System and method for improving sensor visibility of vehicle in autonomous driving mode

• US 8,798,841 B1
• Filed: 03/14/2013
• Issued: 08/05/2014
• Est. Priority Date: 03/14/2013
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations LLC (General Motors Company)
• Inventors: Nickolaou, James N., Turski, Michael P., Pazhayampallil, Joel
• Primary Examiner(s): Olszewski, John R
• Assistant Examiner(s): Wiltey, Nicholas K
• Application Number:
  US13/827,745
• Time in Patent Office: 509 Days
• Field of Search: 701/23, 701/26, 701/28, 701/245, 701/259
• US Class Current: 701/23
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 30/14 Adaptive cruise control
• CPC Class Codes: B60W 30/18163 Lane change; Overtaking manoeuvres
• CPC Class Codes: B62D 15/0265 Automatic obstacle avoidance by steering

Abstract

A system and method designed to improve sensor visibility for a host vehicle operating in an autonomous driving mode when one or more forward-looking sensors are being occluded or obstructed. According to an exemplary embodiment, when a forward-looking object detection sensor is being obstructed by a target vehicle located closely ahead of the host vehicle, the method determines if lateral movement by the host vehicle within its own lane is appropriate to improve sensor visibility around the target vehicle. If lateral movement is deemed appropriate, the method generates lateral movement commands that dictate the direction and distance of the lateral movement by the host vehicle. This may enable the object detection sensors to at least partially see around the obstructing target vehicle and improve the preview distance of the sensors.

Claims

1. A method for improving sensor visibility of a host vehicle operating in an autonomous driving mode, comprising the steps of:

determining if an object detection sensor mounted on the host vehicle is obstructed by a target vehicle located ahead of the host vehicle and in a host vehicle lane;

when the object detection sensor is obstructed by the target vehicle, determining if lateral movement by the host vehicle within the host vehicle lane is appropriate to improve sensor visibility around the target vehicle;

when lateral movement by the host vehicle within the host vehicle lane is appropriate, generating lateral movement commands that cause a lateral movement by the host vehicle within the host vehicle lane to improve sensor visibility around the target vehicle located ahead of the host vehicle and in the host vehicle lane; and

executing the lateral movement commands while the host vehicle is operating in the autonomous driving mode so that sensor visibility around the target vehicle is improved.

2. The method of claim 1, wherein the step of determining if an object detection sensor is obstructed by a target vehicle further comprises determining a relative distance between the host and target vehicles, comparing the relative distance to a threshold distance, and concluding that the object detection sensor is obstructed if the relative distance is less than the threshold distance.

3. The method of claim 2, wherein the step of determining if an object detection sensor is obstructed by a target vehicle further comprises adjusting the threshold distance up or down based on at least one factor selected from the group consisting of:

a relative position of the host and target vehicles within the host vehicle lane, a size of the target vehicle, or a shape of the target vehicle.

4. The method of claim 1, wherein the step of determining if an object detection sensor is obstructed by a target vehicle further comprises determining a preview distance for the object detection sensor, comparing the preview distance to a threshold distance, and concluding that the object detection sensor is obstructed if the preview distance is less than the threshold distance.

5. The method of claim 1, wherein the step of determining if lateral movement by the host vehicle within the host vehicle lane is appropriate further comprises determining if a lateral movement maneuver is useful for increasing a preview distance of the object detection sensor and determining if the lateral movement maneuver is currently advisable.

6. The method of claim 5, wherein the step of determining if a lateral movement maneuver is useful and/or determining if the lateral movement maneuver is advisable further comprises evaluating one or more predefined conditions and concluding that the lateral movement maneuver is useful and/or advisable when the one or more predefined conditions are met.

7. The method of claim 6, wherein the one or more predefined conditions include at least one of the following road geometry conditions:

a road segment is greater than a minimum curvature, a road segment is less than a maximum curvature, a road segment has greater than a minimum number of lanes, a road segment does not have a split or fork for which there is not a developed route, the host vehicle lane has greater than a minimum width, a lateral distance between the host vehicle and an edge of the host vehicle lane is greater than a minimum distance, a lateral distance between the host vehicle and an edge of the host vehicle lane is greater than a lateral distance needed for the host vehicle to move in order to improve sensor visibility, or the host vehicle lane is expected to maintain a consistent width or trajectory for a certain distance.

8. The method of claim 6, wherein the one or more predefined conditions include at least one of the following road indicia conditions:

a road segment has lane markers present and visible, a road segment has reflectors present and visible, a road segment has a lane marker of a particular type, or a desired lateral movement maneuver does not violate the laws, regulations, or ordinances of a road segment.

9. The method of claim 6, wherein the one or more predefined conditions include at least one of the following road feature conditions:

a road segment does not have a highway entrance or exit ramp within a certain distance, a road segment does not include a bridge or tunnel, or a road segment does not include a nearby guard rail or barrier that is close to the host vehicle lane.

10. The method of claim 6, wherein the one or more predefined conditions include at least one of the following traffic conditions:

no vehicle or object is located in a defined area around the host vehicle, no vehicle or object in front of the host vehicle is approaching the host vehicle in an oncoming lane, no vehicle or object behind the host vehicle is approaching the host vehicle in the host vehicle lane or an adjacent lane, traffic on a road segment is less than a certain traffic density, or the host vehicle is not approaching a construction zone or accident area.

11. The method of claim 6, wherein the step of concluding that the lateral movement maneuver is useful and/or advisable further considers a speed, an acceleration or both of at least one of the host vehicle or the target vehicle in conjunction with evaluating the one or more predefined conditions.

12. The method of claim 1, wherein the step of determining if lateral movement by the host vehicle within a host vehicle lane is appropriate further comprises evaluating road geometry conditions, concluding that a predefined condition regarding a curve in an upcoming road segment is met, and determining that the lateral movement is appropriate to locate a beginning transition point of the curve.

13. The method of claim 1, wherein the step of generating lateral movement commands further comprises determining a lateral direction and a lateral distance that cause the host vehicle to laterally move so that sensor visibility around the target vehicle is improved yet the host vehicle remains in the host vehicle lane.

14. The method of claim 13, wherein the step of determining a lateral direction further comprises using one or more of the following conditions to select the lateral direction:

a direction of a curved road segment, a relative position of the host vehicle lane in a multi-lane road segment, a direction of traffic flow in a lane adjacent the host vehicle lane, a relative position of the host vehicle in the host vehicle lane, a relative position of the target vehicle in the host vehicle lane, a vehicle path in an already developed navigational route, or a vehicle path in a commonly traveled route.

15. The method of claim 13, wherein the step of determining a lateral distance further comprises using one or more of the following conditions to calculate the lateral distance:

a width or other size dimension of the target vehicle, a width or other size dimension of the host vehicle, a direction of traffic flow in a lane adjacent the host vehicle lane, a relative position of the host vehicle in the host vehicle lane, or a relative position of the target vehicle in the host vehicle lane.

16. The method of claim 13, wherein the step of determining a lateral distance further comprises using output from one or more object detection sensors and a closed loop feedback technique to laterally move the host vehicle within a predetermined distance of a lane marker.

17. The method of claim 13, wherein the lateral movement commands are designed to minimize lateral displacement of the host vehicle within the host vehicle lane.

18. The method of claim 13, wherein the lateral movement commands have a timing component that dictates an amount of time available for a lateral movement maneuver to be performed and completed.

19. The method of claim 1, wherein the step of executing the lateral movement commands while the host vehicle is operating in the autonomous driving mode further comprises providing the lateral movement commands from a control module to at least one of a steering control module, an engine control module or a brake control module so that the host vehicle performs the lateral movement while the host vehicle is operating in the autonomous driving mode.

20. A method of controlling the lateral movement of a host vehicle, comprising the steps of:

receiving one or more electrical signals representative of a distance between the host vehicle and an object ahead of the host vehicle;

using the received electrical signals to determine if the distance between the host vehicle and the object is less than a predetermined threshold distance;

when the host vehicle is within the predetermined distance from the object, determining if lateral movement of the host vehicle is desirable; and

when it is determined that lateral movement of the host vehicle is desirable, determining a direction (left or right) in which the host vehicle is to move laterally, and calculating a lateral offset distance for the host vehicle to move in that direction, wherein both the direction and the lateral offset distance are determined to maintain the host vehicle within the host vehicle lane and to improve sensor visibility around the object ahead of the host vehicle.

21. A system for controlling the lateral movement of a host vehicle, comprising:

an object detection sensor mounted on the host vehicle configured to generate readings relating to one or more target vehicles ahead of the host vehicle and in a host vehicle lane; and

a control module configured to;

determine if the object detection sensor is occluded by a target vehicle disposed ahead of the host vehicle and in the host vehicle lane;

when the object detection sensor is occluded, determine if lateral movement of the host vehicle within the host vehicle lane is appropriate; and

when it is determined that lateral movement of the host vehicle is appropriate, determine lateral movement commands that include a lateral direction and a lateral distance that cause the host vehicle to laterally move so that a preview distance of the occluded object detection sensor is improved yet the host vehicle remains within the host vehicle lane.