Systems and methods for modeling driving behavior of vehicles

• US 9,164,507 B2
• Filed: 12/06/2013
• Issued: 10/20/2015
• Est. Priority Date: 12/06/2013
• Status: Active Grant

• Current Assignee: Elwha LLC (Intellectual Ventures LLC)
• Original Assignee: Elwha LLC (Intellectual Ventures LLC)
• Inventors: Cheatham, Jesse R. III, Hyde, Roderick A., Wood, Lowell L. Jr.
• Primary Examiner(s): Tarcza, Thomas
• Assistant Examiner(s): GOLDMAN, RICHARD A
• Application Number:
  US14/099,070
• Publication Number:
  US 20150160653A1
• Time in Patent Office: 683 Days
• Field of Search: None
• US Class Current: 1/1
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 50/0097 Predicting future conditions
• 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 1/0289 with means for avoiding collisions between vehicles vehicle fittings for automatically controlling speed including means for detecting potential obstacles B60K31/0008; avoiding obstacles by action on the steering system B62D; radar, sonar, lidar systems designed for anti-collision purposes G01S13/93, G01S15/93, G01S17/93
• CPC Class Codes: G08G 1/015 with provision for distinguishing between two or more types of vehicles, e.g. between motor-cars and cycles
• CPC Class Codes: G08G 1/017 identifying vehicles G08G1/015, G08G1/054 take precedence
• CPC Class Codes: G08G 1/075 Ramp control
• CPC Class Codes: G08G 1/0962 having an indicator mounted inside the vehicle, e.g. giving voice messages
• CPC Class Codes: G08G 1/09623 Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle G08G1/0967 takes precedence
• CPC Class Codes: G08G 1/096716 where the received information does not generate an automatic action on the vehicle control
• CPC Class Codes: G08G 1/096725 where the received information generates an automatic action on the vehicle control
• CPC Class Codes: G08G 1/096758 where no selection takes place on the transmitted or the received information
• CPC Class Codes: G08G 1/096791 where the origin of the information is another vehicle
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection
• CPC Class Codes: G08G 1/22 Platooning, i.e. convoy of communicating vehicles

Abstract

A system for modeling driving includes a model component and an automatic driving system. The model component is configured to model, within a first vehicle, an anticipated behavior of a proximate second vehicle based on an indication of a capability of an automatic driving system of the second vehicle. The automatic driving system is configured to execute a driving maneuver for the first vehicle based on the anticipated behavior.

Claims

1. A system comprising:

a model component configured to model, within a first vehicle, an anticipated behavior of a proximate second vehicle based on an indication of a capability of an automatic driving system of the second vehicle; and

an automatic driving system configured to execute a driving maneuver for the first vehicle based on the anticipated behavior.

2. The system of claim 1, wherein the indication of the capability indicates that the automatic driving system of the second vehicle is configured to control braking of the second vehicle and wherein the model component modeling comprises the model component predicting the braking of the second vehicle.

3. The system of claim 1, wherein the indication of the capability indicates a stopping distance of the second vehicle and wherein the model component modeling comprises the model component predicting where the second vehicle will be able to stop.

4. The system of claim 1, wherein the indication of the capability indicates a current loaded weight of the second vehicle and wherein the model component modeling comprises the model component predicting handling capabilities of the second vehicle.

5. The system of claim 1, wherein the indication of the capability indicates a vehicular model of the second vehicle and wherein the model component modeling comprises the model component predicting handling capabilities of the second vehicle.

6. The system of claim 1, wherein the indication of the capability indicates a make of the second vehicle and wherein the model component modeling comprises the model component predicting handling capabilities of the second vehicle.

7. The system of claim 1, wherein the indication of the capability indicates a software version of the automatic driving system of the second vehicle and wherein the model component modeling comprises the model component predicting a response of the software version to a potential driving situation.

8. The system of claim 1, wherein the indication of the capability indicates a manufacturer of the automatic driving system of the second vehicle.

9. The system of claim 1, further comprising a robotic status component configured to obtain the indication of the capability from the second vehicle.

10. The system of claim 1, wherein the model component modeling comprises the model component executing software corresponding to the second vehicle on a processor of the first vehicle to emulate the anticipated behavior of the second vehicle.

11. The system of claim 1, wherein the model component modeling comprises the model component determining a computational model for the second vehicle based on the indication of the capability.

12. The system of claim 1, wherein the model component modeling the anticipated behavior comprises the model component predicting when the second vehicle will perform a passing maneuver.

13. The system of claim 1, wherein the model component modeling the anticipated behavior comprises the model component predicting when the second vehicle will perform a lane change.

14. The system of claim 1, wherein the automatic driving system executes the driving maneuver by performing the driving maneuver to avoid a predicted location of the second vehicle during the anticipated behavior.

15. The system of claim 1, wherein the automatic driving system executes the driving maneuver by performing the driving maneuver to adjust a distance between the first vehicle and the second vehicle.

16. The system of claim 1, wherein the automatic driving system executes the driving maneuver by performing the driving maneuver to safely position the first vehicle in preparation for the anticipated behavior.

17. The system of claim 1, further comprising a log component configured to store an indication of the capability of the second vehicle and a driving maneuver executed based on the anticipated behavior.

18. The system of claim 1, wherein the indication of the capability indicates that the automatic driving system of the second vehicle comprises a collision avoidance system and wherein modeling comprises predicting the anticipated behavior of the collision avoidance system of the second vehicle.

19. The system of claim 1, wherein the indication of the capability indicates that the automatic driving system of the second vehicle is configured to control steering of the second vehicle and wherein modeling comprises predicting the steering of the second vehicle.

20. The system of claim 1, wherein the indication of the capability indicates a safe turning radius of the second vehicle based on speed and wherein modeling comprises predicting the steering of the second vehicle.

21. The system of claim 1, wherein the indication of the capability indicates that the automatic driving system of the second vehicle is configured to control acceleration of the second vehicle and wherein modeling comprises predicting the acceleration of the second vehicle.

22. The system of claim 1, wherein the indication of the capability indicates an acceleration capability of the second vehicle and wherein modeling comprises predicting the acceleration of the second vehicle.

23. The system of claim 1, wherein the indication of the capability indicates a response time of the automatic driving system of the second vehicle.

24. The system of claim 1, wherein the indication of the capability indicates a field of view of a sensor of the automatic driving system of the second vehicle and wherein the model component is configured to predict when the second vehicle will detect the first vehicle.

25. The system of claim 1, wherein the indication of the capability indicates a range of a sensor of the automatic driving system of the second vehicle and wherein the model component is configured to predict when the second vehicle will detect the first vehicle.

26. The system of claim 1, wherein the indication of the capability indicates a type of sensor of the automatic driving system of the second vehicle.

27. The system of claim 1, wherein the indication of the capability indicates that the second vehicle is configured to defer to another vehicle.

28. The system of claim 1, wherein the indication of the capability indicates a current value for an adjustable setting of the automatic driving system of the second vehicle.

29. The system of claim 1, wherein the model component is configured to predict the anticipated behavior of the second vehicle.

30. The system of claim 29, wherein predicting the anticipated behavior comprises determining a predicted maneuver of the second vehicle based on a current driving situation.

31. The system of claim 29, wherein predicting the anticipated behavior comprise determining a predicted maneuver of the second vehicle in response to a predicted maneuver by the first vehicle.

32. The system of claim 31, wherein the model component is configured to model a potential maneuver by the second vehicle that may lead to an emergency situation for the first vehicle.

33. The system of claim 29, wherein predicting the anticipated behavior comprises determining a predicted maneuver of the second vehicle in response to detecting a potential emergency situation.

34. The system of claim 1, wherein the automatic driving system is configured to execute a collision avoidance maneuver based on the indication of capability and a current situation involving the second vehicle.

35. The system of claim 1, wherein the automatic driving system is configured to execute a maneuver in anticipation of deference from the second vehicle based on the robotic status information.

36. The system of claim 35, wherein the automatic driving system is configured to take at least partial control of the first vehicle using a collision avoidance system in response to detecting an emergency driving situation.

37. The system of claim 35, wherein the automatic driving system is configured to increase a braking rate in response to determining that the second vehicle is under control of an automatic driving system.

38. The system of claim 35, wherein the automatic driving system is configured to assist a human driver based on a current driving situation and current input by the human driver.