Zone driving

• US 9,268,332 B2
• Filed: 07/07/2014
• Issued: 02/23/2016
• Est. Priority Date: 10/05/2010
• Status: Active Grant

• Current Assignee: Waymo LLC (Alphabet Inc.)
• Original Assignee: Google Inc. (Alphabet Inc.)
• Inventors: Montemerlo, Michael Steven, Dolgov, Dmitri A., Urmson, Christopher Paul
• Primary Examiner(s): Badii, Behrang
• Assistant Examiner(s): TESTARDI, DAVID A
• Application Number:
  US14/324,470
• Publication Number:
  US 20140324268A1
• Time in Patent Office: 596 Days
• Field of Search: 701/23, 701/25
• US Class Current: 1/1
• CPC Class Codes: B60R 1/23 with a predetermined field of view
• CPC Class Codes: B60R 2300/30 characterised by the type of image processing
• CPC Class Codes: B60T 17/18 Safety devices; Monitoring
• CPC Class Codes: B60T 17/221 Procedure or apparatus for checking or keeping in a correct functioning condition of brake systems hydraulic pressure systems in general F15B19/00, F15B21/04; testing structures or apparatus G01M
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• CPC Class Codes: B60T 2210/32 Vehicle surroundings
• CPC Class Codes: B60T 2270/406 Test-mode; Self-diagnosis
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60T 8/00 Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force by changing number of effective brake cylinders in power brake systems B60T17/10
• CPC Class Codes: B60T 8/17 Using electrical or electronic regulation means to control braking detecting or indicating faulty operation B60T8/885
• CPC Class Codes: B60T 8/885 using electrical circuitry
• CPC Class Codes: B60W 2050/0292 Fail-safe or redundant systems, e.g. limp-home or backup systems
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2552/05 Type of road, e.g. motorways, local streets, paved or unpaved roads
• CPC Class Codes: B60W 2555/60 Traffic rules, e.g. speed limits or right of way
• CPC Class Codes: B60W 2556/10 Historical data
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 30/08 Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
• CPC Class Codes: B60W 30/186 excessive wear or burn out of friction elements, e.g. clutches
• CPC Class Codes: B60W 40/06 : Road conditions
• CPC Class Codes: B60W 50/14 : Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B62D 6/00 : Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits means for initiating a change in direction B62D1/00; steering valves B62D5/06; combined with means for inclining the vehicle body or wheels on bends B62D9/00
• CPC Class Codes: G01C 21/3617 : using user history, behaviour, conditions or preferences, e.g. predicted or inferred from previous use or current movement
• CPC Class Codes: G01S 13/865 : Combination of radar systems with lidar systems
• CPC Class Codes: G01S 13/867 : Combination of radar systems with cameras
• CPC Class Codes: G01S 17/86 : Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/931 : of land vehicles
• CPC Class Codes: G05B 2219/2637 : Vehicle, car, auto, wheelchair
• CPC Class Codes: G05D 1/0055 : with safety arrangements
• 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 1/021 : specially adapted to land vehicles
• CPC Class Codes: G05D 1/0212 : with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• CPC Class Codes: G05D 1/0214 : in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13
• 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 1/0257 : 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 1/0274 : using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0276 : using signals provided by a source external to the vehicle involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058
• CPC Class Codes: G05D 1/0278 : using satellite positioning signals, e.g. GPS
• CPC Class Codes: G06Q 10/02 : Reservations, e.g. for tickets, services or events
• CPC Class Codes: G06Q 30/02 : Marketing; Price estimation or determination; Fundraising
• CPC Class Codes: G06Q 30/0207 : Discounts or incentives, e.g. coupons or rebates
• CPC Class Codes: G06Q 40/08 : Insurance
• CPC Class Codes: G06T 2207/10004 : Still image; Photographic image
• CPC Class Codes: G06T 2207/10028 : Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 2207/30236 : Traffic on road, railway or crossing
• CPC Class Codes: G06T 2207/30252 : Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 2207/30261 : Obstacle
• CPC Class Codes: G06T 7/20 : Analysis of motion motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51
• CPC Class Codes: G06T 7/223 : using block-matching
• CPC Class Codes: G06T 7/231 : using full search
• CPC Class Codes: G06T 7/521 : from laser ranging, e.g. using interferometry; from the projection of structured light
• CPC Class Codes: G06T 7/74 : involving reference images or patches
• CPC Class Codes: G06V 10/255 : Detecting or recognising potential candidate objects based on visual cues, e.g. shapes
• CPC Class Codes: G06V 20/56 : exterior to a vehicle by using sensors mounted on the vehicle
• 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 20/588 : Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
• CPC Class Codes: G06V 20/64 : Three-dimensional objects
• CPC Class Codes: G07C 9/00563 : using personal physical data of the operator, e.g. finger prints, retinal images, voicepatterns

Abstract

A roadgraph may include a graph network of information such as roads, lanes, intersections, and the connections between these features. The roadgraph may also include one or more zones associated with particular rules. The zones may include locations where driving is typically challenging such as merges, construction zones, or other obstacles. In one example, the rules may require an autonomous vehicle to alert a driver that the vehicle is approaching a zone. The vehicle may thus require a driver to take control of steering, acceleration, deceleration, etc. In another example, the zones may be designated by a driver and may be broadcast to other nearby vehicles, for example using a radio link or other network such that other vehicles may be able to observer the same rule at the same location or at least notify the other vehicle'"'"'s drivers that another driver felt the location was unsafe for autonomous driving.

Claims

1. A method for maneuvering a vehicle, the method comprising:

accessing, by one or more processors, map information including a geographic area associated with a rule that indicates a driver to take control of at least one control aspect of the vehicle;

maneuvering, by the one or more processors, the vehicle in an autonomous driving mode by controlling a first control aspect of the vehicle and a second control aspect of the vehicle without continuous input from the driver, wherein the first and second control aspects are selected from the group consisting of acceleration, deceleration, and steering;

determining, by the one or more processors, when the vehicle is within a predetermined distance from the geographic area;

when the vehicle is determined to be within a predetermined distance from the geographic area, identifying, by the one or more processors, the at least one control aspect using the map information;

generating, by the one or more processors, a notification indicating of the need to control the identified at least one control aspect through the geographic area;

receiving, by the one or more processors, input indicating that the driver is controlling the first control aspect; and

in response to receiving the input and while the driver is controlling the first control aspect, continuing, by the one or more processors, to control the second control aspect through the geographic area.

2. The method of claim 1, wherein the first control aspect is the steering control and the second control aspect is the acceleration control.

3. The method of claim 1, wherein the first control aspect is the acceleration control and the second control aspect is the steering control.

4. The method of claim 1, wherein the first control aspect is the deceleration control and the second control aspect is the steering control.

5. The method of claim 1, further comprising:

determining, by the one or more processors, when the vehicle has passed through the geographic area and the driver has relinquished control of the first control aspect; and

when the vehicle is determined to have passed through the geographic area and the driver is determined to have relinquished control of the first control aspect, maneuvering the vehicle, by the one or more processors, by controlling the first control aspect and the second control aspect.

6. The method of claim 1, further comprising:

after generating the notification, determining that the driver has not taken control of the first control aspect; and

when the driver is determine to have not taken control of the first control aspect, escalating an aspect of the notification.

7. The method of claim 1, further comprising determining, by the one or more processors, the predetermined distance based on a current speed of the vehicle.

8. A system for maneuvering a vehicle, the comprising:

memory storing map information including a geographic area associated with a rule that indicates a driver to take control of at least one control aspect of the vehicle;

one or more processors configured to;

access the memory;

maneuver the vehicle in an autonomous driving mode by controlling a first control aspect of the vehicle and a second control aspect of the vehicle without continuous input from the driver, wherein the first and second control aspects are selected from the group consisting of acceleration, deceleration, and steering;

determine when the vehicle is within a predetermined distance from the geographic area;

when the vehicle is determined to be within a predetermined distance from the geographic area, identify the at least one control aspect using the map information;

generate a notification indicating of the need to control the identified at least one control aspect through the geographic area;

receive input indicating that the driver is controlling the first control aspect; and

in response to receiving the input and while the driver is controlling the first control aspect, continue to control the second control aspect through the geographic area.

9. The system of claim 8, wherein the first control aspect is the steering control and the second control aspect is the acceleration control.

10. The system of claim 8, wherein the first control aspect is the acceleration control and the second control aspect is the steering control.

11. The system of claim 8, wherein the first control aspect is the deceleration control and the second control aspect is the steering control.

12. The system of claim 8, wherein the one or more processors are further configured to:

determine when the vehicle has passed through the geographic area and the driver has relinquished control of the first control aspect; and

when the vehicle is determined to have passed through the geographic area and the driver is determined to have relinquished control of the first control aspect, maneuver the vehicle by controlling the first control aspect and the second control aspect.

13. The system of claim 8, wherein the one or more processors are further configured to:

after generating the notification, determine that the driver has not taken control of the first control aspect; and

when the driver is determine to have not taken control of the first control aspect, escalate an aspect of the notification.

14. The system of claim 8, wherein the one or more processors are further configured to determine the predetermined distance based on a current speed of the vehicle.

15. A tangible, non-transitory, computer-readable storage medium on which computer readable instructions of a program are stored, the instructions, when executed by a processor, cause the processor to perform a method of maneuvering a vehicle, the method comprising:

accessing map information including a geographic area associated with a rule that indicates a driver to take control of at least one control aspect of the vehicle;

maneuvering the vehicle in an autonomous driving mode by controlling a first control aspect of the vehicle and a second control aspect of the vehicle without continuous input from the driver, wherein the first and second control aspects are selected from the group consisting of acceleration, deceleration, and steering;

determining when the vehicle is within a predetermined distance from the geographic area;

when the vehicle is determined to be within a predetermined distance from the geographic area, identifying the at least one control aspect using the map information;

generating a notification indicating of the need to control the identified at least one control aspect through the geographic area;

receiving input indicating that the driver is controlling the first control aspect; and

in response to receiving the input and while the driver is controlling the first control aspect, continuing to control the second control aspect through the geographic area.

16. The medium of claim 15, wherein the first control aspect is the steering control and the second control aspect is the acceleration control.

17. The medium of claim 15, wherein the first control aspect is the acceleration control and the second control aspect is the steering control.

18. The medium of claim 15, wherein the first control aspect is the deceleration control and the second control aspect is the steering control.

19. The medium of claim 15, wherein the method further comprises:

after generating the notification, determining that the driver has not taken control of the first control aspect; and

when the driver is determine to have not taken control of the first control aspect, escalating an aspect of the notification.

20. The medium of claim 15, wherein the method further comprises determining, by the one or more processors, the predetermined distance based on a current speed of the vehicle.