Detecting and responding to parking behaviors in autonomous vehicles
First Claim
1. A method for identifying and responding to vehicles engaged in a parallel parking maneuver, the method comprising:
- receiving, by one or more computing devices, sensor data corresponding to objects in a first vehicle'"'"'s environment, the sensor data including location information for the objects over time, and the first vehicle having an autonomous driving mode where the one or more computing devices maintain a default distance between the first vehicle and other vehicles in a same lane;
identifying, by the one or more computing devices, from the sensor data an object corresponding to a second vehicle in a lane in front of the first vehicle;
accessing detailed map information identifying designated parking areas;
determining, by the one or more computing devices, that the second vehicle is engaged in a parallel parking maneuver based on a pattern of actions exhibited by the second vehicle identified from the sensor data, wherein the pattern of actions includes stopping adjacent to a designated parking area identified in the detailed map information; and
when the second vehicle is determined to be engaged in a parallel parking maneuver, controlling, by the one or more computing devices, the first vehicle in the autonomous driving mode by maintaining a second distance between the first vehicle and the second vehicle that is greater than the default distance.
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Accused Products
Abstract
Aspects of the disclosure relate controlling autonomous vehicles or vehicles having an autonomous driving mode. More particularly, these vehicles may identify and respond to other vehicles engaged in a parallel parking maneuver by receiving sensor data corresponding to objects in an autonomous vehicle'"'"'s environment and including location information for the objects over time. An object corresponding to another vehicle in a lane in front of the first vehicle may be identified from the sensor data. A pattern of actions of the other vehicle identified form the sensor data is used to determine that the second vehicle is engaged in a parallel parking maneuver based on a pattern of actions exhibited by the other vehicle identified from the sensor data. The determination is then used to control the autonomous vehicle.
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Citations
20 Claims
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1. A method for identifying and responding to vehicles engaged in a parallel parking maneuver, the method comprising:
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receiving, by one or more computing devices, sensor data corresponding to objects in a first vehicle'"'"'s environment, the sensor data including location information for the objects over time, and the first vehicle having an autonomous driving mode where the one or more computing devices maintain a default distance between the first vehicle and other vehicles in a same lane; identifying, by the one or more computing devices, from the sensor data an object corresponding to a second vehicle in a lane in front of the first vehicle; accessing detailed map information identifying designated parking areas; determining, by the one or more computing devices, that the second vehicle is engaged in a parallel parking maneuver based on a pattern of actions exhibited by the second vehicle identified from the sensor data, wherein the pattern of actions includes stopping adjacent to a designated parking area identified in the detailed map information; and when the second vehicle is determined to be engaged in a parallel parking maneuver, controlling, by the one or more computing devices, the first vehicle in the autonomous driving mode by maintaining a second distance between the first vehicle and the second vehicle that is greater than the default distance. - View Dependent Claims (2, 3, 4, 5, 6, 7, 19)
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8. A system for identifying and responding to vehicles engaged in a parallel parking maneuver, the system comprising:
one or more computing devices having one or more processors configured to; receive sensor data corresponding to objects in a first vehicle'"'"'s environment, the sensor data including location information for the objects over time, and the first vehicle having an autonomous driving mode where the one or more computing devices maintain a default distance between the first vehicle and other vehicles in a same lane; identify from the sensor data an object corresponding to a second vehicle in a lane in front of the first vehicle; access detailed map information identifying designated parking areas; determine that the second vehicle is engaged in a parallel parking maneuver based on a pattern of actions exhibited by the second vehicle identified from the sensor data, wherein the pattern of actions includes stopping adjacent to a designated parking area identified in the detailed map information; and when the second vehicle is determined to be engaged in a parallel parking maneuver, control the first vehicle in the autonomous driving mode by maintaining a second distance between the first vehicle and the second vehicle that is greater than the default distance. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. A non-transitory computer-readable recording 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 of identifying and responding to vehicles engaged in a parallel parking maneuver, the method comprising:
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receiving sensor data corresponding to objects in a first vehicle'"'"'s environment, the sensor data including location information for the objects over time, and the first vehicle having an autonomous driving mode where the one or more computing devices maintain a default distance between the first vehicle and other vehicles in a same lane; identifying from the sensor data an object corresponding to a second vehicle in a lane in front of the first vehicle; accessing detailed map information identifying designated parking areas; determining that the second vehicle is engaged in a parallel parking maneuver based on a pattern of actions exhibited by the second vehicle identified from the sensor data, wherein the pattern of actions includes stopping adjacent to a designated parking area identified in the detailed map information; and when the second vehicle is determined to be engaged in a parallel parking maneuver, controlling the first vehicle in the autonomous driving mode by maintaining a second distance between the first vehicle and the second vehicle that is greater than the default distance. - View Dependent Claims (20)
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Specification