Detecting and responding to tailgaters

• US 9,880,557 B1
• Filed: 05/05/2017
• Issued: 01/30/2018
• Est. Priority Date: 07/24/2013
• Status: Active Grant

• Current Assignee: Waymo LLC (Alphabet Inc.)
• Original Assignee: Waymo LLC (Alphabet Inc.)
• Inventors: Dolgov, Dmitri A., Nemec, Philip, Aula, Anne Kristiina
• Primary Examiner(s): Marc, McDieunel
• Application Number:
  US15/587,702
• Time in Patent Office: 270 Days
• Field of Search: 340435, 340436, 340467, 340901, 340903, 340933, 34042616, 340427, 180167, 455500
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2754/30 Longitudinal distance
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 60/0016 of the vehicle or its occupants
• CPC Class Codes: B62D 15/025 Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence
• CPC Class Codes: B62D 15/0255 Automatic changing of lane, e.g. for passing another vehicle
• CPC Class Codes: G05D 1/00 Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots drive control systems specially adapted for autonomous road vehicles B60W60/00
• CPC Class Codes: G05D 1/0055 with safety arrangements
• CPC Class Codes: G05D 1/0287 involving a plurality of land vehicles, e.g. fleet or convoy travelling traffic control systems for road vehicles G08G1/00, particularly anticollision systems G08G1/16

Abstract

An autonomous vehicle detects a tailgating vehicle and uses various response mechanisms. A vehicle is identified as a tailgater based on whether its characteristics meet a variable threshold. When the autonomous vehicle is traveling at slower speeds, the threshold is defined in distance. When the autonomous vehicle is traveling at faster speeds, the threshold is defined in time. The autonomous vehicle responds to the tailgater by modifying its driving behavior. In one example, the autonomous vehicle adjusts a headway buffer (defined in time) from another vehicle in front of the autonomous vehicle. In this regard, if the tailgater is T seconds too close to the autonomous vehicle, the autonomous vehicle increases the headway buffer to the vehicle in front of it by some amount relative to T.

Claims

1. A method comprising:

identifying, by one or more processors of a first vehicle, a second vehicle driving behind the first vehicle and in a same lane as the first vehicle;

detecting, by the one or more processors, a third vehicle driving in front of the first vehicle and in the same lane as the first vehicle;

determining, by the one or more processors, that the second vehicle is a possible tailgating vehicle based a current speed of the first vehicle and a distance between the second vehicle and the first vehicle; and

maneuvering, by the one or more processors, the first vehicle in order to adjust a distance between the first vehicle and the third vehicle based on the determination that the second vehicle is a possible tailgating vehicle.

2. The method of claim 1, further comprising determining a threshold value using the current speed of the first vehicle and wherein determining that the second vehicle is a possible tailgating vehicle is based on the threshold value.

3. The method of claim 2, wherein determining that the second vehicle is a possible tailgating vehicle includes determining an amount of time for a vehicle traveling at the current speed of the first vehicle to travel the distance between the second vehicle and the first vehicle.

4. The method of claim 3, wherein determining that the second vehicle is a possible tailgating vehicle includes determining that the amount of time does not meets the threshold value.

5. The method of claim 1, further comprising determining a threshold value as a function of a predetermined minimum threshold distance, a predetermined threshold time, and the current speed of the first vehicle and wherein determining that the second vehicle is a possible tailgating vehicle is based on a current value of the function.

6. The method of claim 5, wherein the function is configured such that when the current speed of the first vehicle is 0, the function is equal to the predetermined minimum threshold distance.

7. The method of claim 5, wherein determining that the second vehicle is a possible tailgating vehicle includes determining the distance between the first vehicle and the second vehicle does not meet the current value.

8. The method of claim 5, further comprising selecting the predetermined minimum threshold distance based on a type of roadway on which the first vehicle is currently driving.

9. The method of claim 1, wherein determining that the second vehicle is a possible tailgating vehicle includes determining whether the second vehicle is currently changing lanes.

10. The method of claim 1, wherein determining that the second vehicle is a possible tailgating vehicle includes using a machine learning classifier.

11. A system comprising one or more processors of a first vehicle, the one or more processors being configured to:

identify a second vehicle driving behind the first vehicle and in a same lane as the first vehicle;

detect a third vehicle driving in front of the first vehicle and in the same lane as the first vehicle;

determine that the second vehicle is a possible tailgating vehicle based a current speed of the first vehicle and a distance between the second vehicle and the first vehicle; and

maneuver the first vehicle in order to adjust a distance between the first vehicle and the third vehicle based on the determination that the second vehicle is a possible tailgating vehicle.

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

determine a threshold value using the current speed of the first vehicle; and

determine that the second vehicle is a possible tailgating vehicle further based on the threshold value.

13. The system of claim 12, wherein the one or more processors are further configured to determine that the second vehicle is a possible tailgating vehicle includes by determining an amount of time for a vehicle traveling at the current speed of the first vehicle to travel the distance between the second vehicle and the first vehicle.

14. The system of claim 13, wherein the one or more processors are further configured to determine that the second vehicle is a possible tailgating vehicle by determining that the amount of time does not meets the threshold value.

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

determine a threshold value as a function of a predetermined minimum threshold distance, a predetermined threshold time and the current speed of the first vehicle; and

determine that the second vehicle is a possible tailgating vehicle further based on a current value of the function.

16. The system of claim 15, wherein the function is configured such that when the current speed of the first vehicle is 0, the function is equal to the predetermined minimum threshold distance.

17. The system of claim 15, wherein the one or more processors are further configured to determine that the second vehicle is a possible tailgating vehicle by determining the distance between the first vehicle and the second vehicle does not meet the current value.

18. The system of claim 11, further comprising the first vehicle.

19. The system of claim 11, wherein the one or more processors are further configured to determine that the second vehicle is a possible tailgating vehicle by determining whether the second vehicle is currently changing lanes.

20. The system of claim 11, wherein the one or more processors are further configured to determine that the second vehicle is a possible tailgating vehicle by using a machine learning classifier.