Controlling vehicle lateral lane positioning

• US 9,090,259 B2
• Filed: 06/12/2014
• Issued: 07/28/2015
• Est. Priority Date: 10/30/2012
• Status: Active Grant

• Current Assignee: Google LLC (Alphabet Inc.)
• Original Assignee: Google Inc. (Alphabet Inc.)
• Inventors: Dolgov, Dmitri, Urmson, Christopher
• Primary Examiner(s): Zanelli, Michael J
• Application Number:
  US14/302,990
• Publication Number:
  US 20140297094A1
• Time in Patent Office: 411 Days
• US Class Current: 1/1
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2754/30 Longitudinal distance
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 30/18163 Lane change; Overtaking manoeuvres
• CPC Class Codes: B62D 15/026 combined with automatic distance control, i.e. electronic tow bar
• CPC Class Codes: G01C 21/3407 specially adapted for specific applications
• CPC Class Codes: G01C 21/3658 Lane guidance
• CPC Class Codes: G05D 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

Methods and systems for controlling vehicle lateral lane positioning are described. A computing device may be configured to identify an object in a vicinity of a vehicle on a road. The computing device may be configured to estimate, based on characteristics of the vehicle and respective characteristics of the object, an interval of time during which the vehicle will be laterally adjacent to the object. Based on the characteristics of the vehicle, the computing device may be configured to estimate longitudinal positions of the vehicle on the road during the interval of time. Based on the respective characteristics of the object, the computing device may be configured to determine a lateral distance for the vehicle to maintain between the vehicle and the object during the interval of time at the longitudinal positions of the vehicle, and provide instructions to control the vehicle based on the lateral distance.

Claims

1. A method comprising:

classifying, by a computing device, a first vehicle on or proximate to a road of travel of a second vehicle controlled by the computing device as being a particular vehicle type from among at least a first vehicle type, a second vehicle type, and a third vehicle type, wherein the first vehicle type is indicative of motorcycles, the second vehicle type is indicative of cars, and the third vehicle type is indicative of trucks;

estimating, based on characteristics of the second vehicle and respective characteristics of the first vehicle, one or more positions at which the second vehicle will be adjacent to the first vehicle;

determining, by the computing device based, at least in part, on the particular vehicle type of the first vehicle, a lateral distance to be maintained between the second vehicle and the first vehicle at the one or more positions; and

providing, by the computing device, instructions to control the second vehicle based on the lateral distance.

2. The method of claim 1, wherein, based on the particular vehicle type indicating that the first vehicle is a motorcycle, the lateral distance is larger than a respective lateral distance that would be maintained if the particular vehicle type indicates that the first vehicle is a car.

3. The method of claim 1, wherein, based on the particular vehicle type indicating that the first vehicle is a truck, the lateral distance is larger than a respective lateral distance that would be maintained if the particular vehicle type indicates that the first vehicle is a car.

4. The method of claim 1, further comprising:

determining, based on the particular vehicle type, that the first vehicle is a motorcycle being driven in an area between two adjacent lanes on the road including a lane of travel of the second vehicle; and

in response, increasing the lateral distance to be maintained between the second vehicle and the first vehicle while the second vehicle is adjacent to the first vehicle.

5. The method of claim 1, wherein the lateral distance to be maintained between the first vehicle and the second vehicle is a first lateral distance, the method further comprising:

identifying a third vehicle of a respective vehicle type;

determining that the second vehicle will be adjacent to both the first vehicle and the third vehicle at the one or more positions on the road; and

determining a second lateral distance to be maintained between the second vehicle and the third vehicle at the one or more positions on the road, wherein determining the first lateral distance and the second lateral distance is based on a comparison between the particular vehicle type of the first vehicle and the respective vehicle type of the third vehicle.

6. The method of claim 5, wherein the first lateral distance is larger than the second lateral distance based on the particular vehicle type of the first vehicle indicating that the first vehicle is a motorcycle and the respective vehicle type of the third vehicle indicating that the third vehicle is a car or a truck.

7. The method of claim 5, wherein the first lateral distance is larger than the second lateral distance based on the particular vehicle type of the first vehicle indicating that the first vehicle is a truck and the respective vehicle type of the third vehicle indicating that the third vehicle is a car.

8. The method of claim 1, further comprising:

determining a repelling line between the first vehicle and the second vehicle, wherein the repelling line is a virtual longitudinal line in a space between the first vehicle and the second vehicle at the one or more positions, wherein a given lateral distance between the repelling line and the first vehicle is the determined lateral distance to be maintained between first vehicle and the second vehicle while the second vehicle is adjacent to the first vehicle, and wherein providing the instructions to control the second vehicle comprises preventing the second vehicle from crossing the repelling line.

9. The method of claim 8, wherein the repelling line is a first repelling line, the method further comprising:

identifying a third vehicle of a respective vehicle type;

determining a respective lateral distance to be maintained between the second vehicle and the third vehicle based on the respective vehicle type of the third vehicle; and

determining a second repelling line between the second vehicle and the third vehicle, wherein a given lateral distance between the second repelling line and the third vehicle is the respective lateral distance to be maintained between second vehicle and the third vehicle, and wherein providing the instructions to control the second vehicle comprises causing the second vehicle to remain between the first repelling line and the second repelling line.

10. The method of claim 8, wherein the repelling line is a first repelling line, the method further comprising:

identifying a third vehicle of a respective vehicle type;

determining a respective lateral distance to be maintained between the second vehicle and the third vehicle based on the respective vehicle type of the third vehicle;

determining a second repelling line between the second vehicle and the third vehicle, wherein a given lateral distance between the second repelling line and the third vehicle is the respective lateral distance to be maintained between second vehicle and the third vehicle; and

determining that a given lateral distance between the first repelling line and the second repelling line is smaller than a width of the second vehicle, wherein providing the instructions to control the second vehicle comprises causing the second vehicle to violate the first repelling line or the second repelling line based on a comparison between the particular vehicle type of the first vehicle and the respective vehicle type of the third vehicle.

11. The method of claim 1, further comprising:

determining that the first vehicle is moving laterally toward the second vehicle controlled by the computing device; and

in response, increasing the lateral distance to be maintained between the second vehicle and the first vehicle while the second vehicle is adjacent to the first vehicle so as to accommodate motion of the first vehicle toward the second vehicle.

12. The method of claim 1, further comprising:

determining an interval of time during which the second vehicle will be adjacent to the first vehicle, wherein estimating the one or more positions at which the second vehicle will be adjacent to the first vehicle comprises estimating the one or more positions during the interval of time.

13. The method of claim 12, further comprising:

adding a buffer amount of time to the interval of time so as to accommodate changes in speed and direction of travel of the first vehicle.

14. The method of claim 1, wherein the respective characteristics of the first vehicle include a speed and a direction of motion of the first vehicle, and wherein the characteristics of the second vehicle include a respective speed and a respective direction of motion of the second vehicle.

15. A non-transitory computer readable medium having stored thereon executable instructions that, upon execution by a computing device, cause the computing device to perform functions comprising:

classifying a first vehicle on or proximate to a road of travel of a second vehicle controlled by the computing device as being a particular vehicle type from among at least a first vehicle type, a second vehicle type, and a third vehicle type, wherein the first vehicle type is indicative of motorcycles, the second vehicle type is indicative of cars, and the third vehicle type is indicative of trucks;

estimating, based on characteristics of the second vehicle and respective characteristics of the first vehicle, one or more positions at which the second vehicle will be adjacent to the first vehicle;

determining, based, at least in part, on the particular vehicle type of the first vehicle, a lateral distance to be maintained between the second vehicle and the first vehicle at the one or more positions; and

providing instructions to control the second vehicle based on the lateral distance.

16. The non-transitory computer readable medium of claim 15, wherein, based on the particular vehicle type indicating that the first vehicle is a motorcycle, the lateral distance is larger than a respective lateral distance that would be maintained if the particular vehicle type indicates that the first vehicle is a car.

17. The non-transitory computer readable medium of claim 15, wherein, based on the particular vehicle type indicating that the first vehicle is a truck, the lateral distance is larger than a respective lateral distance that would be maintained if the particular vehicle type indicates that the first vehicle is a car.

18. A control system comprising:

at least one processor; and

a memory having stored thereon executable instructions that, upon execution by the at least one processor, cause the control system to perform functions comprising;

classifying a first vehicle on or proximate to a road of travel of a second vehicle controlled by the control system as being a particular vehicle type from among at least a first vehicle type, a second vehicle type, and a third vehicle type, wherein the first vehicle type is indicative of motorcycles, the second vehicle type is indicative of cars, and the third vehicle type is indicative of trucks;

estimating, based on characteristics of the second vehicle and respective characteristics of the first vehicle, one or more positions at which the second vehicle will be adjacent to the first vehicle;

determining, based, at least in part, on the particular vehicle type of the first vehicle, a lateral distance to be maintained between the second vehicle and the first vehicle at the one or more positions; and

providing instructions to control the second vehicle based on the lateral distance.

19. The control system of claim 18, wherein the functions further comprise:

determining, based on the particular vehicle type, that the first vehicle is a motorcycle being driven in an area between two adjacent lanes on the road including a lane of travel of the second vehicle; and

in response, increasing the lateral distance to be maintained between the second vehicle and the first vehicle while the second vehicle is adjacent to the first vehicle.

20. The control system of claim 18, wherein the lateral distance to be maintained between the first vehicle and the second vehicle is a first lateral distance, and wherein the functions further comprise:

identifying a third vehicle of a respective vehicle type;

determining that the second vehicle will be adjacent to both the first vehicle and the third vehicle at the one or more positions on the road; and

determining a second lateral distance to be maintained between the second vehicle and the third vehicle at the one or more positions on the road, wherein determining the first lateral distance and the second lateral distance is based on a comparison between the particular vehicle type of the first vehicle and the respective vehicle type of the third vehicle.