Active safety mechanisms for an autonomous vehicle

• US 9,817,397 B1
• Filed: 09/04/2015
• Issued: 11/14/2017
• Est. Priority Date: 09/04/2015
• Status: Active Grant

• Current Assignee: Waymo LLC (Alphabet Inc.)
• Original Assignee: Waymo LLC (Alphabet Inc.)
• Inventors: Larner, Daniel Lynn, Gupta, Atul, Rivera, Felix Jose Alvarez, Daniel, Thomas
• Primary Examiner(s): Soofi, Yazan
• Application Number:
  US14/845,739
• Time in Patent Office: 802 Days
• Field of Search: 701 26
• CPC Class Codes: B60R 21/013 including means for detecting collisions, impending collisions or roll-over

Abstract

Aspects of the disclosure relate to deploying safety mechanisms in an autonomous vehicle. A projected future location of an object may be identified. The projected future location of the object will intersect with a projected future location of the vehicle at a time T. An impact point P corresponding to a three dimensional location in space where the vehicle and object will collide at the time T may be identified. One of a plurality of safety mechanisms of the vehicle that can be moved closest to point P before or at the time T may be selected. The selected safety mechanism may be moved from a first point on the vehicle to a second point on the vehicle such that the safety mechanism moves towards the point P. After moving the selected safety mechanism, the safety mechanism is then deployed based on the time T.

Claims

1. A method of deploying active safety mechanisms in an autonomous vehicle, the method comprising:

identifying, by one or more computing devices having one or more processors, a projected future location of an object;

determining, by the one or more computing devices, that the projected future location of the object will intersect with a projected future location of the vehicle at a time T;

identifying, by the one or more computing devices, an impact point P corresponding to a three dimensional location in space where the vehicle and object will collide at the time T;

mapping the impact point P to a point on an exterior of the vehicle;

selecting, by the one or more computing devices, one of a plurality of active safety mechanisms of the vehicle that can be moved closest to point P before or at the time T based on the point on the exterior of the vehicle;

causing, by the one or more computing devices, the selected active safety mechanism to move from a first point on the vehicle to a second point on the vehicle along a rail such that the selected active safety mechanism moves towards the point P along the rail without the selected active safety mechanism being deployed; and

after the selected active safety mechanism has moved along the rail, deploying, by the one or more computing devices, the selected active safety mechanism based on the time T,

wherein the selected active safety mechanism is configured to be deployable at the first point on the vehicle as well as at the second point on the vehicle.

2. The method of claim 1, further comprising:

identifying an approximate center of gravity of the object; and

determining the point P using the approximate center of gravity of the object and the projected future location of the object at the time T, such that an impact point O on the object is projected to collide with the vehicle at the point P at the time T.

3. The method of claim 2, wherein identifying the approximate center of gravity is based on a type of the object.

4. The method of claim 3, wherein the type of the object is a pedestrian and the approximate center of gravity is identified by identifying an average center of gravity for pedestrians having a height corresponding to the height of the object.

5. The method of claim 1, further comprising, moving the vehicle such that the selected active safety mechanism is moved closer to the point P.

6. The method of claim 1, wherein the projected future location of the object is identified by:

receiving from a perception system of the vehicle including a plurality of sensors, data identifying the object and characteristics of the object including speed and trajectory; and

using the characteristics of the object to determine the projected future location of the object.

7. The method of claim 1, wherein the active safety mechanism is mounted on a front end of the vehicle within an outer shell of the vehicle and wherein deploying the selected active safety mechanism includes breaking through the outer shell to reach the point P prior to activating the selected active safety mechanism.

8. The method of claim 1, further comprising, after moving the selected active safety mechanism, deploying, by the one or more computing devices, the plurality of active safety mechanisms.

9. The method of claim 1, further comprising:

receiving, by the one or more computing devices, an impact point I corresponding to a predicted three dimensional location in space where the vehicle and object will collide at the time T, and

wherein identifying the impact point P is based on moving the impact point I such that the impact point P corresponds to a predicted location of an estimated center of mass of the object at the time T.

16. The method of claim 1, wherein deploying the selected active safety mechanism includes causing a piston to move the selected active safety mechanism into an impact orientation.

17. The method of claim 1, wherein each given one of the plurality of active safety mechanisms is an safety device that can be moved relative to the vehicle prior to deployment of that given one of the plurality of active safety mechanisms to a configuration which allows that given one of the plurality of active safety mechanisms to reduce a likelihood of injury to a person.

18. The method of claim 17, wherein the selected active safety mechanism is an airbag, and deploying the active safety mechanism includes expanding the airbag.

19. The method of claim 18, wherein the selected active safety mechanisms is a foam energy absorber, and deploying the active safety mechanism includes moving the foam energy absorber through a shell of the vehicle.

20. The method of claim 7, wherein the outer shell is a portion of a hood panel of the vehicle, such that the hood panel is configured to crumble during or immediately before deployment of the selected active safety mechanism.

26. The method of claim 1, wherein causing the selected active safety mechanism to move along the rail includes causing a pulley system to move the selected active safety mechanism.

27. The method of claim 1, wherein causing the selected active safety mechanism to move along the rail includes causing a pneumatic actuator to move the selected active safety mechanism.

10. A system comprising:

a plurality of active safety mechanisms of a vehicle, each of the plurality of the plurality of active safety mechanisms being movable between different deployment points of the vehicle;

one or more computing devices having one or more processors configured to;

identify a projected future location of an object;

determine that the projected future location of the object will intersect with a projected future location of the vehicle at a time T;

identify an impact point P corresponding to a three dimensional location in space where the vehicle and object will collide at the time T;

map the impact point P to a point on an exterior of the vehicle;

select one of a plurality of active safety mechanisms of the vehicle that can be moved closest to point P before or at the time T based on the point on the exterior of the vehicle;

cause the selected active safety mechanism to move from a first point on the vehicle to a second point on the vehicle along a rail such that the active safety mechanism moves towards the point P along the rail without the selected active safety mechanism being deployed; and

after the selected active safety mechanism has moved along the rail, deploy the selected active safety mechanism based on the time T,

wherein the selected active safety mechanism is configured to be deployable at the first point on the vehicle as well as at the second point on the vehicle.

11. The system of claim 10, wherein the one or more processors are further configured to move the vehicle such that the selected active safety mechanism is moved closer to the point P.

12. The system of claim 10, wherein the selected active safety mechanism is mounted on a front end of the vehicle within an outer shell of the vehicle and wherein deploying the selected active safety mechanism includes breaking through the shell to reach the point P prior to activating the selected active safety mechanism.

13. The system of claim 10, wherein the one or more processors are further configured to, after moving the selected active safety mechanism, deploy the plurality of active safety mechanisms.

14. The system of claim 10, wherein the one or more processors are further configured to:

receive an impact point I corresponding to a predicted three dimensional location in space where the vehicle and object will collide at the time T; and

identify the impact point P further based on moving the impact point I such that the impact point P corresponds to a predicted location of an estimated center of mass of the object at the time T.

15. The system of claim 10, further comprising the vehicle.

21. The system of claim 10, further comprising a piston, and wherein the one or more processors are configured to deploy the active safety mechanism by causing the piston to move the selected active safety mechanism into an impact orientation.

22. The system of claim 10, wherein each given one of the plurality of active safety mechanisms is an safety device that can be moved relative to the vehicle prior to deployment of that given one of the plurality of active safety mechanisms to a configuration which allows that given one of the plurality of active safety mechanisms to reduce a likelihood of injury to a person.

23. The system of claim 22, wherein the selected active safety mechanism is an airbag, and deploying the active safety mechanism includes expanding the airbag.

24. The system of claim 23, wherein the selected active safety mechanisms is a foam energy absorber, and deploying the active safety mechanism includes moving the foam energy absorber through a shell of the vehicle.

25. The system of claim 12, further comprising the outer shell and a hood panel, and wherein the outer shell is a portion of the hood panel of the vehicle, such that the hood panel is configured to crumble during or immediately before deployment of the selected active safety mechanism.