Self-driving vehicle systems and methods

• US 10,286,908 B1
• Filed: 11/01/2018
• Issued: 05/14/2019
• Est. Priority Date: 11/01/2018
• Status: Active Grant

• Current Assignee: Drivent LLC
• Original Assignee: Drivent LLC
• Inventors: Wengreen, Eric John, Schwie, Wesley Edward
• Primary Examiner(s): Nguyen, Tan Q
• Application Number:
  US16/178,392
• Time in Patent Office: 194 Days
• Field of Search: 701 28, 701300, 701301
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2554/4046 Behavior, e.g. aggressive or erratic
• CPC Class Codes: B60W 2556/65 Data transmitted between vehicles
• CPC Class Codes: B60W 2756/10 Involving external transmission of data to or from the vehicle
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 60/0015 specially adapted for safety
• CPC Class Codes: B60W 60/0027 using trajectory prediction for other traffic participants
• 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
• CPC Class Codes: G05D 1/0248 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G06V 20/584 of vehicle lights or traffic lights
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road

Abstract

A vehicle guidance system can include a first vehicle that has a camera, radar, and lidar to record a first path of a second vehicle as the first and second vehicles drive on a road. A processor system of the vehicle guidance system can analyze a first deviation of the first path. Information from a third vehicle can provide additional data regarding a second path of the second vehicle. Analyzing the first path in light of the second path can enable the vehicle guidance system to identify impaired driving indicators. The vehicle guidance system can warn other vehicles about the impaired driver.

Claims

1. A vehicle guidance system configured to receive a first impaired driving indicator, the vehicle guidance system comprising:

a first vehicle comprising a first lane position detection system configured to generate three dimensional data representing an area outside the first vehicle and having at least one of a first radar and a first lidar, wherein the first lane position detection system is configured to track a first path of a second vehicle as the first vehicle and the second vehicle travel on a first road;

a processor system configured to analyze a first deviation of the first path of the second vehicle relative to a first lane of the first road; and

a communication system configured to send a first communication to a third vehicle in response to the first deviation being greater than a first predetermined threshold, wherein the first communication is configured to prompt the third vehicle to alter a first driving route of the third vehicle to keep away from the second vehicle.

2. The vehicle guidance system of claim 1, further comprising a fourth vehicle comprising a second lane position detection system having at least one of a second radar and a second lidar, wherein the second lane position detection system is configured to track a second path of the second vehicle as the fourth vehicle and the second vehicle travel on a second road, the processor system is configured to analyze a second deviation of the second path of the second vehicle relative to a second lane of the second road, and the communication system is configured to send the first communication to the third vehicle in response to the first deviation being greater than the first predetermined threshold and the second deviation being greater than a second predetermined threshold.

3. The vehicle guidance system of claim 1, wherein the first lane position detection system is configured to compensate for motion of the first vehicle to determine a speed of the second vehicle, and the first lane position detection system is configured to compensate for the motion of the first vehicle to determine movements of the second vehicle toward at least one of a left side of the first lane and a right side of the first lane, and the processor system is configured to analyze the first deviation based on the speed and the movements.

4. The vehicle guidance system of claim 1, wherein the first lane position detection system comprises a first camera configured to identify lane markers of the first lane to enable the processor system to analyze the first deviation by comparing the first path relative to positions of the lane markers.

5. The vehicle guidance system of claim 1, wherein the first lane position detection system comprises a first camera and the first lidar, the first camera is configured to identify lane markers of the first lane, and the first lidar is configured to identify the first path of the second vehicle to enable the processor system to analyze the first deviation by comparing the first path relative to positions of the lane markers.

6. The vehicle guidance system of claim 1, wherein the first vehicle comprises a first camera configured to take an image of the second vehicle, and the vehicle guidance system comprises an image analysis system configured to identify at least one characteristic of the second vehicle by analyzing the image taken by the first vehicle,

wherein the communication system is configured to send a second communication having the at least one characteristic to the third vehicle to enable the third vehicle to keep away from the second vehicle in response to receiving the first communication and in response to identifying the second vehicle based on the at least one characteristic of the second communication.

7. The vehicle guidance system of claim 6, wherein the least one characteristic comprises at least one of a color, a shape, a license plate identification, a make, and a model of the second vehicle.

8. The vehicle guidance system of claim 6, wherein the vehicle guidance system comprises a database having vehicle characteristic data, and the vehicle guidance system is configured to compare the at least one characteristic of the second vehicle to the database to determine physical identification information of the second vehicle that is more precise than the at least one characteristic.

9. The vehicle guidance system of claim 1, wherein at least one of the first lidar and the first radar is configured to detect an indication of a shape of the second vehicle,

wherein the vehicle guidance system comprises a database having vehicle shape data, and the vehicle guidance system is configured to compare the indication of the shape to the vehicle shape data to determine physical identification information of the second vehicle,

wherein the communication system is configured to send a second communication comprising the physical identification information to the third vehicle to enable the third vehicle to keep away from the second vehicle in response to receiving the first communication and in response to identifying the second vehicle based on the physical identification information.

10. The vehicle guidance system of claim 1, further comprising a location tracking system configured to receive a first location indicator of the second vehicle and configured to receive a second location indicator of the third vehicle,

wherein the communication system is configured to send the first communication to the third vehicle in response to the first deviation being greater than the first predetermined threshold and in response to the location tracking system determining, based on the first location indicator and the second location indicator, that the third vehicle is within a first predetermined distance of the second vehicle.

11. The vehicle guidance system of claim 1, further comprising a location tracking system configured to monitor a second driving route of the second vehicle and configured to monitor the first driving route of the third vehicle,

wherein the communication system is configured to send the first communication to the third vehicle in response to the first deviation being greater than the first predetermined threshold and in response to the location tracking system predicting, based on the first driving route and the second driving route, that the third vehicle would come within a predetermined distance of the second vehicle.

12. The vehicle guidance system of claim 1, wherein the first lane position detection system is configured to analyze the three dimensional data to track the first path of the second vehicle.

13. A method of using a vehicle guidance system, the method comprising:

receiving from a first vehicle, by the vehicle guidance system, a first indicator of a second vehicle driving impaired, wherein the first vehicle comprises a first lane position detection system configured to generate three dimensional data that represents an area outside the first vehicle, and the first lane position detection system comprises at least one of a first radar and a first lidar;

receiving from a third vehicle, by the vehicle guidance system, a second indicator of the second vehicle driving impaired; and

sending, from the vehicle guidance system to a fourth vehicle, a first communication configured to prompt the fourth vehicle to alter a first driving route of the fourth vehicle to keep away from the second vehicle in response to determining, by the vehicle guidance system, that the first indicator and the second indicator are indicative of impaired driving.

14. The method of claim 13, wherein determining that the first indicator is indicative of the impaired driving comprises:

recording, by the first vehicle, a first path of the second vehicle relative to lane markers as the first vehicle and the second vehicle travel on a first road,

compensating for motion of the first vehicle to determine a speed of the second vehicle,

compensating for the motion of the first vehicle to determine movements of the second vehicle toward at least one of a left side of the first road and a right side of the first road, and

analyzing the movements compared to the speed to determine that the first path relative to the lane markers fluctuates more than a speed-relative threshold.

15. The method of claim 13, wherein the first indicator comprises first lane control data based on the first vehicle recording a first path of the second vehicle relative to lane markers as the first vehicle and the second vehicle travel on a first road, the method further comprising analyzing, by at least one of the vehicle guidance system and the first vehicle, the first path relative to the lane markers.

16. The method of claim 15, wherein the second indicator comprises second data based on detecting, by the third vehicle, that the second vehicle is traveling on a second road at least one of at least five miles per hour slower or at least five miles per hour faster than a speed limit of the second road.

17. The method of claim 15, wherein the second indicator comprises second data based on detecting, by the third vehicle, that the second vehicle is traveling at night without illuminated headlights.

18. The method of claim 13, wherein the first indicator comprises lane control data based on the first vehicle tracking a position of the second vehicle as the second vehicle travels in a lane of a first road, the method further comprising analyzing, by at least one of the vehicle guidance system and the first vehicle, a deviation of a first path of the second vehicle along the lane.

19. The method of claim 13, wherein the first indicator comprises lane control data based on the first vehicle recording a position of the second vehicle as the second vehicle travels in a lane of a first road, the method further comprising analyzing, by at least one of the vehicle guidance system and the first vehicle, a deviation of a first path of the second vehicle along the lane relative to a typical path along the lane, and

formulating, by the vehicle guidance system, the typical path along the lane by aggregating lane position data of automobiles as the automobiles travel along the lane.

20. The method of claim 13, wherein the first indicator comprises speed data based on the first vehicle recording a speed of the second vehicle, the method further comprising determining, by at least one of the vehicle guidance system and the first vehicle, that the speed is at least one of at least eight miles per hour faster and at least eight miles slower than a speed limit of a location of the second vehicle.

21. The method of claim 13, wherein the first indicator comprises acceleration data based on the first vehicle recording an acceleration of the second vehicle, the method further comprising analyzing, by at least one of the vehicle guidance system and the first vehicle, changes in the acceleration to enable the vehicle guidance system to determine that the first indicator is indicative of the impaired driving.

22. The method of claim 13, wherein the first indicator comprises a first lane control data based on the first vehicle recording a first path of the second vehicle as the second vehicle travels in a first lane of a first location, the method further comprising analyzing, by at least one of the vehicle guidance system and the first vehicle, a first deviation of the first path relative to the first lane,

wherein the second indicator comprises a second lane control data based on the third vehicle recording a second path of the second vehicle as the second vehicle travels in a second lane of a second location, the method further comprising analyzing, by at least one of the vehicle guidance system and the third vehicle, a second deviation of the second path relative to the second lane.

23. The method of claim 22, further comprising sending, from the vehicle guidance system to the fourth vehicle, the first communication in response to considering a combined evidence of both the first deviation and the second deviation.

24. A method of using a vehicle guidance system, the method comprising:

receiving from a first vehicle, by the vehicle guidance system, a first indicator of a second vehicle driving impaired, wherein the first vehicle comprises a first lane position detection system configured to generate three dimensional data representing an area outside the first vehicle, and the first lane position detection system comprises at least one of a first radar and a first lidar;

receiving, by the vehicle guidance system, a second indicator of a location of the second vehicle;

determining, by the vehicle guidance system based on the second indicator, that a third vehicle is within a predetermined distance of the second vehicle; and

in response to receiving the first indicator and in response to the determining, sending, from the vehicle guidance system to the third vehicle, a communication configured to prompt the third vehicle to alter a driving route of the third vehicle to keep away from the second vehicle.

25. The method of claim 24, further comprising receiving, by the vehicle guidance system, the second indicator from the first vehicle.

26. The method of claim 24, further comprising determining that the second vehicle is driving impaired in response to:

tracking, by the first vehicle, a first path of the second vehicle as the first vehicle and the second vehicle travel on a first road, and

analyzing, by at least one of the vehicle guidance system and the first vehicle, the first path.

27. A vehicle guidance system configured to receive a first impaired driving indicator, the vehicle guidance system comprising:

a first vehicle comprising a first lane position detection system configured to generate three dimensional data representing an area outside the first vehicle and having at least one of a first radar and a first lidar, wherein the first lane position detection system is configured to track a first path of a second vehicle as the first vehicle and the second vehicle travel on a first road, and the first lane position detection system is configured to determine a speed of the second vehicle and to measure movements of the second vehicle toward at least one of a left side of a first lane and a right side of the first lane;

a processor system configured to analyze a first deviation of the first path of the second vehicle relative to the first lane of the first road, wherein the processor system is configured to analyze the movements compared to the speed to determine that the first path relative to the first lane fluctuates more than a speed-relative threshold; and

a communication system configured to automatically send a first communication to a third vehicle in response to the first path fluctuating more than the speed-relative threshold.

28. The vehicle guidance system of claim 27, further comprising a location tracking system configured to receive a first location indicator of the second vehicle and configured to receive a second location indicator of the third vehicle,

wherein the communication system is configured to send the first communication to the third vehicle in response to the first path fluctuating more than the speed-relative threshold and in response to the location tracking system determining, based on the first location indicator and the second location indicator, that the third vehicle is within a first predetermined distance of the second vehicle.

29. The vehicle guidance system of claim 27, wherein the first communication is configured to warn the third vehicle regarding the second vehicle.

30. The vehicle guidance system of claim 27, wherein the first communication is configured to prompt the third vehicle to keep away from the second vehicle.