Autonomous driving sensing system and method

• US 10,422,649 B2
• Filed: 01/19/2015
• Issued: 09/24/2019
• Est. Priority Date: 02/24/2014
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Engelman, Gerald H., Miller, Alex Maurice, Stephenson, Richard Lee, Tellis, Levasseur, Zwicky, Timothy D.
• Primary Examiner(s): Cheung, Calvin
• Application Number:
  US14/599,714
• Publication Number:
  US 20150241226A1
• Time in Patent Office: 1,709 Days
• Field of Search: 701 1, 701 25, 701117, 701118, 701 26, 701 27, 701 36, 701 46, 701 70, 701 93, 701 96, 701 23, 701 41
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/105 Longitudinal acceleration
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] 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 60/0011 involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
• CPC Class Codes: G01C 21/34 Route searching; Route guidance
• 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

First and second sets of data are collected in a vehicle from respective data sources. Each of the first and second sets of data are provided for determinations respectively selected from first and second categories of autonomous vehicle operations. A determination is made to take an autonomous action selected from the first category of autonomous vehicle operations. Data is used from each of the first and second data sets relating respectively to the first and second categories of autonomous vehicle operations to determine the autonomous action.

Claims

1. A method implemented in a computer in a vehicle, the method comprising:

identifying an operational task that is a decision to actuate a throttle or a brake to adjust a vehicle speed or to actuate a steering to adjust a vehicle steering angle;

collecting a first set of data dedicated to the operational task;

determining to include additional data related to the decision;

then, after collecting the first set of data and in response to determining to include the additional data, selecting a second set of data dedicated to a second task that is other than the operational task, the second set of data different than the first set of data and usable for making the decision;

collecting the second set of data;

determining to adjust the vehicle speed or adjust the vehicle steering angle according to the first set of data and the second set of data; and

controlling, according to the determination, the vehicle speed by actuating the throttle or the brake, or the vehicle steering angle by actuating the steering.

2. The method of claim 1, wherein the second set of data includes GPS data.

3. The method of claim 1, wherein the first set of data is derived from data collected from sensors in the vehicle.

4. The method of claim 1, wherein the second task relates to one of a vehicle roadway, an object proximate to the vehicle, and a second vehicle.

5. The method of claim 1, wherein the second task is one of determining a route for the vehicle and determining whether the vehicle should change lanes.

6. The method of claim 1, wherein the first set of data or the second set of data include data from each of a sensor in the vehicle and a remote server.

7. The method of claim 1, further comprising synchronizing the data using at least one of a timestamp and geo-coordinates.

8. The method of claim 1, further comprising, before collecting the first set of data, determining that the vehicle is travelling on a roadway having a classification that permits use of the first set of data.

9. The method of claim 1, wherein the second set of data is derived from data collected from sensors in one or more second vehicles.

10. The method of claim 1, wherein the second task is a strategic task to determine a route to a destination.

11. The method of claim 1, wherein the second task is a tactical task to determine vehicle speed or steering while traversing a route.

12. A system, comprising:

a computer configured to be installed in a vehicle, the computer including a processor and a non-transitory memory, the memory storing instructions executable by the processor such that the computer is programmed to;

identify an operational task that is a decision to actuate a throttle or a brake to adjust vehicle speed or to actuate a steering to adjust a vehicle steering angle;

determine to include additional data related to the decision;

collect a first set of data dedicated to the operational task;

then, after collecting the first set of data and in response to determining to include the additional data, select a second set of data dedicated to a second task that is other than the operational task, the second set of data different than the first set of data and usable for making the decision;

collect the second set of data;

determine to adjust the vehicle speed or adjust the vehicle steering angle according to the first set of data and the second set of data; and

control, according to the determination, the vehicle speed by actuating the throttle or the brake, or the vehicle steering angle by actuating the steering.

13. The system of claim 12, wherein the second set of data includes GPS data.

14. The system of claim 12, wherein the first set of data is derived from data collected from sensors in the vehicle.

15. The system of claim 12, wherein the second task relates to one of a vehicle roadway, an object proximate to the vehicle, and a second vehicle.

16. The system of claim 12, wherein the second task is one of determining a route for the vehicle and determining whether the vehicle should change lanes.

17. The system of claim 12, wherein the first set of data or the second set of data include data from each of a sensor in the vehicle and a remote server.

18. The system of claim 12, wherein the computer is further programmed to synchronize the data using at least one of a timestamp and geo-coordinates.

19. The system of claim 12, wherein the computer is further programmed to determine, before collecting the first set of data, that the vehicle is travelling on a roadway having a classification that permits use of the first set of data.

20. The system of claim 12, wherein the second set of data is derived from data collected from sensors in one or more second vehicles.