Autonomous vehicle operation in view-obstructed environments

• US 10,591,922 B2
• Filed: 03/16/2017
• Issued: 03/17/2020
• Est. Priority Date: 01/29/2015
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Motor Engineering & Manufacturing North America Incorporated (Toyota Motor Corporation)
• Inventors: Sakai, Katsuhiro, Prokhorov, Danil V., Okumura, Bunyo, Nagasaka, Naoki, Harada, Masahiro, Kamata, Nobuhide
• Primary Examiner(s): Goldman, Richard A
• Application Number:
  US15/461,316
• Publication Number:
  US 20170185088A1
• Time in Patent Office: 1,097 Days
• Field of Search: 701100, 701 23, 701301, 701 41, 701 45, 701 93, 701117, 701 3, 60239, 60 39282
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2050/146 Display means
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2510/101 Transmission neutral state
• CPC Class Codes: B60W 2510/18 Braking system
• CPC Class Codes: B60W 2510/20 Steering systems
• CPC Class Codes: B60W 2520/04 Vehicle stop
• CPC Class Codes: B60W 2540/221 Physiology, e.g. weight, heartbeat, health or special needs
• CPC Class Codes: B60W 2540/225 Direction of gaze
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/4026 Cycles
• CPC Class Codes: B60W 2554/4029 Pedestrians
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2710/1005 Transmission ratio engaged
• CPC Class Codes: B60W 2710/18 Braking system
• CPC Class Codes: B60W 2710/20 Steering systems
• 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 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 40/00 : Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
• CPC Class Codes: B60W 50/0097 : Predicting future conditions
• CPC Class Codes: B60W 50/0098 : Details of control systems ensuring comfort, safety or stability not otherwise provided for
• CPC Class Codes: B60W 50/14 : Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B60W 60/0018 : by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions
• 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 20/59 : inside of a vehicle, e.g. relating to seat occupancy, driver state or inner lighting conditions
• CPC Class Codes: G08G 1/165 : for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/166 : for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

Arrangements related to operating an autonomous vehicle in view-obstructed environments are described. At least a portion of an external environment of the autonomous vehicle can be sensed to detect one or more objects located therein. An occupant viewable area of the external environment can be determined. It can be determined whether one or more of the detected one or more objects is located outside of the determined occupant viewable area. Responsive to determining that a detected object is located outside of the determined occupant viewable area, one or more actions can be taken. For instance, the action can include presenting an alert within the autonomous vehicle. Alternatively or in addition, the action can include causing a current driving action of the autonomous vehicle to be modified.

Claims

1. A method of operating an autonomous vehicle in a view-obstructed environment while the autonomous vehicle is operating in an autonomous mode, the method comprising:

while the autonomous vehicle is operating in the autonomous mode;

sensing at least a portion of an external environment of the autonomous vehicle to detect one or more objects located therein;

determining an occupant viewable area of the external environment;

determining whether one or more of the detected one or more objects is located outside of the determined occupant viewable area; and

responsive to determining that one or more of the detected one or more objects is located outside of the determined occupant viewable area, causing a modification to a current driving action of the autonomous vehicle,

wherein, in the autonomous mode, the autonomous vehicle is configured to navigate and maneuver itself without receiving input from a human driver such that the autonomous vehicle is fully autonomous, whereby the autonomous vehicle is driverless.

2. The method of claim 1, wherein causing a modification to a current driving action of the autonomous vehicle includes causing a current speed of the autonomous vehicle to be reduced.

3. The method of claim 2, wherein the current speed of the autonomous vehicle is reduced to a reduced speed, and wherein the reduced speed is maintained at least until the one or more of the detected one or more objects located outside of the determined occupant viewable area is determined to be located within the occupant viewable area.

4. The method of claim 1, further including:

responsive to determining that one or more of the detected one or more objects is located outside of the determined occupant viewable area, presenting an alert within the autonomous vehicle.

5. A system for operating an autonomous vehicle in a view-obstructed environment while the autonomous vehicle is operating in an autonomous mode, the system comprising:

a sensor system configured to detect one or more objects located in at least a portion of an external environment of the autonomous vehicle;

a processor operatively connected to the sensor system, the processor being programmed to initiate executable operations comprising;

while the autonomous vehicle is operating in the autonomous mode;

determining an occupant viewable area of the external environment;

determining whether one or more of the detected one or more objects is located outside of the determined occupant viewable area; and

responsive to determining that one or more of the detected one or more objects is located outside of the determined occupant viewable area, causing a modification to a current driving action of the autonomous vehicle,

wherein, in the autonomous mode, the autonomous vehicle is configured to navigate and maneuver itself without receiving input from a human driver such that the autonomous vehicle is fully autonomous, whereby the autonomous vehicle is driverless.

6. The system of claim 5, wherein causing a modification to a current driving action of the autonomous vehicle includes causing a current speed of the autonomous vehicle to be reduced.

7. The system of claim 6, wherein the current speed of the autonomous vehicle is reduced to a reduced speed, and wherein the executable operations further include maintaining the reduced speed at least until the one or more of the detected one or more objects located outside of the determined occupant viewable area is determined to be located within the occupant viewable area.

8. The system of claim 5, wherein the executable operations further include:

responsive to determining that one or more of the detected one or more objects is located outside of the determined occupant viewable area, presenting an alert within the autonomous vehicle.

9. A method of operating an autonomous vehicle in a view-obstructed environment while the autonomous vehicle is operating in an autonomous mode, the method comprising:

while the autonomous vehicle is operating in the autonomous mode;

identifying an information critical area along a travel route, the information critical area being related to a future driving action;

determining an occupant viewable area of an external environment;

determining whether at least a portion of the information critical area is located outside of the determined occupant viewable area; and

responsive to determining that at least a portion of the information critical area is located outside of the determined occupant viewable area, causing a modification to a current driving action of the autonomous vehicle,

wherein, in the autonomous mode, the autonomous vehicle is configured to navigate and maneuver itself without receiving input from a human driver such that the autonomous vehicle is fully autonomous, whereby the autonomous vehicle is driverless.

10. The method of claim 9, wherein causing a modification to a current driving action of the autonomous vehicle includes reducing a current speed of the autonomous vehicle.

11. The method of claim 10, wherein the current speed of the autonomous vehicle is reduced to a reduced speed, and wherein the reduced speed is maintained at least until the determined occupant viewable area of the informational critical area includes at least a substantial majority of the information critical area.

12. The method of claim 9, further including prompting a vehicle occupant for approval to implement the future driving action.

13. The method of claim 12, wherein, responsive to receiving an input corresponding to a vehicle occupant'"'"'s approval to implement the future driving action, causing the autonomous vehicle to implement the future driving action.

14. A system for operating an autonomous vehicle in a view-obstructed environment while the autonomous vehicle is operating in an autonomous mode, the system comprising:

a processor, the processor being programmed to initiate executable operations comprising;

while the autonomous vehicle is operating in the autonomous mode;

identifying an information critical area along a travel route, the information critical area being related to a future driving action;

determining an occupant viewable area of an external environment;

determining whether at least a portion of the information critical area is located outside of the determined occupant viewable area; and

responsive to determining that at least a portion of the information critical area is located outside of the determined occupant viewable area, causing a modification to a current driving action of the autonomous vehicle,

wherein, in the autonomous mode, the autonomous vehicle is configured to navigate and maneuver itself without receiving input from a human driver such that the autonomous vehicle is fully autonomous, whereby the autonomous vehicle is driverless.

15. The system of claim 14, wherein causing a modification to a current driving action of the autonomous vehicle includes causing a current speed of the autonomous vehicle to be reduced.

16. The system of claim 15, wherein the current speed of the autonomous vehicle is reduced to a reduced speed, and wherein the executable operations further include maintaining the reduced speed at least until the determined occupant viewable area of the informational critical area includes at least a substantial majority of the information critical area.

17. The system of claim 14, wherein the executable operations further include:

prompt a vehicle occupant for approval to implement the future driving action.

18. The system of claim 17, wherein the executable operations further include:

responsive to receiving an input corresponding to a vehicle occupant'"'"'s approval to implement the future driving action, causing the autonomous vehicle to implement the future driving action.