Driverless vehicle

• US 9,870,003 B2
• Filed: 01/04/2015
• Issued: 01/16/2018
• Est. Priority Date: 11/29/2006
• Status: Active Grant

• Current Assignee: Arriver Software AB (Qualcomm, Inc.)
• Original Assignee: Autoliv Development AB (Autoliv Incorporated)
• Inventors: Neff, Ryan A.
• Primary Examiner(s): Khatib, Rami
• Application Number:
  US14/588,946
• Publication Number:
  US 20160231747A1
• Time in Patent Office: 1,108 Days
• Field of Search: None
• CPC Class Codes: B60W 60/0011 involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
• CPC Class Codes: G01S 19/42 Determining position
• CPC Class Codes: G05D 1/0231 using optical position detecting means position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0251 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0285 using signals transmitted via a public communication network, e.g. GSM network

Abstract

A processor-based electronic system for use in a vehicle may be used to automatically control the vehicle'"'"'s velocity and position to cause the vehicle to automatically merge into a lane on a roadway or to maneuver around a road hazard or obstacle. A message can be transmitted to other vehicles indicating the vehicle is to occupy a future lane position at a future point in time. The vehicle electronic system may receive a message from one or more of the other vehicles in response thereto. One or more of the other vehicles may adjust their position based on the indicated future lane position. The vehicle electronic system may transmit a further message to the one or more of the other vehicles before merging into the lane.

Claims

1. A processor-based electronic system usable to automatically control a velocity and heading of a first vehicle on a roadway subject to simultaneous travel thereon by a plurality of vehicles, the electronic system comprising:

an information communication system configured to transmit first information from the first vehicle for reception by the plurality of vehicles on the roadway within a transmission range of the first vehicle, the first information including position information and velocity information indicating a position and a velocity of the first vehicle determined by circuitry and a first clock associated with the first vehicle, the information communication system further being configured to receive second information transmitted from the plurality of vehicles, the second information including position information and velocity information associated with the plurality of vehicles on the roadway; and

wherein the first information and the received second information are usable by a vehicle velocity control system associated with the first vehicle to control the velocity of the first vehicle based on a target routing, the position and the velocity of the first vehicle, and based at least partly on the received position information and at least partly on the received velocity information, wherein the information communication system is further configured to transmit a message to the plurality of vehicles indicating that the first vehicle is to occupy an intended lane position at a later point in time, the intended lane position being different from the lane position currently occupied by the first vehicle;

the vehicle velocity control system is further configured to determine when the heading and velocity of the first vehicle should be changed based upon a path between the given location and final destination and change the velocity and heading of the first vehicle based upon the path between a given location and final destination; and

wherein the first vehicle is configured determine if a conflict exists between the intended lane position of the first vehicle and an intended lane position of a second vehicle at the later point in time, and arbitrate with second vehicle which of the first vehicle or second vehicle should assume the intended lane position at the later point in time.

2. The electronic based system as of claimed in claim 1, wherein the vehicle velocity control system includes a mechanism for steering the respective vehicle without requiring an action of a human driver.

3. The electronic based system as of claimed in claim 1, wherein the vehicle velocity control system includes a mechanism for accelerating the respective vehicle without requiring an action of a human driver.

4. The electronic based system as of claimed in claim 1, wherein the vehicle velocity control system includes a mechanism for decelerating the respective vehicle without requiring an action of a human driver.

5. The electronic based system as of claimed in claim 1, wherein the system is operable to control the velocities including speed and direction of movement of the plurality of vehicles without requiring the plurality of vehicles to be driven by human operators.

6. The electronic system as claimed in claim 1, wherein the vehicle velocity control system of the first vehicle is configured to alter the lane position of the first vehicle from the current lane position to the intended lane position at the later point in time.

7. The electronic system as claimed in claim 6, wherein the first vehicle is configured to alter the intended lane position of the first vehicle after selecting an intended lane position based on communication from one or more of the plurality of vehicles in response to the transmitted message.

8. The electronic system as claimed in claim 1, wherein the intended lane position of the first vehicle is a lane position merged with lane positions of the one or more of the plurality of vehicles at the time of transmission of the message.

9. The electronic system as claimed in claim 1, wherein the first vehicle is configured to arbitrate for the intended lane position based on communication from one or more of the plurality of vehicles in response to the transmitted message.

10. A system for automatically controlling the velocities of a plurality of vehicles on a roadway, comprising:

a plurality of vehicle navigation systems, each being transported by a respective vehicle of the plurality of vehicles, each vehicle navigation system being transported by each respective vehicle including;

a position determining system operable to determine and record a position and velocity of the respective vehicle with respect to points in a common coordinate space and with respect to a common time reference, such common coordinate space shared between at least a first vehicle and one or more of the plurality of vehicles in communication with the first vehicle;

an information acquisition system operable to determine a displacement between the measured position and the estimated position of the respective vehicle in the common coordinate space;

an information communication system operable to transmit first information from the respective vehicle to other vehicles of the plurality of vehicles, the first information corresponding to the estimated instantaneous position and velocity of the respective vehicle, the information communication system further being operable to receive second information from the other vehicles, the second information corresponding to the estimated instantaneous positions and velocities of the other vehicles;

a vehicle routing system operable to determine a target routing of the respective vehicle between a given location and final destination over a path including the common coordinate space and to determine a target velocity for moving the respective vehicle over the common coordinate space;

a vehicle velocity control system operable to control the velocity and heading of the respective vehicle based on the target routing, the target velocity, and the position and velocity of the respective vehicle, the displacement between the respective vehicle'"'"'s measured and estimated position in the common coordinate space, and the second information indicating the positions of the other vehicles and velocities of the other vehicles in the common coordinate space from communication with one or more of the plurality of vehicles;

wherein vehicle routing system is configured to determine the path between the given location and final destination and predict when the heading and velocity of the respective vehicle should be changed based upon the path between the given location and final destination;

the vehicle velocity control system is configured to change the velocity and heading based upon the path determined by the vehicle routing system; and

wherein vehicle routing system is configured determine if a conflict of an intended position exists between the respective vehicle and at least one of the other vehicles of the plurality of vehicles at the later point in time, and arbitrate with at least one of the other vehicles of the plurality of vehicles to decide which vehicle assumes the intended position at the later point in time.

11. The system of claim 10, wherein the common coordinate space of the position coordination system utilizes latitude and longitude coordinates.

12. The system as claimed in claim 11, wherein the information acquisition system is operable to detect a hazard on the roadway and measures a displacement of the respective vehicle'"'"'s estimated position from the detected hazard, and the vehicle velocity control system of the respective vehicle is operable to control the velocity of the respective vehicle based further on the displacement of the respective vehicle'"'"'s estimated position from the detected hazard.

13. The system as claimed in claim 12, wherein information about a hazard encountered by one vehicle is transmitted by the one vehicle to one or more other vehicle(s) in communication with the one vehicle.

14. The system as claimed in claim 13, wherein communication between the one vehicle and one or more other vehicle(s) occurs through a terrestrial or satellite information system, such that said information system facilitates communication between the one and the other vehicle(s) even when separated by a distance or a time shift.

15. The system of claim 11, wherein the common coordinate space of the position determination system is calibrated to appear identical same by one or more vehicles on a roadway.

16. The system of claim 15, wherein the calibration by the position determination system uses collected data by any vehicle including global positioning and sensors information.

17. The system of claim 16, wherein the calibration by the position determination system uses received second information from one or more plurality of vehicles received by the first vehicle including the estimates of the positions of the other vehicles in the common coordinate space using information collected by the other vehicles.

18. The system of claim 17, wherein the calibration by the position determination system assigns weights to received second information by the first vehicle to create an estimate of the first vehicle'"'"'s position in the common coordinate space.

19. The system of claim 18, wherein the error between the measured position and the estimated position of the one vehicle in the common coordinate system by the position determination system is determined by the one vehicle using the calibration data and information from one or more other vehicle(s).