Systems and methods for entering traffic flow in autonomous vehicles

• US 10,488,861 B2
• Filed: 11/22/2017
• Issued: 11/26/2019
• Est. Priority Date: 11/22/2017
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations LLC (General Motors Company)
• Inventors: Allan, Jeremy, Lujan, Eric, Gao, Peter, Bhattacharya, Siddhartho, Mou, Wei, Uesato, Jonathan
• Primary Examiner(s): Jeanglaude, Gertrude Arthur
• Application Number:
  US15/820,578
• Publication Number:
  US 20180095466A1
• Time in Patent Office: 734 Days
• Field of Search: 701 23
• 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 2554/20 Static objects
• CPC Class Codes: B60W 2554/4029 Pedestrians
• CPC Class Codes: B60W 2554/4048 Field of view, e.g. obstructed view or direction of gaze
• CPC Class Codes: B60W 2754/60 Azimuth angle
• CPC Class Codes: B60W 30/18159 Traversing an intersection
• CPC Class Codes: B60W 40/02 related to ambient conditions
• CPC Class Codes: B60W 60/00253 Taxi operations
• CPC Class Codes: B60W 60/0027 using trajectory prediction for other traffic participants
• CPC Class Codes: B60W 60/00276 for two or more other traffic participants
• CPC Class Codes: G05D 1/0214 in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• 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

Abstract

Systems and method are provided for controlling a vehicle. In one embodiment, an obstacle management method includes receiving, via one or more sensing devices, sensor data relating to an environment associated with a vehicle, wherein the vehicle is substantially stationary and has an intended path corresponding to entering a traffic flow of a first lane. The method includes determining the presence of an obstacle that at least partially occludes a view of the first lane by a first sensing device of the one or more sensing devices, and positioning, with a processor, the vehicle with respect to the obstacle to improve the view of the first lane by the first sensing device without significantly obstructing the first lane. The first lane is then monitored via the first sensing device to determine when the intended path clear.

Claims

1. An obstacle management method comprising:

determining, with a processor, an intended path of a vehicle, wherein the intended path includes an intersection;

receiving, via one or more sensing devices, sensor data relating to an environment associated with the vehicle;

determining, with a processor, the presence of an obstacle in the environment that at least partially occludes a view of the one or more sensing devices of a first lane of the intersection;

determining, with a processor, at least one of a pose and a position of the vehicle with respect to the obstacle that does not significantly obstruct the first lane;

controlling, with a processor, the vehicle based on the at least one of the pose and the position;

monitoring, with a processor, the first lane via the first sensing device to determine when the intended path is clear; and

controlling the vehicle to enter the traffic flow of the first lane when it is determined that the intended path is clear.

2. The method of claim 1, wherein the first sensing device is radar sensor.

3. The method of claim 1, wherein the at least one of the position and the pose of the vehicle is determined and the vehicle is controlled iteratively until the view of the first lane by the first sensing device has improved by a predetermined amount.

4. The method of claim 3, wherein the determining the at least one of the pose and the position comprises determining a position that moves the vehicle forward by a predetermined amount to improve the view of the first lane.

5. The method of claim 1, wherein the at least one of the pose and the position of the vehicle is such that a portion of the vehicle partially extends into the first lane of the intersection.

6. The method of claim 1, wherein the monitoring the first lane via the first sensing device includes tracking only a lead vehicle of a plurality of oncoming vehicles within the first lane.

7. The method of claim 1, further including transmitting information regarding the obstacle to a server remote from the vehicle.

8. A computer implemented system for controlling a vehicle, comprising:

a non-transitory computer readable medium comprising;

an obstacle detection module, configured to, by a processor;

receive, via one or more sensing devices, sensor data relating to an environment associated with a vehicle;

determine, from the sensor data, the presence of an obstacle that at least partially occludes a view of the one or more sensing devices of a first lane of an intersection of an intended path;

a positioning module configured to, by a processor;

determine, with a processor, at least one of a pose and a position of the vehicle with respect to the obstacle without significantly obstructing the first lane;

control, with a processor, the vehicle based on the at least one of the pose and the position; and

a clearing module configured to, by a processor;

monitor the first lane via the first sensing device to determine when the intended path is clear; and

control the vehicle to enter the traffic flow of the first lane when it is determined that the intended path is clear.

9. The system of claim 8, wherein the first sensing device is a radar sensor.

10. The system of claim 8, wherein the positioning module determines the at least one of pose and position and controls the vehicle iteratively until the view of the first lane by the first sensing device has improved by a predetermined amount.

11. The system of claim 10, the determining the at least one of the pose and the position comprises determining a position that moves the vehicle forward by a predetermined amount to improve the view of the first lane.

12. The system of claim 8, wherein the at least one of the pose and the position of the vehicle is such that a portion of the vehicle partially extends into the first lane of the intersection.

13. The system of claim 8, wherein the clearing module monitors the first lane via the first sensing device by tracking only a lead vehicle of a plurality of oncoming vehicles within the first lane.

14. The system of claim 8, wherein the clearing module further transmits information regarding the obstacle to a server remote from the vehicle.

15. An autonomous vehicle, comprising:

a plurality of sensing devices that provide sensor data; and

a controller that, by a processor and based on the sensor data;

receives, via one or more sensing devices, sensor data relating to an environment associated with a vehicle, wherein the vehicle is substantially stationary and has an intended path corresponding to entering a traffic flow of a first lane;

determines, with the sensor data, the presence of an obstacle that at least partially occludes a view of the one or more sensing devices of a first lane of the intersection;

determines at least one of a pose and a position of the vehicle with respect to the obstacle that does not significantly obstruct the first lane;

controls the vehicle based on the at least one of the pose and the position;

monitors the first lane via the first sensing device to determine when the intended path is clear; and

controls the autonomous vehicle to enter the traffic flow of the first lane when it is determined that the intended path is clear.

16. The autonomous vehicle of claim 15, wherein the first sensing device is radar sensor.

17. The autonomous vehicle of claim 15, wherein the controller determines the at least one of pose and position and controls the vehicle iteratively until the view of the first lane by the first sensing device has improved by a predetermined amount.

18. The autonomous vehicle of claim 15, wherein the controller alters the at least one of the pose and the position of the vehicle is such that a portion of the vehicle partially extends into the first lane of the intersection.

19. The autonomous vehicle of claim 15, wherein the controller monitors the first lane via the first sensing device includes by tracking only a lead vehicle of a plurality of oncoming vehicles within the first lane.

20. The autonomous vehicle of claim 15, wherein the clearing module further transmits information regarding the obstacle to a server remote from the vehicle.