel direction of the autonomous automobile;

determining whether the oncoming object exhibits a hazardous behavior; and

responsive to determining that the oncoming object exhibits a hazardous behavior, determining an altered travel route for the autonomous automobile while maintaining safe operation of the autonomous automobile, at least a portion of the altered travel route safely violating a traffic rule; and

causing the autonomous automobile to implement the altered travel route.

2. The method of claim 1, wherein causing the autonomous automobile to implement the altered travel route includes causing the autonomous automobile to implement the altered travel route without stopping a forward movement of the autonomous automobile.

3. The method of claim 1, wherein the hazardous behavior includes erratic movement of the oncoming object.

4. The method of claim 1, wherein the hazardous behavior includes the oncoming object moving at least partially into a current travel lane of the autonomous automobile.

5. The method of claim 1, wherein the hazardous behavior includes the oncoming object violating a traffic rule or the oncoming object threatening to violate a traffic rule.

6. The method of claim 1, wherein the altered travel route includes moving the autonomous automobile away from the oncoming object substantially in a lateral direction.

7. The method of claim 1, wherein the at least a portion of the altered travel route violating a traffic rule includes driving on at least a portion of a shoulder of a road.

8. The method of claim 1, further including:

prompting an occupant of the autonomous automobile for permission to implement the altered travel route, wherein causing the autonomous automobile to implement the altered travel route is performed responsive to receiving permission to implement the altered travel route.

9. The method of claim 1, wherein the oncoming object is a dynamic object.

10. A system for mitigating risk for an autonomous automobile relative to oncoming objects, the system comprising:

a sensor system operable to detect an oncoming object in an external environment of the autonomous automobile, the oncoming object moving toward the autonomous automobile in a first travel direction that is generally opposite to a second travel direction of the autonomous automobile;

a processor operatively connected to the sensor system, the processor being programmed to initiate executable operations comprising;

determining whether the oncoming object exhibits a hazardous behavior; and

responsive to determining that the oncoming object exhibits a hazardous behavior, determining an altered travel route for the autonomous automobile while maintaining safe operation of the autonomous automobile, at least a portion of the altered travel route safely violating a traffic rule; and

causing the autonomous automobile to implement the altered travel route.

11. The system of claim 10, wherein causing the autonomous automobile to implement the altered travel route includes causing the autonomous automobile to implement the altered travel route without stopping a forward movement of the autonomous automobile.

12. The system of claim 10, wherein the hazardous behavior includes erratic movement of the oncoming object.

13. The system of claim 10, wherein the hazardous behavior includes the oncoming object moving at least partially into a current travel lane of the autonomous automobile.

14. The system of claim 10, wherein the hazardous behavior includes the oncoming object violating a traffic rule or the oncoming object threatening to violate a traffic rule.

15. The system of claim 10, wherein the altered travel route includes moving the autonomous automobile away from the oncoming object substantially in a lateral direction.

16. The system of claim 10, wherein the at least a portion of the altered travel route violating a traffic rule includes driving on at least a portion of a shoulder of a road.

17. The system of claim 10, further including:

prompting an occupant of the autonomous automobile for permission to implement the altered travel route, wherein causing the autonomous automobile to implement the altered travel route is performed responsive to receiving permission to implement the altered travel route.

18. A computer program product for mitigating risk for an autonomous automobile relative to oncoming objects, the computer program product comprising a non-transitory computer readable storage medium having program code embodied therein, the program code executable by a processor to perform a method comprising:

detecting an oncoming object in an external environment of the autonomous automobile, the oncoming object moving toward the autonomous automobile in a first travel direction that is generally opposite to a second travel direction of the autonomous automobile;

determining whether the oncoming object exhibits a hazardous behavior; and

responsive to determining that the oncoming object exhibits a hazardous behavior, determining an altered travel route for the autonomous automobile while maintaining safe operation of the autonomous automobile, at least a portion of the altered travel route safely violating a traffic rule; and

causing the autonomous automobile to implement the altered travel route.

19. The computer program product of claim 18, wherein causing the autonomous automobile to implement the altered travel route includes causing the autonomous automobile to implement the altered travel route without stopping a forward movement of the autonomous automobile.

20. The computer program product of claim 18, wherein the method further includes:

prompting an occupant of the autonomous automobile for permission to implement the altered travel route, wherein causing the autonomous automobile to implement the altered travel route is performed responsive to receiving permission to implement the altered travel route.