Identifying a stopping place for an autonomous vehicle

• US 10,331,129 B2
• Filed: 10/20/2016
• Issued: 06/25/2019
• Est. Priority Date: 10/20/2016
• Status: Active Grant

• Current Assignee: Motional AD, LLC (Aptiv PLC)
• Original Assignee: nuTonomy, Inc. (BorgWarner Incorporated)
• Inventors: Iagnemma, Karl, Ravichandran, Harshavardhan, Wongpiromsarn, Tichakorn
• Primary Examiner(s): Kiswanto, Nicholas
• Application Number:
  US15/298,935
• Publication Number:
  US 20180113455A1
• Time in Patent Office: 978 Days
• 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 2420/54 Audio sensitive means, e.g. ultrasound
• CPC Class Codes: B60W 2552/05 Type of road, e.g. motorways, local streets, paved or unpaved roads
• CPC Class Codes: B60W 2554/60 Traversable objects, e.g. speed bumps or curbs
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2556/10 Historical data
• CPC Class Codes: B60W 30/00 Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
• CPC Class Codes: B60W 50/082 Selecting or switching between different modes of propelling
• CPC Class Codes: B60W 60/00253 Taxi operations
• CPC Class Codes: B60W 60/00256 Delivery operations
• CPC Class Codes: B60W 60/0053 from vehicle to occupant
• CPC Class Codes: B62D 15/0285 Parking performed automatically
• CPC Class Codes: G05D 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• CPC Class Codes: G05D 1/0248 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0297 by controlling means in a control room
• CPC Class Codes: H04W 4/70 Services for machine-to-machine communication [M2M] or machine type communication [MTC]

Abstract

Among other things, a vehicle is caused to drive autonomously through a road network toward a defined goal position. Current information is analyzed about potential stopping places in the vicinity of the goal position, to make a choice of a currently selected stopping place that is acceptable and feasible. The vehicle is caused to drive autonomously toward the currently selected stopping place. The activities are repeated until the vehicle stops at a currently selected stopping place.

Claims

1. A computer-based method comprising:

causing, by a vehicle computer, a vehicle to drive autonomously through a road network toward a defined goal position;

analyzing, by the vehicle computer, current information about one or more potential stopping places in a vicinity of the goal position to make a choice of a currently selected stopping place that is acceptable and feasible, comprising;

calculating, by the vehicle computer, a first score for each of the one or more potential stopping places;

calculating, by the vehicle computer, a second score for each of the one or more potential stopping places; and

selecting, by the vehicle computer, a stopping place with the highest combined first score and second score;

causing, by the vehicle computer, the vehicle to drive autonomously toward the currently selected stopping place; and

in response to the currently selected stopping place being unavailable, repeating, by the vehicle computer, the analyzing till the vehicle stops at a currently selected stopping place.

2. The method of claim 1 in which the analyzing of current information comprises analyzing a combination of static information that is known prior to the vehicle beginning to drive autonomously through the road network and information that is obtained during the autonomous driving.

3. The method of claim 1 in which the analyzing of current information about potential stopping places comprises continuously analyzing information from sensors on the vehicle or information from one or more other sources or both.

4. The method of claim 1 further comprising:

if the vehicle has not stopped at a currently selected stopping place, recalculating, by the vehicle computer, the first score, the second score, or both.

5. The method of claim 1 further comprising:

if the vehicle has not stopped at a currently selected stopping place that is acceptable and feasible, selecting, by the vehicle computer, a new stopping place based on a redefined goal position.

6. The method of claim 1 further comprising:

if the vehicle has not stopped at a the currently selected stopping place, selecting, by the vehicle computer, a new stopping place based on an expanded vicinity of the goal position.

7. The method of claim 1 further comprising:

if the vehicle has not stopped at a currently selected stopping place, enabling, by the vehicle computer, the vehicle to be controlled from a remote location.

8. The method of claim 1 further comprising:

if the vehicle has not stopped at a currently selected stopping place, aborting, by the vehicle computer, the stop.

9. The method of claim 1 further comprising:

if the vehicle has not stopped at a currently selected stopping place, recalculating the first score, recalculating the second score, redefining the goal position, or aborting the stop, based on information provided by a passenger.

10. The method of claim 1 further comprising:

if the vehicle has not stopped at a currently selected stopping place, automatically recalculating the first score, automatically recalculating the second score, automatically redefining the goal position, or automatically aborting the stop.

11. The method of claim 1 in which the analyzing of current information comprises analyzing map data about the road network.

12. The method of claim 1 in which the analyzing of current information comprises analyzing information about features in the vicinity of the goal position as perceived by sensors.

13. The method of claim 12 in which the sensors are on the vehicle.

14. The method of claim 1 in which the analyzing of current information comprises analyzing distances of respective stopping places from the goal position.

15. The method of claim 1 in which the analyzing of current information comprises analyzing information about respective positions of the vehicle at the potential stopping places.

16. The method of claim 1 in which the analyzing of current information comprises analyzing information about whether the vehicle can legally stop at the potential stopping places.

17. The method of claim 1 in which the analyzing of current information comprises analyzing relative desirability of potential stopping places.

18. The method of claim 17 in which the analyzing the relative desirability of potential stopping places comprises applying a statistical model to predict an expected feasibility state of a stopping place based on historical statistics of level of demand for parking and current traffic volumes.

19. The method of claim 1 in which the analyzing of current information comprises identifying a set of potential stopping places that are within a proximity region in the vicinity of the goal position.

20. The method of claim 19 in which the analyzing of current information includes further comprises removing potential stopping places from a set that are not feasible stopping places for the vehicle.

21. The method of claim 20 in which, if no potential stopping places remain after the removing, enlarging the proximity region.

22. The method of claim 1 in which there is no stopping place that is currently acceptable.

23. The method of claim 22 comprising analyzing current information about additional potential stopping places in the vicinity of the goal position to make a choice of a currently selected stopping place that is acceptable and feasible.

24. The method of claim 23 in which the additional potential stopping places lie within a larger vicinity of the goal position.

25. The method of claim 24 in which the larger vicinity is determined based on information provided by a passenger of the vehicle.

26. The method of claim 24 in which the larger vicinity is determined automatically based on pre-specified rules.

27. The method of claim 24 in which the size of the larger vicinity is less than a predetermined upper limit.

28. A vehicle system comprising:

a vehicle computer;

a memory storing instructions that when executed by the vehicle computer, cause the vehicle computer to perform operations comprising;

causing a vehicle to drive autonomously through a road network toward a defined goal position;

analyzing current information about one or more potential stopping places in a vicinity of the goal position to make a choice of a currently selected stopping place that is acceptable and feasible, comprising;

calculating a first score for each of the one or more potential stopping places;

calculating a second score for each of the one or more potential stopping places; and

selecting a stopping place with the highest combined first score and second score;

causing the vehicle to drive autonomously toward the currently selected stopping place; and

in response to the currently selected stopping place being unavailable, repeating the analyzing till the vehicle stops at a currently selected stopping place.

29. The vehicle system of claim 28 in which the analyzing of current information includes analyzing a combination of static information that is known prior to the vehicle beginning to drive autonomously through the road network and information that is obtained during the autonomous driving.

30. The vehicle system of claim 28 in which the analyzing of current information about potential stopping places includes continuously analyzing information from sensors on the vehicle or information from one or more other sources or both.

31. The vehicle system of claim 28 in which the operations further comprise:

if the vehicle has not stopped at a currently selected stopping place, recalculating the first score, the second score, or both.

32. The vehicle system of claim 28 in which the operations further comprise:

if the vehicle has not stopped at a currently selected stopping place that is acceptable and feasible, selecting a new stopping place based on a redefined goal position.

33. The vehicle system of claim 28 in which the operations further comprise:

if the vehicle has not stopped at a currently selected stopping place, selecting a new stopping place based on an expanded vicinity of the goal position.

34. One or more non-transitory storage media storing instructions which, when executed by one or more computing devices, cause performance of operations comprising:

causing a vehicle to drive autonomously through a road network toward a defined goal position;

analyzing current information about one or more potential stopping places in a vicinity of the goal position to make a choice of a currently selected stopping place that is acceptable and feasible, comprising;

calculating a first score for each of the one or more potential stopping places;

calculating a second score for each of the one or more potential stopping places; and

selecting a stopping place with the highest combined first score and second score;

causing the vehicle to drive autonomously toward the currently selected stopping place; and

in response to the currently selected stopping place being unavailable, repeating the analyzing till the vehicle stops at a currently selected stopping place.

35. The non-transitory storage media of claim 34 in which the analyzing of current information includes analyzing a combination of static information that is known prior to the vehicle beginning to drive autonomously through the road network and information that is obtained during the autonomous driving.

36. The non-transitory storage media of claim 34 in which the analyzing of current information about potential stopping places includes continuously analyzing information from sensors on the vehicle or information from one or more other sources or both.

37. The non-transitory storage media of claim 34 in which the operations further comprise:

if the vehicle has not stopped at a currently selected stopping place, recalculating the first score, the second score, or both.

38. The non-transitory storage media of claim 34 in which the operations further comprise:

if the vehicle has not stopped at a currently selected stopping place that is acceptable and feasible, selecting a new stopping place based on a redefined goal position.