Modifying speed of an autonomous vehicle based on traffic conditions

• US 9,932,035 B1
• Filed: 06/06/2016
• Issued: 04/03/2018
• Est. Priority Date: 09/24/2012
• Status: Active Grant

• Current Assignee: Waymo LLC (Alphabet Inc.)
• Original Assignee: Waymo LLC (Alphabet Inc.)
• Inventors: Ferguson, David I., Dolgov, Dmitri A.
• Primary Examiner(s): Kleinman, Lail A
• Application Number:
  US15/173,938
• Time in Patent Office: 666 Days
• Field of Search: None
• CPC Class Codes: B60L 2240/00 Control parameters of input or output; Target parameters
• CPC Class Codes: B60L 2240/10 Vehicle control parameters
• CPC Class Codes: B60L 2240/12 Speed
• CPC Class Codes: B60L 2240/14 Acceleration
• CPC Class Codes: B60L 2240/16 longitudinal
• CPC Class Codes: B60T 7/042 by electrical means, e.g. using travel or force sensors
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2552/05 Type of road, e.g. motorways, local streets, paved or unpaved roads
• CPC Class Codes: B60W 2552/53 Road markings, e.g. lane marker or crosswalk
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2554/4042 Longitudinal speed
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2555/60 Traffic rules, e.g. speed limits or right of way
• CPC Class Codes: B60W 30/14 Adaptive cruise control
• CPC Class Codes: B60W 30/143 Speed control B60W30/16 takes precedence
• CPC Class Codes: B60W 30/146 Speed limiting
• CPC Class Codes: B60W 50/085 Changing the parameters of the control units, e.g. changing limit values, working points by control input
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00

Abstract

Aspects of the disclosure relate generally to speed control in an autonomous vehicle. For example, an autonomous vehicle may include a user interface which allows the driver to input speed preferences. These preferences may include the maximum speed above the speed limit the user would like the autonomous vehicle to drive when other vehicles are present and driving above or below certain speeds. The other vehicles may be in adjacent or the same lane the vehicle, and need not be in front of the vehicle.

Claims

1. A vehicle comprising:

a computing device having one or more processors, the one or more processors being configured to;

receive, from a user, a driving preference for speed control of the vehicle, the driving preference being associated with a characteristic of another vehicle in a hypothetical driving situation;

receive, from a sensor system of the vehicle, information identifying a second vehicle,

wherein the another vehicle is different from the second vehicle and not identified by the sensor system;

determine that the second vehicle meets the characteristic using the information identifying the second vehicle; and

based on the determination, control the vehicle in an autonomous driving mode according to the driving preference.

2. The vehicle of claim 1, wherein the characteristic is a location of the another vehicle.

3. The vehicle of claim 1, wherein the characteristic includes whether the another vehicle is driving in a lane having a same heading as a lane in which the vehicle is currently traveling.

4. The vehicle of claim 1, wherein the driving preference defines how to determine a speed for the vehicle such that controlling the vehicle includes determining the speed for the vehicle according to the driving preference.

5. The vehicle of claim 4, wherein the driving preference is used to keep the vehicle moving slower than at least one other vehicle on the same roadway as the vehicle when controlling the vehicle.

6. The vehicle of claim 1, further comprising a user input device configured to receive the driving preference from the user and provide the driving preference to the computing device.

7. The vehicle of claim 1, wherein the driving preference is received while the vehicle is in motion and being operated in the autonomous driving mode.

8. The vehicle of claim 1, wherein the driving preference is received while the vehicle is being operated in the autonomous driving mode.

9. A method comprising:

receiving, by one or more processors, from a user, a driving preference for speed control of a vehicle, the driving preference being associated with a characteristic of another vehicle in a hypothetical driving situation;

receiving, by the one or more processors, from a sensor system of the vehicle, information identifying a second vehicle,

wherein the another vehicle is different from the second vehicle and not identified by the sensor system;

determining, by the one or more processors, that the second vehicle meets the characteristic using the information identifying the second vehicle; and

based on the determination, controlling the vehicle, by the one or more processors, in an autonomous driving mode according to the driving preference.

10. The method of claim 9, wherein the characteristic is a location of the another vehicle.

11. The method of claim 9, wherein the characteristic includes whether the another vehicle is driving in a lane having a same heading as a lane in which the vehicle is currently traveling.

12. The method of claim 9, wherein the driving preference defines how to determine a speed for the vehicle such that controlling the vehicle includes determining, by the one or more processors, the speed for the vehicle according to the driving preference.

13. The method of claim 12, wherein the driving preference is used to keep the vehicle moving slower than at least one other vehicle on the same roadway as the vehicle when controlling the vehicle.

14. The method of claim 9, wherein the driving preference is received while the vehicle is in motion and being operated in the autonomous driving mode.

15. The method of claim 9, wherein the driving preference is received while the vehicle is being operated in the autonomous driving mode.

16. A non-transitory, computer readable medium on which instructions are stored, the instructions, when executed by one or more processors, cause the one or more processors to perform a method, the method comprising:

receiving, from a user, a driving preference for speed control of a vehicle, the driving preference being associated with a characteristic of another vehicle in a hypothetical driving situation;

receiving, from a sensor system of the vehicle, information identifying a second vehicle,

wherein the another vehicle is different from the second vehicle and not identified by the sensor system’

;

determining that the second vehicle meets the characteristic using the information identifying the second vehicle; and

based on the determination, controlling the vehicle in an autonomous driving mode according to the driving preference.

17. The medium of claim 16, wherein the characteristic is a location of the another vehicle.

18. The medium of claim 16, wherein the characteristic includes whether the another vehicle is driving in a lane having a same heading as a lane in which the vehicle is currently traveling.

19. The medium of claim 16, wherein the driving preference defines how to determine a speed for the vehicle such that controlling the vehicle includes determining the speed for the vehicle according to the driving preference.

20. The medium of claim 19, wherein the driving preference is used to keep the vehicle moving slower than at least one other vehicle on the same roadway as the vehicle when controlling the vehicle.