Size adjustment of forward objects for autonomous vehicles

• US 9,616,886 B2
• Filed: 07/16/2015
• Issued: 04/11/2017
• Est. Priority Date: 07/16/2015
• 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: Mei, Xue, Nagasaka, Naoki, Okumura, Bunyo
• Primary Examiner(s): Lee, Tyler J
• Application Number:
  US14/801,019
• Publication Number:
  US 20170015313A1
• Time in Patent Office: 635 Days
• Field of Search: 701 23
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/20 Static objects
• 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 2710/20 Steering systems
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/12 Lane keeping
• 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

Abstract

Systems and methods relating to the operation of an autonomous vehicle relative to forward objects in an external environment are described. At least a forward portion of the external environment can be sensed to detect an object therein. A size adjustment factor can be determined to predict a laterally innermost point of the detected object relative to the autonomous vehicle. A driving maneuver for the autonomous vehicle can be determined based at least partially on the predicted laterally innermost point of the detected object relative to the autonomous vehicle.

Claims

1. A method of operating an autonomous vehicle relative to forward objects, the method comprising:

sensing, using one or more sensors, a forward portion of the external environment of the autonomous vehicle to detect an object therein;

determining, using one or more processors, a size adjustment factor to predict a laterally innermost point of the detected object relative to the autonomous vehicle;

determining, using one or more processors, a driving maneuver for the autonomous vehicle based at least partially on the predicted laterally innermost point of the detected object relative to the autonomous vehicle; and

causing the autonomous vehicle to implement the determined driving maneuver.

2. The method of claim 1, wherein the driving maneuver includes moving the autonomous vehicle laterally away from the predicted laterally innermost point of the detected object relative to the autonomous vehicle.

3. The method of claim 1, wherein sensing the forward portion of the external environment of the autonomous vehicle to detect the object therein includes sensing the forward portion of the external environment of the autonomous vehicle to detect the object therein using one or more lidar sensors.

4. The method of claim 1, wherein determining the size adjustment factor to predict a laterally innermost point of the detected object relative to the autonomous vehicle is based on a detected shape profile of the detected object.

5. The method of claim 4, wherein, when the detected shape profile of the detected object is substantially linear, determining the size adjustment factor to predict a laterally innermost point of the detected object relative to the autonomous vehicle includes:

identifying a laterally innermost detected point relative to the autonomous vehicle; and

adding the size adjustment factor to the laterally innermost detected point in the direction of the substantially linear shape profile toward the autonomous vehicle.

6. The method of claim 5, wherein the size adjustment factor is a predetermined distance defined by R*sin(θ

/2), wherein R is the distance between a sensor of the autonomous vehicle and the laterally innermost detected point relative to the autonomous vehicle, and wherein θ

is the sensor resolution angle.

7. The method of claim 4, wherein, when the detected shape profile of the detected object is substantially L-shaped having a first substantially linear portion and a second substantially linear portion that is transverse to the first substantially linear portion, determining the size adjustment factor to predict a laterally innermost point of the detected object relative to the autonomous vehicle includes:

identifying an intersection point formed between the first substantially linear portion and a second substantially linear portion; and

adding the size adjustment factor to the laterally innermost detected point in the lateral direction toward the autonomous vehicle.

8. The method of claim 7, wherein the size adjustment factor is a predetermined distance defined extending from the intersection point in the direction of the first substantially linear portion away from the vehicle.

9. The method of claim 8, wherein the predetermined distance is an average vehicle length, and wherein the average vehicle length is from substantially 4 meters to substantially 5 meters.

11. The system of claim 9, wherein the executable operations further include:

causing the autonomous vehicle to implement the determined driving maneuver.

12. The system of claim 9, wherein the sensor system includes one or more lidar sensors, wherein the one or more lidar sensors are used to detect an object located forward of the autonomous vehicle.

13. The system of claim 9, wherein determining the size adjustment factor to predict a laterally innermost point of the detected object relative to the autonomous vehicle is based on a detected shape profile of the detected object.

14. The system of claim 13, wherein, when the detected shape profile of the detected object is substantially linear, determining the size adjustment factor to predict a laterally innermost point of the detected object relative to the autonomous vehicle includes:

identifying a laterally innermost detected point relative to the autonomous vehicle; and

adding the size adjustment factor to the laterally innermost detected point in the lateral direction toward the autonomous vehicle.

15. The system of claim 14, wherein the size adjustment factor is a predetermined distance defined by R*sin(θ

/2), wherein R is the distance between a sensor of the autonomous vehicle and the laterally innermost detected point relative to the autonomous vehicle, and wherein θ

is the sensor resolution angle.

16. The system of claim 13, wherein, when the detected shape profile of the detected object is substantially L-shaped having a first substantially linear portion and a second substantially linear portion that is transverse to the first substantially linear portion, determining the size adjustment factor to predict a laterally innermost point of the detected object relative to the autonomous vehicle includes:

identifying an intersection point formed between the first substantially linear portion and a second substantially linear portion; and

adding the size adjustment factor to the laterally innermost detected point in the lateral direction toward the autonomous vehicle.

17. The system of claim 16, wherein the size adjustment factor is a predetermined distance defined extending from the intersection point in the direction of the first substantially linear portion away from the vehicle.

10. A system for operating an autonomous vehicle relative to forward objects, the system comprising:

a sensor system configured to sense at least a forward portion of the external environment to detect an object located forward of the autonomous vehicle; and

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

determining a size adjustment factor to predict a laterally innermost point of the detected object relative to the autonomous vehicle; and

determining a driving maneuver for the autonomous vehicle based at least partially on the predicted laterally innermost point of the detected object relative to the autonomous vehicle.

18. A computer program product for operating an autonomous vehicle relative to forward 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 object located forward of the autonomous vehicle;

determining a size adjustment factor to predict a laterally innermost point of the detected object relative to the autonomous vehicle;

determining a driving maneuver for the autonomous vehicle based at least partially on the predicted laterally innermost point of the detected object relative to the autonomous vehicle; and

causing the autonomous vehicle to implement the determined driving maneuver.