Detecting and responding to tailgaters

• US 9,290,181 B1
• Filed: 05/04/2015
• Issued: 03/22/2016
• Est. Priority Date: 07/24/2013
• Status: Active Grant

• Current Assignee: Google LLC (Alphabet Inc.)
• Original Assignee: Google Inc. (Alphabet Inc.)
• Inventors: Dolgov, Dmitri A., Nemec, Philip, Aula, Anne Kristiina
• Primary Examiner(s): Marc, McDieunel
• Application Number:
  US14/703,053
• Time in Patent Office: 323 Days
• Field of Search: 340/435, 340/436, 340/467, 340/901, 340/903, 340/933, 340/426.16, 340/427, 180/167, 455/500
• US Class Current: 1/1
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2754/30 Longitudinal distance
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 60/0016 of the vehicle or its occupants
• CPC Class Codes: B62D 15/025 Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence
• CPC Class Codes: B62D 15/0255 Automatic changing of lane, e.g. for passing another vehicle
• CPC Class Codes: G05D 1/00 Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots drive control systems specially adapted for autonomous road vehicles B60W60/00
• CPC Class Codes: G05D 1/0055 with safety arrangements
• CPC Class Codes: G05D 1/0287 involving a plurality of land vehicles, e.g. fleet or convoy travelling traffic control systems for road vehicles G08G1/00, particularly anticollision systems G08G1/16

Abstract

An autonomous vehicle detects a tailgating vehicle and uses various response mechanisms. A vehicle is identified as a tailgater based on whether its characteristics meet a variable threshold. When the autonomous vehicle is traveling at slower speeds, the threshold is defined in distance. When the autonomous vehicle is traveling at faster speeds, the threshold is defined in time. The autonomous vehicle responds to the tailgater by modifying its driving behavior. In one example, the autonomous vehicle adjusts a headway buffer (defined in time) from another vehicle in front of the autonomous vehicle. In this regard, if the tailgater is T seconds too close to the autonomous vehicle, the autonomous vehicle increases the headway buffer to the vehicle in front of it by some amount relative to T.

Claims

1. A method comprising:

detecting, by one or more processors associated with a first vehicle, a second vehicle driving behind the first vehicle and in a same lane as the first vehicle;

detecting, by the one or more processors, a third vehicle driving in front of the first vehicle and in the same lane as the first vehicle;

determining, by the one or more processors, a threshold tailgating value according to a threshold function having a first term that is dependent upon a current speed of the first vehicle and a second term that is independent of the current speed of the first vehicle;

determining, by the one or more processors, whether the second vehicle is within the threshold tailgating value of the first vehicle;

when the second vehicle is within the threshold tailgating value, determining, by the one or more processors, a difference value between the threshold tailgating distance and a difference between the locations of the second vehicle and the first vehicle;

adjusting, by the one or more processors, a distance between the first vehicle and the third vehicle based on the difference in distance.

2. The method of claim 1, wherein adjusting the distance between the first vehicle and the third vehicle further includes:

retrieving a minimum headway time defining a minimum driving time between the first vehicle and any vehicle immediately in front of the first vehicle;

determining an amount of time to travel the difference; and

adjusting the minimum headway time based on the amount of time.

3. The method of claim 2, further comprising further adjusting the adjusted minimum headway time based on any changes to the current speed of the first vehicle.

4. The method of claim 2, further comprising further adjusting the adjusted the minimum headway time based on any changes to the difference in distance.

5. The method of claim 2, further comprising continuing to adjust the adjusted minimum headway time until the distance between the first vehicle and the tailgater is greater than or equal to the distance threshold.

6. The method of claim 1, wherein the second term includes a distance threshold component, and the threshold function further includes a third term including a time threshold component.

7. The method of claim 1, further comprising determining the second term based on whether the current speed of the first vehicle is greater than a speed threshold.

8. The method of claim 1, further comprising:

determining an amount of time for the first vehicle to travel the difference between the locations of the first vehicle and the second vehicle;

wherein adjusting the distance between the first vehicle and the third vehicle based on the amount of time.

9. The method of claim 1, further comprising:

determining an amount of time for the first vehicle to travel the difference between the locations of the first vehicle and the second vehicle;

wherein adjusting the distance between the first vehicle and the third vehicle based on the amount of time.

10. The method of claim 1, further comprising:

determining the second term based upon a type of roadway on which the first vehicle is currently driving; and

determining the first term based upon the type of roadway on which the first vehicle is currently driving.

11. The method of claim 1, wherein the first term is determined to be zero when the type of roadway is a highway.

12. The method of claim 1, wherein the second term is determined to be zero when the type of roadway is a surface street.

13. The method of claim 1, wherein the first term and second term are fixed values.

14. A system comprising one or more computing devices associated with a first vehicle and having one or more processors configured to:

detect a second vehicle driving behind the first vehicle and in a same lane as the first vehicle;

detect a third vehicle driving in front of the first vehicle and in the same lane as the first vehicle;

determine a threshold tailgating value according to a threshold function having a first term that is dependent upon a current speed of the first vehicle and a second term that is independent of the current speed of the first vehicle;

determine whether the second vehicle is within the threshold tailgating value of the first vehicle;

when the second vehicle is within the threshold tailgating value, determine a difference value between the threshold tailgating distance and a difference between the locations of the second vehicle and the first vehicle;

adjust a distance between the first vehicle and the third vehicle based on the difference in distance.

15. The system of claim 14, wherein the second term includes a distance threshold component, and the threshold function further includes a third term including a time threshold component.

16. The system of claim 14, further comprising determining the second term based on whether the current speed of the first vehicle is greater than a speed threshold.

17. The system of claim 14, further comprising:

determining an amount of time for the first vehicle to travel the difference between the locations of the first vehicle and the second vehicle;

wherein adjusting the distance between the first vehicle and the third vehicle based on the amount of time.

18. The system of claim 14, wherein the one or more computing devices are further configured to:

determine the second term based upon a type of roadway on which the first vehicle is currently driving.

19. The system of claim 18, wherein the one or more computing devices are further configured to determine the first term based upon the type of roadway on which the first vehicle is currently driving.

20. The system of claim 14, wherein the first term and second term are fixed values.