Autonomous vehicle operation within a center turn lane

• US 9,694,813 B2
• Filed: 08/25/2015
• Issued: 07/04/2017
• Est. Priority Date: 08/25/2015
• 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: Toyoda, Heishiro
• Primary Examiner(s): Kan, Yuri
• Application Number:
  US14/834,453
• Publication Number:
  US 20170057496A1
• Time in Patent Office: 679 Days
• Field of Search: 701 23, 701301
• 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 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2710/20 Steering systems
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: G05D 1/0289 with means for avoiding collisions between vehicles vehicle fittings for automatically controlling speed including means for detecting potential obstacles B60K31/0008; avoiding obstacles by action on the steering system B62D; radar, sonar, lidar systems designed for anti-collision purposes G01S13/93, G01S15/93, G01S17/93
• CPC Class Codes: G06V 20/584 of vehicle lights or traffic lights

Abstract

Operations of an autonomous vehicle while waiting to make a turn from a center turn lane are described. In response to determining that the detected object intends on turning through the center turn lane from a transverse direction, it can be determined whether an object turning path for the detected object would impinge upon the autonomous vehicle in the center turn lane. If the object turning path would impinge upon the autonomous vehicle, determining a driving maneuver for the autonomous vehicle that would move the autonomous vehicle to a new position within the center turn lane to allow the autonomous vehicle to make the turn according to an adjusted vehicle turning path while also allowing the detected object to turn through the center turn lane according to an adjusted object turning path without impinging upon the autonomous vehicle. The autonomous vehicle can be caused to implement the determined driving maneuver.

Claims

1. A method of operating an autonomous vehicle while waiting to make a turn from a center turn lane, the method comprising:

determining, using at least one of one or more sensors or map data, that the autonomous vehicle is located in a center turn lane;

detecting an object in an external environment of the autonomous vehicle;

determining whether the detected object intends on turning through the center turn lane from a transverse direction;

responsive to determining that a detected object intends on turning through the center turn lane from a transverse direction, determining whether an object turning path for the detected object would impinge upon the autonomous vehicle in the center turn lane;

responsive to determining that the object turning path for the detected object would impinge upon the autonomous vehicle in the center turn lane, determining a driving maneuver for the autonomous vehicle that would move the autonomous vehicle to a new position within the center turn lane that would allow the autonomous vehicle to make a turn according to an adjusted vehicle turning path while also allowing the detected object to turn through the center turn lane according to an adjusted object turning path without impinging upon the autonomous vehicle; and

causing the autonomous vehicle to implement the determined driving maneuver.

2. The method of claim 1, wherein determining that the object turning path for the detected object would impinge upon the autonomous vehicle in the center turn lane includes determining whether the detected object will pass within a predetermined distance from the autonomous vehicle.

3. The method of claim 1, wherein the driving maneuver includes moving the autonomous vehicle forward within the center turn lane substantially in a longitudinal direction of the autonomous vehicle.

4. The method of claim 1, wherein the driving maneuver includes moving the autonomous vehicle within the center turn lane substantially in a lateral direction of the autonomous vehicle.

5. The method of claim 1, wherein the driving maneuver includes moving the autonomous vehicle at least partially into a travel lane that is adjacent to the center turn lane.

6. The method of claim 1, wherein determining whether the detected object intends on turning through the center turn lane from a transverse direction includes:

detecting an activated left turn signal of the detected object; and

determining that the detected activated left turn signal reflects an intended left turn from the transverse direction.

7. The method of claim 1, wherein causing the autonomous vehicle to implement the determined driving maneuver is performed automatically.

8. The method of claim 1, further including:

prompting an occupant of the autonomous vehicle for permission to implement the determined driving maneuver, wherein causing the autonomous vehicle to implement the determined driving maneuver is performed responsive to receiving permission to implement the determined driving maneuver.

9. The method of claim 1, further including:

responsive to determining that a detected object does not intend on turning through the center turn lane from a transverse direction, maintaining a current position of the autonomous vehicle within the center turn lane until there is an opportunity to turn.

10. A system for operating an autonomous vehicle while waiting to make a turn from a center turn lane, the system comprising:

a sensor system configured to detect an object in an external environment of the autonomous vehicle; and

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

determining that the autonomous vehicle is located in a center turn lane;

determining whether the detected object intends on turning through the center turn lane from a transverse direction;

responsive to determining that a detected object intends on turning through the center turn lane from a transverse direction, determining whether an object turning path for the detected object would impinge upon the autonomous vehicle in the center turn lane;

responsive to determining that the object turning path for the detected object would impinge upon the autonomous vehicle in the center turn lane, determining a driving maneuver for the autonomous vehicle that would move the autonomous vehicle to a new position within the center turn lane that would allow the autonomous vehicle to make a turn according to an adjusted vehicle turning path while also allowing the detected object to turn through the center turn lane according to an adjusted object turning path without impinging upon the autonomous vehicle; and

causing the autonomous vehicle to implement the determined driving maneuver.

11. The system of claim 10, wherein determining that the object turning path for the detected object would impinge upon the autonomous vehicle in the center turn lane includes determining whether the detected object will pass within a predetermined distance from the autonomous vehicle.

12. The system of claim 10, wherein the driving maneuver includes moving the autonomous vehicle forward within the center turn lane substantially in a longitudinal direction of the autonomous vehicle.

13. The system of claim 10, wherein the driving maneuver includes moving the autonomous vehicle within the center turn lane substantially in a lateral direction of the autonomous vehicle.

14. The system of claim 10, wherein the driving maneuver includes moving the autonomous vehicle at least partially into a travel lane that is adjacent to the center turn lane.

15. The system of claim 10, wherein determining whether the detected object intends on turning through the center turn lane from a transverse direction includes:

detecting an activated left turn signal of the detected object; and

determining that the detected activated left turn signal reflects an intended left turn from the transverse direction.

16. The system of claim 10, wherein causing the autonomous vehicle to implement the determined driving maneuver is performed automatically.

17. The system of claim 10, further including:

prompting an occupant of the autonomous vehicle for permission to implement the determined driving maneuver, wherein causing the autonomous vehicle to implement the determined driving maneuver is performed responsive to receiving permission to implement the determined driving maneuver.

18. The system of claim 10, further including:

responsive to determining that a detected object does not intend on turning through the center turn lane from a transverse direction, maintaining a current position of the autonomous vehicle within the center turn lane until there is an opportunity to turn.

19. A computer program product for operating an autonomous vehicle while waiting to make a turn from a center turn lane, 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:

determining, using at least one of data acquired by one or more sensors or map data, that the autonomous vehicle is located in a center turn lane;

determining whether a detected object intends on turning through the center turn lane from a transverse direction;

responsive to determining that a detected object intends on turning through the center turn lane from a transverse direction, determining whether an object turning path for the detected object would impinge upon the autonomous vehicle in the center turn lane;

responsive to determining that the object turning path for the detected object would impinge upon the autonomous vehicle in the center turn lane, determining a driving maneuver for the autonomous vehicle that would move the autonomous vehicle to a new position within the center turn lane that would allow the autonomous vehicle to make a turn according to an adjusted vehicle turning path while also allowing the detected object to turn through the center turn lane according to an adjusted object turning path without impinging upon the autonomous vehicle; and

causing the autonomous vehicle to implement the determined driving maneuver.

20. The computer program product of claim 19, wherein determining that the object turning path for the detected object would impinge upon the autonomous vehicle in the center turn lane includes determining whether the detected object will pass within a predetermined distance from the autonomous vehicle.