Risk mitigation for autonomous vehicles relative to turning objects

• US 9,701,306 B2
• Filed: 12/23/2014
• Issued: 07/11/2017
• 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): Do, Truc M
• Assistant Examiner(s): WHITTINGTON, JESS G
• Application Number:
  US14/581,757
• Publication Number:
  US 20160176398A1
• Time in Patent Office: 931 Days
• Field of Search: None
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B62D 15/0265 Automatic obstacle avoidance by steering

Abstract

Arrangements related to the mitigation of risk for an autonomous vehicle relative to turning objects are presented. An object in an external environment of the autonomous vehicle that is turning toward the autonomous vehicle can be detected. It can be determined whether the detected object will impinge upon the autonomous vehicle. Responsive to determining that the detected object will impinge upon the autonomous vehicle, a driving maneuver for the autonomous vehicle can be determined to avoid being impinged upon by the detected object. The autonomous vehicle can be caused to implement the determined driving maneuver.

Claims

1. A method of operating an autonomous vehicle stopped at an intersection while located in a current travel lane, the current travel lane being a left turn lane, the autonomous vehicle operating in a highly automated mode such that the autonomous vehicle navigates or maneuvers without receiving input from a vehicle occupant, the autonomous vehicle having a travel path that includes making a left turn through the intersection, the method comprising:

acquiring, using one or more sensors of a sensor system, sensor data of an external environment of the autonomous vehicle;

analyzing the acquired sensor data to detect whether an object is turning toward the autonomous vehicle from a direction that is transverse to a current travel direction of the autonomous vehicle;

responsive to detecting an object that is turning toward the autonomous vehicle from a direction that is transverse to the current travel direction of the autonomous vehicle, determining whether the detected object will impinge upon the autonomous vehicle by determining whether the detected object will pass through at least a portion of the current travel lane, whereby it is determined that the detected object will impinge upon the autonomous vehicle if the detected object will pass through at least a portion of the current travel lane;

responsive to determining that the detected object will impinge upon the autonomous vehicle, determining a driving maneuver for the autonomous vehicle to avoid being impinged upon by the detected object, the driving maneuver including moving the autonomous vehicle safely backward; and

causing the autonomous vehicle to implement the determined driving maneuver.

2. The method of claim 1, wherein determining whether the detected object will impinge upon the autonomous vehicle further 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 further includes stopping short of an originally intended stopping point in a current travel lane of the autonomous vehicle.

4. The method of claim 1, wherein moving the autonomous vehicle safely backward includes moving the autonomous vehicle safely backward in substantially a longitudinal direction at least partially within a current travel lane of the autonomous vehicle.

5. The method of claim 1, wherein the driving maneuver further includes moving the autonomous vehicle substantially in a lateral direction away from the detected object.

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

7. The method of claim 1, wherein at least a portion of the driving maneuver would safely violate a traffic rule.

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. A system for operating an autonomous vehicle stopped at an intersection while located in a current travel lane, the current travel lane being a left turn lane, the autonomous vehicle operating in a highly automated mode such that the autonomous vehicle navigates or maneuvers without receiving input from a vehicle occupant, the autonomous vehicle having a travel path that includes making a left turn through the intersection, the system comprising:

a sensor system including one or more sensors configured to acquire data of 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;

analyzing the acquired sensor data to detect whether an object is turning toward the autonomous vehicle from a direction that is transverse to a current travel direction of the autonomous vehicle;

responsive to detecting an object that is turning toward the autonomous vehicle from a direction that is transverse to the current travel direction of the autonomous vehicle, determining whether the detected object will impinge upon the autonomous vehicle by determining whether the detected object will pass through at least a portion of the current travel lane, whereby it is determined that the detected object will impinge upon the autonomous vehicle if the detected object will pass through at least a portion of the current travel lane;

responsive to determining that the detected object will impinge upon the autonomous vehicle, determining a driving maneuver for the autonomous vehicle to avoid being impinged upon by the detected object, the driving maneuver including moving the autonomous vehicle safely backward; and

causing the autonomous vehicle to implement the determined driving maneuver.

10. The system of claim 9, wherein determining whether the detected object will impinge upon the autonomous vehicle further includes determining whether the detected object will pass within a predetermined distance from the autonomous vehicle.

11. The system of claim 9, wherein the driving maneuver further includes stopping short of an originally intended stopping point in a current travel lane of the autonomous vehicle.

12. The system of claim 9, wherein moving the autonomous vehicle safely backward includes moving the autonomous vehicle safely backward in substantially a longitudinal direction at least partially within a current travel lane of the autonomous vehicle.

13. The system of claim 9, wherein the driving maneuver further includes moving the autonomous vehicle substantially in a lateral direction away from the detected object.

14. The system of claim 9, wherein the driving maneuver further includes moving the autonomous vehicle at least partially into a travel lane that is adjacent to a current travel lane of the autonomous vehicle.

15. The system of claim 9, wherein at least a portion of the driving maneuver would safely violate a traffic rule.

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

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.

17. A computer program computer readable storage medium having program code embodied therein, the program code executable by a processor to perform a method of operating an autonomous vehicle stopped at an intersection while located in a current travel lane, the current travel lane being a left turn lane, the autonomous vehicle operating in a highly automated mode such that the autonomous vehicle navigates or maneuvers without receiving input from a vehicle occupant, the autonomous vehicle having a travel path that includes making a left turn through the intersection, the method comprising:

analyzing sensor data acquired by one or more sensors to detect whether an object is turning toward the autonomous vehicle from a direction that is transverse to a current travel direction of the autonomous vehicle;

responsive to detecting an object that is turning toward the autonomous vehicle from a direction that is transverse to the current travel direction of the autonomous vehicle, determining whether the detected object will impinge upon the autonomous vehicle by determining whether the detected object will pass through at least a portion of the current travel lane, whereby it is determined that the detected object will impinge upon the autonomous vehicle if the detected object will pass through at least a portion of the current travel lane;

responsive to determining that the detected object will impinge upon the autonomous vehicle, determining a driving maneuver for the autonomous vehicle to avoid being impinged upon by the detected object, the driving maneuver including moving the autonomous vehicle safely backward; and

causing the autonomous vehicle to implement the determined driving maneuver.