Suggesting alternative pickup and drop off locations for autonomous vehicles

• US 10,520,941 B2
• Filed: 12/15/2017
• Issued: 12/31/2019
• Est. Priority Date: 12/15/2017
• Status: Active Grant

• Current Assignee: Waymo LLC (Alphabet Inc.)
• Original Assignee: Waymo LLC (Alphabet Inc.)
• Inventors: Herbach, Joshua Seth, Epstein, Michael, Vora, Mishika, Dupre, Guillaume, Rawlings, Kevin
• Primary Examiner(s): Ingram, Thomas
• Application Number:
  US15/843,090
• Publication Number:
  US 20190187702A1
• Time in Patent Office: 746 Days
• 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 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G06Q 10/02 Reservations, e.g. for tickets, services or events
• CPC Class Codes: G06Q 10/047 Optimisation of routes or paths, e.g. travelling salesman problem
• CPC Class Codes: G06Q 30/06 Buying, selling or leasing transactions
• CPC Class Codes: G06Q 50/40 Business processes related to the transportation industry shipping G06Q10/083

Abstract

Aspects of the disclosure relate to controlling a vehicle in an autonomous driving mode. For instance, a first location corresponding to a location where the vehicle is to pick up or drop off a passenger is received. A first cost for the vehicle to reach the first location is determined. A second location based on the first location is identified, and a second cost is determined based on a cost for the vehicle to reach the second location and a cost for the passenger to reach the second location. The first cost is compared to the second cost, and a notification is sent based on the notification. In response to sending the notification, instructions to proceed to the second location are received, and in response to receiving the instructions, the vehicle is controlled in the autonomous driving mode to the second location to pick up or drop off the passenger.

Claims

1. A method of controlling a vehicle in an autonomous driving mode, the method comprising:

receiving, by one or more processors of the vehicle, a first location corresponding to a location where the vehicle is to pick up or drop off a passenger;

controlling, by the one or more processors, the vehicle in the autonomous driving mode towards the first location;

while controlling the vehicle in the autonomous driving mode in order to reach the first location;

determining, by the one or more processors, a first cost for the vehicle to reach the first location,

identifying a second location based on the first location,

determining, by the one or more processors, a second cost based on a cost for the vehicle to reach the second location and a cost for the passenger to reach the second location,

comparing the first cost to the second cost, and

sending a notification based on the comparison,

in response to sending the notification, receiving, by the one or more processors, instructions to proceed to the second location; and

in response to receiving the instructions, controlling, by the one or more processors, the vehicle in the autonomous driving mode to the second location to pick up or drop off the passenger.

2. The method of claim 1, wherein the first location corresponds to a first side of a street, and wherein identifying the second location includes selecting the second location on a second side of the street opposite of the first side of the street.

3. The method of claim 2, wherein determining the cost for the passenger to reach the second side includes determining the cost for the passenger to reach the second side.

4. The method of claim 3, wherein determining the cost of the passenger to reach the second side includes assessing an amount of difficulty for the passenger to cross the street.

5. The method of claim 4, wherein assessing the amount of difficulty is based on whether there is a median on the street.

6. The method of claim 4, wherein assessing the amount of difficulty is based on a number of lanes to be crossed.

7. The method of claim 4, wherein assessing the amount of difficulty is based on an availability of crosswalks for the passenger to use to cross the street.

8. The method of claim 4, wherein assessing the amount of difficulty is based on a speed limit for the street.

9. The method of claim 3, wherein determining the cost of the passenger to reach the second side includes determining the distance the passenger needs to travel to the second location after crossing the street.

10. The method of claim 1, wherein determining the second cost includes adding the cost for the vehicle to reach the second location and the cost for the passenger to reach the second location.

11. The method of claim 1, wherein the comparing includes determining a difference between the first cost and the second cost and comparing this difference to a first threshold value.

12. The method of claim 11, further comprising, determining the first threshold value based on circumstances for the pick up or drop off.

13. The method of claim 12, further comprising:

as the vehicle is being controlled towards the second location, determining a third cost for the vehicle to reach the second location using a current location of the vehicle;

determining a fourth cost based on a cost for the vehicle to reach a third location using the current location of the vehicle and a cost for the passenger to reach the third location from the second location; and

comparing the third cost to the fourth cost;

sending a second notification based on the comparison of the third cost to the fourth cost;

receiving instructions to proceed to the third location; and

controlling the vehicle in the autonomous driving mode to the third location to pick up or drop off the passenger.

14. The method of claim 13, wherein determining the cost for the passenger to reach the third location includes determining the cost for the passenger to reach the first side.

15. The method of claim 13, wherein the comparing includes determining a difference between the first cost and the second cost and comparing this difference to a second threshold value, and wherein the second threshold value is greater than the first threshold value.

16. The method of claim 15, wherein the second notification is sent only when the difference meets the second threshold value.

17. The method of claim 12, wherein the circumstances relate to weather conditions.

18. The method of claim 12, wherein the circumstances relate to whether the passenger is traveling with one or more other passengers.

19. The method of claim 12, wherein the circumstances relate to whether the passenger is traveling with cargo.

20. The method of claim 1, wherein the notification identifies a type of cost savings.

21. The method of claim 20, wherein the type of cost savings relates to a wait time for the passenger.

22. The method of claim 20, wherein the type of cost savings relates to a time to a destination from the second location.

23. The method of claim 1, wherein the notification indicates that the vehicle cannot reach the first location.

24. The method of claim 1, further comprising periodically updating the first cost and the second cost, and wherein the comparing includes using the updated first cost and second cost.

25. A system for of controlling a vehicle in an autonomous driving mode, the system comprising one or more processors configured to:

receive a first location corresponding to a location where the vehicle is to pick up or drop off a passenger;

controlling, by the one or more processors, the vehicle in the autonomous driving mode towards the first location;

while controlling the vehicle towards the first location;

determine a first cost for the vehicle to reach the first location,

identify a second location based on the first location,

determine a second cost based on a cost for the vehicle to reach the second location and a cost for the passenger to reach the second location,

compare the first cost to the second cost, and

send a notification based on the comparison; and

in response to sending the notification, receive instructions to proceed to the second location; and

in response to receiving the instructions, control the vehicle in the autonomous driving mode to the second location to pick up or drop off the passenger.

26. The system of claim 25, wherein the first location corresponds to a first side of a street, further comprising, identifying the second location includes selecting the second location on a second side of the street opposite of the first side of the street.

27. The system of claim 26, wherein determining the cost for the passenger to reach the second side includes determining the cost for the passenger to reach the second side by assessing an amount of difficulty for the passenger to cross the street.

28. The system of claim 25, further comprising the vehicle, wherein the one or more processors are one or more processors of the vehicle.