System for adjusting autonomous vehicle driving behavior to mimic that of neighboring/surrounding vehicles

• US 10,486,708 B1
• Filed: 04/07/2017
• Issued: 11/26/2019
• Est. Priority Date: 04/11/2016
• Status: Active Grant

• Current Assignee: State Farm Mutual Automobile Insurance Company (State Farm)
• Original Assignee: State Farm Mutual Automobile Insurance Company (State Farm)
• Inventors: Chan, Leo Nelson, Gaudin, Kristopher Keith, Lyons, Roxane, Leise, William J., Nepomuceno, John A., Shah, Rajiv C., Matesevac, III, Edward P., Kellett, Jennifer Criswell, Cielocha, Steven, Myers, Jeremy, Megyese, Matthew S., Crawford, Jennifer L.
• Primary Examiner(s): Elchanti, Hussein
• Application Number:
  US15/482,473
• Time in Patent Office: 963 Days
• CPC Class Codes: B60T 2220/02 Driver type; Driving style; Driver adaptive features
• 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 2540/30 Driving style
• CPC Class Codes: B60W 2554/404 Characteristics
• CPC Class Codes: B60W 2554/4042 Longitudinal speed
• CPC Class Codes: B60W 2554/408 Traffic behavior, e.g. swarm
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 2720/14 Yaw
• CPC Class Codes: B60W 40/09 Driving style or behaviour
• CPC Class Codes: B60W 60/001 Planning or execution of driving tasks
• CPC Class Codes: F16H 2059/003 Detecting or using driving style of a driver, e.g. for adapting shift schedules
• CPC Class Codes: G06Q 40/08 Insurance
• 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 40/20 Movements or behaviour, e.g. gesture recognition recognition of facial expressions G06V40/16
• CPC Class Codes: G08G 1/0112 from the vehicle, e.g. floating car data [FCD]
• CPC Class Codes: G08G 1/096791 where the origin of the information is another vehicle
• CPC Class Codes: G09B 19/167 Control of land vehicles

Abstract

Systems and methods are disclosed for adjusting autonomous vehicle driving behavior. A controller of the autonomous vehicle may utilize an aggression factor to adjust control of the autonomous vehicle. The autonomous vehicle may detect one or more characteristics of proximate vehicles, analyze the one or more characteristics to estimate an aggression level of the proximate vehicles, and adjust the aggression factor based on the estimated aggression level.

Claims

1. A system for controlling an autonomous vehicle, the system comprising:

a sensor mounted to an autonomous vehicle to capture first data associated with a first proximate vehicle, and second data associated with a second proximate vehicle; and

a controller for the autonomous vehicle configured to;

analyze the first data to estimate a first aggression level of the first proximate vehicle, the first aggression level representing a first combination of a first rate of acceleration, a first rate of deceleration, and a first rate of turning of the first proximate vehicle;

analyze the second data to estimate a second aggression level of the second proximate vehicle, the second aggression level representing a second combination of a second rate of acceleration, a second rate of deceleration, and a second rate of turning of the second proximate vehicle;

combine the first aggression level and the second aggression level to determine an average aggression level; and

control a third combination of a third rate of acceleration, a third rate of deceleration, and a third rate of turning of the autonomous vehicle so the autonomous vehicle operates with a third aggression level that corresponds to the average aggression level.

2. The system of claim 1, wherein the sensor is at least one of a motion sensor, an audio sensor, or a laser sensor.

3. The system of claim 1, wherein the first aggression level includes a speed.

4. The system of claim 1, wherein controlling the autonomous vehicle so the autonomous vehicle operates with the third combination of the third aggression level that corresponds to the average aggression level includes adjusting at least one of the third rate of acceleration, the third rate of deceleration, a speed, a swerve factor, or the third rate of turning of the autonomous vehicle based on the aggression level.

5. The system of claim 1, wherein the average aggression level is scored on a scale of 0-100.

6. A method for controlling an autonomous vehicle, the method comprising:

capturing, by a sensor mounted to the autonomous vehicle, first data associated with a first proximate vehicle, and second data associated with a second proximate vehicle;

analyzing the first data to estimate a first aggression level of the first proximate vehicle, the first aggression level representing a first combination of a first rate of acceleration, a first rate of deceleration, and a first rate of turning of the first proximate vehicle;

analyzing the second data to estimate a second aggression level of the second proximate vehicle, the second aggression level representing a second combination of a second rate of acceleration, a second rate of deceleration, and a second rate of turning of the second proximate vehicle;

combine the first aggression level and the second aggression level to determine an average aggression level; and

operating the autonomous vehicle with a third aggression level matching the average aggression level.

7. The method of claim 6, wherein the first aggression level includes an estimated speed.

8. The method of claim 6, wherein the first aggression level includes an estimated swerve factor.

9. The method of claim 6, wherein capturing the first data associated with the first proximate vehicle comprises detecting audio associated with the proximate vehicle.

10. The method of claim 6, wherein operating the autonomous vehicle with the third aggression level matching the average aggression level comprises adjusting, at least one of a third rate of acceleration, a third rate of deceleration, a speed, a swerve factor, or a third rate of turning of the autonomous vehicle.

11. A system for controlling an autonomous vehicle, the system comprising:

a means for capturing first data associated with a first proximate vehicle that is proximate to an autonomous vehicle, and second data associated with a second proximate vehicle that is proximate to the autonomous vehicle;

a means for analyzing the first data to estimate a first aggression level, the first aggression level representing a first combination of a first rate of acceleration, a first rate of deceleration, and a first rate of turning of the first proximate vehicle;

a means for analyzing the second data to estimate a second aggression level, the second aggression level representing a second combination of a second rate of acceleration, a second rate of deceleration, and a second rate of turning of the first proximate vehicle;

a means for computing an average of the first aggression level and the second aggression level to form a collective aggression level; and

a means for controlling the autonomous vehicle according to the collective aggression level.

12. The system of claim 11, wherein the means for capturing the first data associated with the first proximate vehicle comprises a motion sensor.

13. The system of claim 11, wherein the means for capturing the first data associated with the first proximate vehicle comprises an audio sensor.

14. The system of claim 11, wherein the means for capturing the first data associated with the first proximate vehicle comprises a laser sensor.

15. The system of claim 11, wherein the means for capturing the first data associated with the first proximate vehicle comprises a means for detecting audio associated with the first proximate vehicle.

16. The system of claim 11, wherein the means for controlling the autonomous vehicle according to the collective aggression level comprises a means for adjusting, based on the collective aggression level, at least one of a third rate of acceleration, a third rate of deceleration, a speed, a swerve factor, or a third rate of turning of the autonomous vehicle.