Adaptation of autonomous driving behaviour based on occupant presence and position

• US 9,950,708 B1
• Filed: 07/01/2015
• Issued: 04/24/2018
• Est. Priority Date: 11/02/2012
• Status: Active Grant

• Current Assignee: Waymo LLC (Alphabet Inc.)
• Original Assignee: Waymo LLC (Alphabet Inc.)
• Inventors: Cullinane, Brian, Hobbs, Nicholas Kenneth
• Primary Examiner(s): Badii, Behrang
• Assistant Examiner(s): GREENE, DANIEL LAWSON
• Application Number:
  US14/788,901
• Time in Patent Office: 1,028 Days
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2540/00 Input parameters relating to occupants
• CPC Class Codes: B60W 2540/043 Identity of occupants
• CPC Class Codes: B60W 2540/21 Voice
• CPC Class Codes: B60W 2540/227 Position in the vehicle
• CPC Class Codes: B60W 30/085 Taking automatic action to adjust vehicle attitude in preparation for collision, e.g. braking for nose dropping
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 30/18159 Traversing an intersection
• CPC Class Codes: B60W 60/0016 of the vehicle or its occupants
• CPC Class Codes: G01S 2013/9318 Controlling the steering
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/9319 Controlling the accelerator
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: G06V 20/59 inside of a vehicle, e.g. relating to seat occupancy, driver state or inner lighting conditions

Abstract

Methods and apparatus are disclosed for customizing driving operations of a vehicle based on occupant(s) of the vehicle. An autonomous vehicle that includes a passenger compartment can determine a presence of an occupant of the passenger compartment. The autonomous vehicle can determine a location of the occupant within the passenger compartment. Additional information about the occupant can be determined. A driving operation can be selected from among a plurality of driving operations based on the location and additional information about the occupant. The selected driving operation can be performed, perhaps by the autonomous vehicle.

Claims

1. A method, comprising:

determining, by a computing system of an autonomous vehicle comprising a passenger compartment, a presence of an occupant of the passenger compartment;

determining, by the computing system, a location of the occupant within the passenger compartment;

identifying a plurality of possible trajectories for the autonomous vehicle, wherein the possible trajectories comprise at least a first trajectory and a second trajectory, wherein the first trajectory and the second trajectory specify different directions of travel;

determining, based on the first trajectory and the location of the occupant within the passenger compartment, a first potential collision risk that;

(a) corresponds to potential collision between the autonomous vehicle and an object while travelling on the first trajectory, and (b) indicates a risk of harm to the occupant in the passenger compartment that is associated with the potential collision;

determining, based on the second trajectory and the location of the occupant within the passenger compartment, a second potential collision risk that;

(a) corresponds to respective potential collision between the autonomous vehicle and the object while travelling on the second trajectory, and (b) indicates a risk of harm to the occupant in the passenger compartment that is associated with the respective potential collision;

comparing the respective risks of harm to the occupant associated with the first and second trajectories;

selecting, by the computing system, a driving trajectory for the autonomous vehicle from the first trajectory and the second trajectory based at least in part on the comparison of the respective risks of harm to the occupant that are associated with the first and second trajectories; and

controlling, by the computing system, the autonomous vehicle to follow the selected driving trajectory.

2. The method of claim 1, wherein determining the location of the occupant is based on determining a door from which the occupant entered the autonomous vehicle.

3. The method of claim 1, wherein selecting the driving trajectory comprises:

determining that an occupant is in a driver'"'"'s seat of the autonomous vehicle; and

in response to determining that the occupant is in the driver'"'"'s seat, selecting the driving trajectory that enhances safety of the occupant in the driver'"'"'s seat.

4. The method of claim 3, wherein selecting the driving trajectory that enhances safety of the occupant in the driver'"'"'s seat comprises:

determining that a left turn at an intersection is to be performed; and

selecting a path for the left turn through the intersection that enhances safety of the occupant in the driver'"'"'s seat, wherein the path for the left turn comprises a wider path for the left turn.

5. The method of claim 3, wherein selecting the driving trajectory that enhances safety of the occupant in the driver'"'"'s seat comprises:

determining that a right turn at an intersection is to be performed; and

selecting a path for the right turn through the intersection that enhances safety of the occupant in the driver'"'"'s seat, wherein the path for the right turn comprises a sharper path for the right turn.

6. The method of claim 1, further comprising:

obtaining a profile about the occupant, wherein the profile comprises information about driving behaviors, occupant configurations, and behavior settings, and wherein selecting the driving trajectory comprises selecting the driving trajectory further based on a behavior setting in the profile about the occupant for a driving behavior.

7. The method of claim 6, further comprising:

receiving a first command from the occupant, wherein the first command comprises information about a first desired driving behavior;

receiving a second command from the occupant, wherein the second command comprises information about a second desired driving behavior;

determining that at least the first and second desired driving behaviors are related; and

in response to determining that at least the first and second driving behaviors are related, changing the information in the profile based on the first and second commands.

8. The method of claim 1, wherein determining the presence of the occupant of the passenger compartment is based on detecting an electronic device associated with the occupant inside the autonomous vehicle.

9. The method of claim 8, further comprising:

determining identity of the occupant based on the detected device.

10. The method of claim 1, wherein selecting the driving trajectory comprises:

selecting the driving trajectory from the first trajectory and the second trajectory in order to move a location of a potential collision farther from the location of the occupant when the selected trajectory is taken.

11. The autonomous vehicle of claim 10, wherein the operations further comprise:

obtaining a profile about the occupant, wherein the profile comprises information about driving behaviors, occupant configurations, and behavior settings, and wherein selecting the driving trajectory comprises selecting the driving trajectory further based on a behavior setting in the profile about the occupant for a driving behavior.

12. An article of manufacture including a non-transitory computer-readable storage medium having stored thereon program instructions that, upon execution by a computer system controlling an autonomous vehicle, cause the computer system to perform operations comprising:

determining a presence of an occupant in a passenger compartment of the autonomous vehicle;

determining a location of the occupant within the passenger compartment;

identifying a plurality of possible trajectories for the autonomous vehicle, wherein the possible trajectories comprise at least a first trajectory and a second trajectory, wherein the first trajectory and the second trajectory specify different directions of travel;

determining, based on the first trajectory and the location of the occupant within the passenger compartment, a first potential collision risk that;

(a) corresponds to potential collision between the autonomous vehicle and an object while travelling on the first trajectory, and (b) indicates a risk of harm to the occupant in the passenger compartment that is associated with the potential collision;

determining, based on the second trajectory and the location of the occupant within the passenger compartment, a second potential collision risk that;

(a) corresponds to respective potential collision between the autonomous vehicle and the object while travelling on the second trajectory, and (b) indicates a risk of harm to the occupant in the passenger compartment that is associated with the respective potential collision;

comparing the respective risks of harm to the occupant associated with the first and second trajectories;

selecting a driving trajectory for the autonomous vehicle from the first trajectory and the second trajectory based at least in part on the comparison of the respective risks of harm to the occupant that are associated with the first and second trajectories; and

controlling the autonomous vehicle to follow the selected driving trajectory.

13. The article of manufacture of claim 12, wherein selecting the driving trajectory comprises:

determining that an occupant is in a driver'"'"'s seat of the autonomous vehicle; and

in response to determining that the occupant is in the driver'"'"'s seat, selecting the driving trajectory that enhances safety of the occupant in the driver'"'"'s seat.

14. The article of manufacture of claim 13, wherein selecting the driving trajectory that enhances safety of the occupant in the driver'"'"'s seat comprises:

determining that a left turn at an intersection is to be performed; and

selecting a path for the left turn through the intersection that enhances safety of the occupant in the driver'"'"'s seat, wherein the path for the left turn comprises a wider path for the left turn.

15. The article of manufacture of claim 13, wherein selecting the driving trajectory that enhances safety of the occupant in the driver'"'"'s seat comprises:

determining that a right turn at an intersection is to be performed; and

selecting a path for the right turn through the intersection that enhances safety of the occupant in the driver'"'"'s seat, wherein the path for the right turn comprises a sharper path for the right turn.

16. The article of manufacture of claim 12, wherein the operations further comprise:

obtaining a profile about the occupant, wherein the profile comprises information about driving behaviors, occupant configurations, and behavior settings, and wherein selecting the driving trajectory comprises selecting the driving trajectory further based on a behavior setting in the profile about the occupant for a driving behavior.

17. The article of manufacture of claim 12, wherein determining the location of the occupant is based on determining a door from which the occupant entered the autonomous vehicle.

18. An autonomous vehicle, comprising:

a passenger compartment;

a processor; and

a non-transitory computer-readable storage medium, storing instructions thereon that, when executed by the processor, cause the autonomous vehicle to perform operations, comprising;

determining a presence of an occupant in the passenger compartment;

determining a location of the occupant within the passenger compartment;

identifying a plurality of possible trajectories for the autonomous vehicle, wherein the possible trajectories comprise at least a first trajectory and a second trajectory, wherein the first trajectory and the second trajectory specify different directions of travel;

determining, based on the first trajectory and the location of the occupant within the passenger compartment, a first potential collision risk that;

(a) corresponds to potential collision between the autonomous vehicle and an object while travelling on the first trajectory, and (b) indicates a risk of harm to the occupant in the passenger compartment that is associated with the potential collision;

determining, based on the second trajectory and the location of the occupant within the passenger compartment, a second potential collision risk that;

(a) corresponds to respective potential collision between the autonomous vehicle and the object while travelling on the second trajectory, and (b) indicates a risk of harm to the occupant in the passenger compartment that is associated with the respective potential collision;

comparing the respective risks of harm to the occupant associated with the first and second trajectories;

selecting a driving trajectory for the autonomous vehicle from the first trajectory and the second trajectory based at least in part on the comparison of the respective risks of harm to the occupant that are associated with the first and second trajectories; and

controlling the autonomous vehicle to follow the selected driving trajectory.

19. The autonomous vehicle of claim 18, wherein selecting the driving trajectory comprises:

determining that an occupant is in a driver'"'"'s seat of the autonomous vehicle; and

in response to determining that the occupant is in the driver'"'"'s seat, selecting the driving trajectory that enhances safety of the occupant in the driver'"'"'s seat.

20. The autonomous vehicle of claim 19, wherein selecting the driving trajectory that enhances safety of the occupant in the driver'"'"'s seat comprises:

determining that a left turn at an intersection is to be performed; and

selecting a path for the left turn through the intersection that enhances safety of the occupant in the driver'"'"'s seat, wherein the path for the left turn comprises a wider path for the left turn.

21. The autonomous vehicle of claim 19, wherein selecting the driving trajectory that enhances safety of the occupant in the driver'"'"'s seat comprises:

determining that a right turn at an intersection is to be performed; and

selecting a path for the right turn through the intersection that enhances safety of the occupant in the driver'"'"'s seat, wherein the path for the right turn comprises a sharper path for the right turn.