Automated spatial separation of self-driving vehicles from manually operated vehicles

• US 9,718,471 B2
• Filed: 08/18/2015
• Issued: 08/01/2017
• Est. Priority Date: 08/18/2015
• Status: Active Grant

• Current Assignee: Maplebear Inc.
• Original Assignee: International Business Machines Corporation
• Inventors: Kundu, Ashish, Pickover, Clifford A., Gordon, Michael S., Kozloski, James R., Malkin, Peter K.
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): NGUYEN, ROBERT T
• Application Number:
  US14/829,198
• Publication Number:
  US 20170050638A1
• Time in Patent Office: 714 Days
• CPC Class Codes: B60K 35/00 Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
• CPC Class Codes: B60W 2556/10 Historical data
• CPC Class Codes: B60W 60/0016 of the vehicle or its occupants
• CPC Class Codes: B60W 60/0051 from occupants to vehicle
• CPC Class Codes: B60W 60/0053 from vehicle to occupant
• CPC Class Codes: B60W 60/0059 Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity
• 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 1/0112 from the vehicle, e.g. floating car data [FCD]
• CPC Class Codes: G08G 1/0116 from roadside infrastructure, e.g. beacons
• CPC Class Codes: G08G 1/0129 for creating historical data or processing based on historical data
• CPC Class Codes: G08G 1/0145 for active traffic flow control
• CPC Class Codes: G08G 1/095 Traffic lights
• 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 1/096741 where the source of the transmitted information selects which information to transmit to each vehicle
• CPC Class Codes: G08G 1/096775 where the origin of the information is a central station
• CPC Class Codes: G08G 1/22 Platooning, i.e. convoy of communicating vehicles

Abstract

A computer-implemented method, system, and/or computer program product automatically provide spatial separation between self-driving vehicles (SDVs) operating in an autonomous mode and vehicles being operating in a manual mode on a roadway. A first SDV operating on the roadway is operating in autonomous mode. A second vehicle may be operating in the autonomous mode or a manual mode, in which a driver is controlling the second vehicle. Processor(s) issue spatial separation instructions to the first SDV, which direct SDV control mechanisms controller on the first SDV to direct a set of SDV vehicular physical control mechanisms on the first SDV to provide a predetermined amount of spatial separation between the first SDV and the second vehicle, based on whether the second vehicle is being operated in the manual mode or in the autonomous mode.

Claims

1. A computer-implemented method for automatically providing spatial separation between self-driving vehicles (SDVs) operating in an autonomous mode and vehicles being operating in a manual mode on a roadway, the computer-implemented method comprising:

interrogating, by one or more processors, a driving mode module on a first SDV operating on the roadway, wherein the first SDV is capable of being operated in autonomous mode by a first SDV control mechanisms controller being controlled by a first SDV on-board computer on the first SDV, wherein the first SDV control mechanisms controller controls a first set of SDV vehicular physical control mechanisms on the first SDV, wherein the driving mode module selectively controls whether the first SDV is operated in the autonomous mode or in manual mode, and wherein the first SDV is controlled by a first human driver of the first SDV if the first SDV is in the manual mode;

determining, by the one or more processors and based on a response from the driving mode module, that the first SDV is operating in the autonomous mode;

receiving, by one or more processors, a control mode signal from a second vehicle operating on the roadway, wherein the control mode signal describes whether a second set of SDV vehicular physical control mechanisms on the second vehicle is being operated in the manual mode by a second human driver of the second vehicle or in the autonomous mode by a second SDV control mechanisms controller being controlled by a second SDV on-board computer on the second vehicle; and

issuing, by one or more processors, spatial separation instructions to the first SDV, wherein the spatial separation instructions direct the first SDV control mechanisms controller to direct the first set of SDV vehicular physical control mechanisms on the first SDV to provide a predetermined amount of spatial separation between the first SDV and the second vehicle based on whether the second vehicle is being operated in the manual mode or in the autonomous mode.

2. The computer-implemented method of claim 1, further comprising:

detecting, by traffic sensors, a traffic level on the roadway; and

adjusting, by one or more processors, the spatial separation instructions according to the traffic level on the roadway.

3. The computer-implemented method of claim 1, wherein the second SDV control mechanisms controller and the second SDV on-board computer are inoperable on the second vehicle, and wherein the control mode signal from the second vehicle is a null signal.

4. The computer-implemented method of claim 1, wherein the second SDV control mechanisms controller and the second SDV on-board computer are absent from the second vehicle, and wherein the control mode signal from the second vehicle is a null signal.

5. The computer-implemented method of claim 1, wherein the second vehicle is being operated in the manual mode, and wherein the computer-implemented method further comprises:

providing, by one or more processors, the predetermined amount of spatial separation between the first SDV and the second vehicle by directing the first set of SDV vehicular physical control mechanisms to provide a predefined amount of physical space between the first SDV and the second vehicle.

6. The computer-implemented method of claim 1, wherein the second vehicle is being operated in the manual mode, wherein the roadway comprises an autonomous lane reserved for autonomously-controlled vehicles and a manual lane reserved for vehicles being operated in the manual mode, and wherein the computer-implemented method further comprises:

providing, by one or more processors, the predetermined amount of spatial separation between the first SDV and the second vehicle by directing the first set of SDV vehicular physical control mechanisms to steer the first SDV onto the autonomous lane and by activating the second SDV control mechanisms controller to direct a second set of SDV vehicular physical control mechanisms on the second vehicle to steer the second vehicle onto the manual lane; and

in response to the second vehicle reaching the manual lane, deactivating, by one or more processors, the second SDV control mechanisms controller in the second vehicle.

7. The computer-implemented method of claim 1, wherein the second vehicle is being operated in the manual mode, wherein the roadway comprises an autonomous lane reserved for autonomously-controlled vehicles and a manual lane reserved for vehicles being operated in the manual mode, and wherein the computer-implemented method further comprises:

directing, by one or more processors, the first set of SDV vehicular physical control mechanisms to steer the first SDV onto the autonomous lane; and

electronically displaying, by one or more processors that control a display on electronic signage on the roadway, instructions to the driver of the second vehicle to manually steer the second vehicle onto the manual lane.

8. A computer program product for automatically providing spatial separation between self-driving vehicles (SDVs) operating in an autonomous mode and vehicles being operating in a manual mode on a roadway, the computer program product comprising a non-transitory computer readable storage medium having program code embodied therewith, the program code readable and executable by a processor to perform a method comprising:

interrogating a driving mode module on a first SDV operating on the roadway, wherein the first SDV is capable of being operated in autonomous mode by a first SDV control mechanisms controller being controlled by a first SDV on-board computer on the first SDV, wherein the first SDV control mechanisms controller controls a first set of SDV vehicular physical control mechanisms on the first SDV, wherein the driving mode module selectively controls whether the first SDV is operated in the autonomous mode or in manual mode, and wherein the first SDV is controlled by a first human driver of the first SDV if the first SDV is in the manual mode;

determining, based on a response from the driving mode module, that the first SDV is operating in the autonomous mode;

receiving a control mode signal from a second vehicle operating on the roadway, wherein the control mode signal describes whether a second set of SDV vehicular physical control mechanisms on the second vehicle is being operated in the manual mode by a second human driver of the second vehicle or in the autonomous mode by a second SDV control mechanisms controller being controlled by a second SDV on-board computer on the second vehicle; and

issuing spatial separation instructions to the first SDV, wherein the spatial separation instructions direct the first SDV control mechanisms controller to direct the first set of SDV vehicular physical control mechanisms on the first SDV to provide a predetermined amount of spatial separation between the first SDV and the second vehicle based on whether the second vehicle is being operated in the manual mode or in the autonomous mode.

9. The computer program product of claim 8, wherein the method further comprises:

detecting, using signals from traffic sensors, a traffic level on the roadway; and

adjusting the spatial separation instructions according to the traffic level on the roadway.

10. The computer program product of claim 8, wherein the second SDV control mechanisms controller and the second SDV on-board computer are inoperable on the second vehicle, and wherein the control mode signal from the second vehicle is a null signal.

11. The computer program product of claim 8, wherein the second SDV control mechanisms controller and the second SDV on-board computer are absent from the second vehicle, and wherein the control mode signal from the second vehicle is a null signal.

12. The computer program product of claim 8, wherein the second vehicle is being operated in the manual mode, and wherein the method further comprises:

providing the predetermined amount of spatial separation between the first SDV and the second vehicle by directing the first set of SDV vehicular physical control mechanisms to provide a predefined amount of physical space between the first SDV and the second vehicle.

13. The computer program product of claim 8, wherein the second vehicle is being operated in the manual mode, wherein the roadway comprises an autonomous lane reserved for autonomously-controlled vehicles and a manual lane reserved for vehicles being operated in the manual mode, and wherein the method further comprises:

providing the predetermined amount of spatial separation between the first SDV and the second vehicle by directing the first set of SDV vehicular physical control mechanisms to steer the first SDV onto the autonomous lane and by activating the second SDV control mechanisms controller to direct a second set of SDV vehicular physical control mechanisms on the second vehicle to steer the second vehicle onto the manual lane; and

in response to the second vehicle reaching the manual lane, deactivating the second SDV control mechanisms controller in the second vehicle.

14. The computer program product of claim 8, wherein the second vehicle is being operated in the manual mode, wherein the roadway comprises an autonomous lane reserved for autonomously-controlled vehicles and a manual lane reserved for vehicles being operated in the manual mode, and wherein the method further comprises:

directing the first set of SDV vehicular physical control mechanisms to steer the first SDV onto the autonomous lane; and

electronically displaying, on electronic signage on the roadway, instructions to the driver of the second vehicle to manually steer the second vehicle onto the manual lane.

15. A computer system comprising:

a processor, a computer readable memory, and a non-transitory computer readable storage medium;

first program instructions to interrogate a driving mode module on a first SDV operating on a roadway, wherein the first SDV is capable of being operated in autonomous mode by a first SDV control mechanisms controller being controlled by a first SDV on-board computer on the first SDV, wherein the first SDV control mechanisms controller controls a first set of SDV vehicular physical control mechanisms on the first SDV, wherein the driving mode module selectively controls whether the first SDV is operated in the autonomous mode or in manual mode, and wherein the first SDV is controlled by a first human driver of the first SDV if the first SDV is in the manual mode;

second program instructions to determine, based on a response from the driving mode module, that the first SDV is operating in the autonomous mode;

third program instructions to receive a control mode signal from a second vehicle operating on the roadway, wherein the control mode signal describes whether a second set of SDV vehicular physical control mechanisms on the second vehicle is being operated in the manual mode by a second human driver of the second vehicle or in the autonomous mode by a second SDV control mechanisms controller being controlled by a second SDV on-board computer on the second vehicle; and

fourth program instructions to issue spatial separation instructions to the first SDV, wherein the spatial separation instructions direct the first SDV control mechanisms controller to direct the first set of SDV vehicular physical control mechanisms on the first SDV to provide a predetermined amount of spatial separation between the first SDV and the second vehicle based on whether the second vehicle is being operated in the manual mode or in the autonomous mode; and

wherein

the first, second, third, and fourth program instructions are stored on the non-transitory computer readable storage medium for execution by one or more processors via the computer readable memory.

16. The computer system of claim 15, further comprising:

fifth program instructions to detect, via signals from traffic sensors, a traffic level on the roadway; and

sixth program instructions to adjust the spatial separation instructions according to the traffic level on the roadway; and

wherein

the fifth and sixth program instructions are stored on the non-transitory computer readable storage medium for execution by one or more processors via the computer readable memory.

17. The computer system of claim 15, wherein the second SDV control mechanisms controller and the second SDV on-board computer are absent from the second vehicle, and wherein the control mode signal from the second vehicle is a null signal.

18. The computer system of claim 15, wherein the second vehicle is being operated in the manual mode, and wherein the computer system further comprises:

fifth program instructions to provide the predetermined amount of spatial separation between the first SDV and the second vehicle by directing the first set of SDV vehicular physical control mechanisms to provide a predefined amount of physical space between the first SDV and the second vehicle; and

wherein

the fifth program instructions are stored on the non-transitory computer readable storage medium for execution by one or more processors via the computer readable memory.

19. The computer system of claim 15, wherein the second vehicle is being operated in the manual mode, wherein the roadway comprises an autonomous lane reserved for autonomously-controlled vehicles and a manual lane reserved for vehicles being operated in the manual mode, and wherein the computer system further comprises:

fifth program instructions to provide the predetermined amount of spatial separation between the first SDV and the second vehicle by directing the first set of SDV vehicular physical control mechanisms to steer the first SDV onto the autonomous lane and by activating the second SDV control mechanisms controller to direct a second set of SDV vehicular physical control mechanisms on the second vehicle to steer the second vehicle onto the manual lane; and

sixth program instructions to, in response to the second vehicle reaching the manual lane, deactivate the second SDV control mechanisms controller in the second vehicle; and

wherein the fifth and sixth program instructions are stored on the non-transitory computer readable storage medium for execution by one or more processors via the computer readable memory.

20. The computer system of claim 15, wherein the second vehicle is being operated in the manual mode, wherein the roadway comprises an autonomous lane reserved for autonomously-controlled vehicles and a manual lane reserved for vehicles being operated in the manual mode, and wherein the computer system further comprises:

fifth program instructions to direct the first set of SDV vehicular physical control mechanisms to steer the first SDV onto the autonomous lane; and

sixth program instructions to electronically display, on electronic signage on the roadway, instructions to the driver of the second vehicle to manually steer the second vehicle onto the manual lane; and

wherein

the fifth and sixth program instructions are stored on the non-transitory computer readable storage medium for execution by one or more processors via the computer readable memory.