Intelligent deployment of safety mechanisms for autonomous vehicles

• US 9,849,852 B1
• Filed: 09/04/2015
• Issued: 12/26/2017
• 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): Smith, Jelani
• Assistant Examiner(s): Martinez Borrero, Luis A
• Application Number:
  US14/845,548
• Time in Patent Office: 844 Days
• Field of Search: 340669, 340435, 340439, 340540, 340584, 340905, 340971, 340989, 701 1, 701117, 701 45, 701118, 701 70, 701123, 701 22, 701300, 701461, 701 47, 701487, 701533, 701 99, 701 293, 701 334
• CPC Class Codes: B60R 2021/01013 Means for detecting collision, impending collision or roll-over
• CPC Class Codes: B60R 2021/01204 Actuation parameters of safety arrangents
• CPC Class Codes: B60R 2021/01286 Electronic control units
• CPC Class Codes: B60R 21/0134 responsive to imminent contact with an obstacle , e.g. using radar systems

Abstract

Aspects of the disclosure relate to deploying safety mechanisms in an autonomous vehicle. As an example, the situational information identifying a potential impact target corresponding to an object with which the autonomous vehicle is predicted to have a collision within a predetermined period of time may be received. This situational information may also include an estimated time when the second computing device will receive an update for the potential impact target from the first computing device. The estimated time may be used to determine when to deploy a set of active safety mechanisms for the potential impact target. Each active safety mechanism may be configured to reduce a likelihood of damage to an object external to the autonomous vehicle caused by a collision. A signal is then sent to activate the set of active safety mechanisms prior to an impact with the object corresponding to the identified potential impact target.

Claims

1. A method of deploying safety mechanisms in a vehicle, the method comprising:

receiving, from one or more first computing devices having one or more processors by one or more second computing devices having one or more processors, situational information, the situational information identifying a potential impact target corresponding to an object with which the vehicle is predicted to have a collision within a predetermined period of time, and an estimated time when the second computing device will receive an update for the potential impact target from the first computing device;

using, by the one or more second computing devices, the estimated time to determine when to deploy one or more active safety mechanisms, wherein each of the one or more safety mechanisms is configured to reduce a likelihood of damage to an object external to the vehicle caused by a collision;

sending, by the one or more second computing devices, a triggering signal to activate the one or more active safety mechanisms prior to an impact with the object corresponding to the identified potential impact target,

wherein the situational information includes information identifying an impact point where the vehicle and the object are predicted to have the collision,

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

selecting the one or more active safety mechanisms further based on the point on the exterior of the vehicle;

repositioning the selected one or more active safety mechanisms from a first location to a location closest to the impact point without the selected one or more active safety mechanisms being deployed; and

deploying, by one or more actuators, the one or more active safety mechanisms when the impact is imminent,

wherein the selected one or more active safety mechanisms is configured to be deployable at the first location as well as at the location closest to the impact point.

2. The method of claim 1, further comprising selecting the one or more active safety mechanisms from a set of active safety based on the situational information such that at least one of the active safety mechanisms of the set of active safety mechanisms is not included in the set.

3. The method of claim 1, wherein the situational information includes a dimension of the identified potential impact target and the one or more active safety mechanisms is selected further based on the dimension.

4. The method of claim 3, further comprising, using the dimension to classify a mass of the object, and wherein the one or more active safety mechanisms is selected further based on the classification.

5. The method of claim 1, wherein the situational information further includes information identifying a type of object for the identified potential impact target and the one or more active safety mechanisms is selected further based on the type of object.

6. The method of claim 1, wherein the one or more active safety mechanisms includes at least one primary active safety mechanism configured to reduce a likelihood of damage caused by a primary impact between a first object and the vehicle and at least one secondary active safety mechanism configured to reduce a likelihood of damage caused by a secondary impact between the first object and a second object after and as a result of the primary impact.

7. The method of claim 6, wherein sending the triggering signal causes at least a portion of the vehicle to move in a way that a primary impact with the object corresponding to the identified potential impact target by the vehicle will reduce a likelihood of damage caused by a secondary impact with the object corresponding to the identified potential impact target and another object.

8. The method of claim 7, further comprising sending, in response to the received situational information, a status update to the one or more first computing devices identifying a status of the triggering signal.

9. The method of claim 1, further comprising:

receiving, before receiving the situational information, second situational information identifying the potential impact target corresponding to the object with which the vehicle is predicted to have a collision within the predetermined period of time and a second estimated time when the second computing device will receive a second update for the potential impact target from the first computing device; and

determining, based on the estimated time, that the vehicle will wait for the second update before deploying the one or more active safety mechanisms.

10. The method of claim 9, wherein determining to wait for the second update is further based on a deployment time for the one or more active safety mechanisms.

19. The method of claim 4, wherein the mass of the object is a center of mass of the object.

11. A system comprising:

one or more active safety mechanism configured to reduce a likelihood of damage to an object external to a vehicle caused by a collision between the object and the vehicle;

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

receive, from one or more second computing devices having one or more second processors, situational information, the situational information identifying a potential impact target corresponding to an object with which the vehicle is predicted to have a collision within a predetermined period of time, and an estimated time when the second computing device will receive an update for the potential impact target from the first computing device;

use the estimated time to determine when to deploy the one or more active safety mechanisms;

send a triggering signal to activate the one or more active safety mechanisms prior to an impact with the object corresponding to the identified potential impact target;

wherein the situational information includes information identifying an impact point where the vehicle and the object are predicted to have the collision,

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

select the one or more active safety mechanisms further based on the point on the exterior of the vehicle;

reposition the selected one or more active safety mechanisms from a first location to a location closest to the impact point without the selected one or more active safety mechanisms being deployed; and

deploy, by one or more actuators, the one or more active safety mechanisms when the impact is imminent,

wherein the selected one or more active safety mechanisms is configured to be deployable at the first location as well as at the location closest to the impact point.

12. The system of claim 11, wherein the one or more first processors are configured to select the one or more active safety mechanisms from a set of active safety based on the situational information such that at least one of the active safety mechanisms of the set of active safety mechanisms is not included in the set.

13. The system of claim 12, wherein the situational information includes a dimension of the identified potential impact target and the one or more first processors are further configured to select the one or more active safety mechanisms further based on the dimension.

14. The system of claim 13, wherein the one or more first processors are further configured to:

use the dimension to classify a mass of the object, and

select the one or more active safety mechanisms further based on the classification.

15. The system of claim 12, wherein the situational information further includes information identifying a type of object for the identified potential impact target and the one or more first processors are further configured to select the one or more active safety mechanisms further based on the type of object.

16. The system of claim 11, wherein the one or more active safety mechanisms includes at least one primary active safety mechanism configured to reduce a likelihood of damage caused by a primary impact between a first object and the vehicle and at least one secondary active safety mechanism configured to reduce a likelihood of damage caused by a secondary impact between the first object and a second object after and as a result of the primary impact.

17. The system of claim 11, the one or more first processors are further configured to:

receive, before receiving the situational information, second situational information identifying the potential impact target corresponding to the object with which the vehicle is predicted to have a collision within the predetermined period of time and a second estimated time when the second computing device will receive a second update for the potential impact target from the first computing device; and

determine, based on the estimated time, that the vehicle will wait for the second update before deploying the one or more active safety mechanisms.

18. The system of claim 17, wherein the one or more first processors are further configured to determine that the vehicle will wait for the second update further based on a deployment time for the one or more active safety mechanisms.

20. The system of claim 11, wherein the situational information includes using a center of mass of the object to classify the object.