Modifying a vehicle state based on the presence of a special-purpose vehicle

• US 9,937,924 B1
• Filed: 05/31/2017
• Issued: 04/10/2018
• Est. Priority Date: 11/15/2012
• Status: Active Grant

• Current Assignee: Waymo LLC (Alphabet Inc.)
• Original Assignee: Waymo LLC (Alphabet Inc.)
• Inventors: Ferguson, David I.
• Primary Examiner(s): Lee, Tyler J
• Application Number:
  US15/609,725
• Time in Patent Office: 314 Days
• Field of Search: 701 23
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2050/146 Display means
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/4023 large-size vehicles, e.g. trucks
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2710/18 Braking system
• CPC Class Codes: B60W 2710/20 Steering systems
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 30/18009 related to particular drive situations
• CPC Class Codes: B60W 30/18163 Lane change; Overtaking manoeuvres
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B60W 60/001 Planning or execution of driving tasks
• CPC Class Codes: G01C 21/3415 Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
• 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 1/0214 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 1/0289 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: G06F 17/00 Digital computing or data processing equipment or methods, specially adapted for specific functions information retrieval, database structures or file system structures therefor G06F16/00

Abstract

A method is provided that includes receiving user input identifying a travel destination for a first vehicle, determining, by a processor, a first route for the first vehicle to follow, and configuring the first vehicle to follow the first route. The method further includes obtaining a model for a second vehicle that shares a road with the first vehicle and comparing model to a pre-determined template for a vehicle that is known to be a special purpose vehicle in order to determine whether the first template and the second template match. The method further includes determining, by the processor, a second route that leads to the travel destination, when a match is found to exist, and switching the first vehicle from following the first route to following the second route.

Claims

1. A method, comprising:

receiving, with one or more processors, first sensor data from a sensor of a first vehicle, the first sensor data including one or more images of a second vehicle that shares a road with the first vehicle;

accessing, with the one or more processors, a template indicating one or more characteristics of an appearance of a known special purpose vehicle;

determining, with the one or more processors based on the first sensor data and the template, a type of the second vehicle, the type being one of a variety of special purpose vehicles;

in response to determining the type of special purpose vehicle, communicating, by the one or more processors, with one or more vehicle systems, the communicating causing the first vehicle to perform a driving action including at least one of decelerating or maintaining a predetermined distance between the first vehicle and the special purpose vehicle, wherein the driving action is based on at least the determined type of the special purpose vehicle.

2. The method of claim 1, wherein the special purpose vehicle is a non-emergency vehicle.

3. The method of claim 1, wherein the characteristic includes at least one of a shape of the known special purpose vehicle, a color of the known special purpose vehicle, or an intensity of light produced by the known special purpose vehicle.

4. The method of claim 1, wherein the template further indicates a sound of the special purpose vehicle.

5. The method of claim 4, wherein the sound includes a sound of an engine of the special purpose vehicle.

6. The method of claim 1, wherein determining the type of the second vehicle comprises creating a model for objects surrounding the first vehicle.

7. The method of claim 1, wherein the first sensor comprises a camera.

8. The method of claim 1, further comprising:

receiving second sensor data from a second sensor of the first vehicle;

determining, with the one or more processors based on the second sensor data, a state of the special purpose vehicle, the state including at least one of position, speed, activity; and

wherein the driving action is further based on the state of the special purpose vehicle.

9. A method, comprising:

receiving, with one or more processors, first sensor data from a sensor of a first vehicle, the first sensor data including one or more images of a second vehicle that shares a road with the first vehicle;

determining, with the one or more processors based on the first sensor data, a type of the second vehicle, the type being one of a variety of special purpose vehicles or a non-special purpose vehicle;

when the second vehicle is determined to be a special purpose vehicle, receiving second sensor data from a second sensor of the first vehicle;

determining, with the one or more processors based on the second sensor data, a state of the special purpose vehicle, the state including at least one of position, speed, activity; and

in response to determining the state of the special purpose vehicle, communicating, by the one or more processors, with one or more vehicle systems, the communicating causing the first vehicle to perform a driving action including at least one of decelerating or maintaining a predetermined distance between the first vehicle and the special purpose vehicle.

10. The method of claim 9, wherein determining the type of the second vehicle comprises accessing a template stored in a vehicle control unit.

11. The method of claim 10, wherein the template indicates a characteristic of an appearance of a known special purpose vehicle.

12. The method of claim 11, wherein the characteristic includes at least one of a shape of the known special purpose vehicle, a color of the known special purpose vehicle, or an intensity of light produced by the known special purpose vehicle.

13. The method of claim 9, wherein the second sensor data includes sound.

14. A system, comprising:

a first sensor mounted to a first vehicle, the first sensor adapted to receive first sensor data including one or more images of a second vehicle that shares a road with the first vehicle;

a memory storing a template indicating one or more characteristics of an appearance of a known special purpose vehicle; and

one or more processors in communication with the first sensor and the memory, the one or more computing devices programmed to;

determine, based on the first sensor data and the template, a type of the second vehicle, the type being one of a variety of special purpose vehicles;

determine a driving action for the first vehicle in response to determining the type of special purpose vehicle, the driving action including at least one of decelerating or maintaining a predetermined distance between the first vehicle and the special purpose vehicle; and

communicate with one or more vehicle systems, the communicating causing the first vehicle to perform the determined driving action.

15. The system of claim 14, wherein the characteristic includes at least one of a shape of the known special purpose vehicle, a color of the known special purpose vehicle, or an intensity of light produced by the known special purpose vehicle.

16. The system of claim 14, wherein the template further indicates a sound of the special purpose vehicle.

17. The system of claim 14, wherein the first sensor comprises a camera.

18. The system of claim 14, further comprising a perception module adapted to process raw data from the first sensor and to provide the one or more processors with data elements, including at least one of vehicle state, road world model, moving obstacle set, or static obstacle.

19. The system of claim 18, wherein the vehicle state indicates at least one of position, altitude, and speed of the first vehicle.

20. The system of claim 14, wherein maintaining the predetermined distance comprises determining an amount of throttling required to attain the predetermined distance.