ROBOTIC DRIVING SYSTEM

• US 20080162027A1
• Filed: 10/04/2007
• Published: 07/03/2008
• Est. Priority Date: 12/29/2006
• Status: Active Grant

• Current Assignee: General Dynamics Robotic Systems, Robotic Research OPCO LLC
• Original Assignee: General Dynamics Robotic Systems, Robotic Research LLC
• Inventors: DEL GIORNO, Mark, LACAZE, Alberto, MURPHY, Karl
• Granted Patent: US 9,302,678 B2
• Time in Patent Office: Days
• US Class Current: 701/117
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0251 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• 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: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

A system that enables a vehicle to follow a traffic rule when traveling in a road network includes a database that stores data relating to at least one feature of the road network, a location detector that detects a location of the vehicle relative to the road network, a sensor that senses at least one object in a vicinity of the vehicle, and a processing system that controls the vehicle to autonomously obey at least one traffic rule, or provides a notification to a driver of the vehicle to enable the driver to obey at least one traffic rule, based on the detected location of the vehicle, data retrieved from the database relating to at least one feature of the road network, and data relating to at least one object sensed by the sensor.

Claims

1. A system that enables a vehicle to follow a traffic rule while traveling in a road network, comprising:

a database that stores data relating to at least one feature of the road network;

a location detector that detects a location of the vehicle relative to the road network;

a sensor that senses at least one object in a vicinity of the vehicle; and

a processing system that controls the vehicle to autonomously obey at least one traffic rule, or provides a notification to a driver of the vehicle to enable the driver to obey at least one traffic rule, based on the detected location of the vehicle, data retrieved from the database relating to at least one feature of the road network, and data relating to at least one object sensed by the sensor.

2. The system according to claim 1, wherein the at least one traffic rule comprises a traffic rule relating to a right of way.

3. The system according to claim 1, wherein the at least one traffic rule comprises a traffic rule relating to a roundabout.

4. The system according to claim 1, wherein the at least one traffic rule comprises a traffic rule relating to a mountain road.

5. The system according to claim 1, wherein the at least one traffic rule comprises a traffic rule relating to at least one of a traffic light and a road sign.

6. The system according to claim 1, wherein the at least one traffic rule comprises a traffic rule relating to at least one of a dangerous intersection and an alley.

7. The system according to claim 1, wherein the at least one traffic rule comprises a traffic rule relating to a railroad crossing.

8. The system according to claim 1, wherein the at least one traffic rule comprises a traffic rule relating to a pedestrian or an animal.

9. The system according to claim 1, wherein the at least one traffic rule comprises a traffic rule relating to a traffic lane.

10. The system according to claim 1, wherein the at least one traffic rule comprises a traffic rule relating to turning.

11. The system according to claim 1, wherein the at least one traffic rule comprises a traffic rule relating to parking.

12. The system according to claim 1, wherein the data retrieved from the database relates to the detected location of the vehicle and comprises at least one of a location of a potential pedestrian crossing, a sidewalk, a road, a driveway, an alley, a stop sign, a yield sign, an intersection, a roundabout, a traffic signal, a traffic lane, and a railroad crossing.

13. The system according to claim 1, wherein the sensed object comprises at least one of a pedestrian, a sidewalk, a pedestrian crossing light, another vehicle, a bicycle, an intersection, a roundabout, a traffic signal, a road sign, a school bus, a traffic lane, a weather condition, a railroad crossing, an animal, a bicycle lane, a curb, and a slope of a road.

14. The system according to claim 1, wherein the processing system comprises a road planner module, a moving obstacle detection and prediction module, a static obstacle detection module, a street feature retrieve/store module, and a traffic rule enforcement module.

15. A method of enabling a vehicle to follow a traffic rule when traveling in a road network, comprising:

detecting a location of the vehicle relative to the road network;

retrieving data relating to at least one feature of the road network;

sensing at least one object in a vicinity of the vehicle; and

controlling the vehicle to autonomously obey at least one traffic rule, or provides a notification to a driver of the vehicle to enable the driver to obey at least one traffic rule, based on the detected location of the vehicle, the retrieved data relating to at least one feature of the road network, and data relating to the at least one sensed object.

16. The method according to claim 15, wherein the at least one traffic rule comprises a traffic rule relating to at least one of a right of way, roundabouts, mountain roads, traffic lights, road signs, dangerous intersections, alleys, railroads, pedestrians, animals, traffic lanes, turning and parking.

17. A computer-readable medium which stores an executable program for enabling a vehicle to follow a traffic rule when traveling in a road network, comprising:

a feature retrieval code segment that retrieves data relating to at least one feature of the road network from a database; and

a vehicle control segment that controls the vehicle to autonomously obey at least one traffic rule, or provides a notification to a driver of the vehicle to enable the driver to obey at least one traffic rule, based on a location of the vehicle, the retrieved data relating to at least one feature of the road network, and data relating to at least one object sensed in a vicinity of the vehicle.

18. The computer-readable medium according to claim 17, wherein the at least one traffic rule comprises a traffic rule relating to at least one of a right of way, a roundabout, a mountain road, a traffic light, a road sign, a dangerous intersection, an alley, a railroad crossing, a pedestrian, an animal, a traffic lane, turning and parking.

19. The computer-readable medium according to claim 17, wherein the data retrieved from the database relates to a detected location of the vehicle and comprises at least one of a location of a potential pedestrian crossing, a sidewalk, a road, a driveway, an alley, a stop sign, a yield sign, an intersection, a roundabout, a traffic signal, a traffic lane and a railroad crossing.

20. The computer-readable medium according to claim 17, wherein the sensed object comprises at least one of a pedestrian, a sidewalk, a pedestrian crossing light, a vehicle, a bicycle, an intersection, a roundabout, a traffic signal, a road sign, a school bus, a traffic lane, a weather condition, a railroad crossing, an animal, a bicycle lane, a curb and a slope of a road.