Vehicle exterior surface object detection

Patent metadata

Field	Value
Publication number	US-10037033-B2
Application number	US-201615182965-A
Country	US
Kind code	B2
Filing date	Jun 15, 2016
Priority date	Jun 15, 2016
Publication date	Jul 31, 2018
Grant date	Jul 31, 2018

Abstract

A vehicle system includes at least one autonomous driving sensor programmed to output environment signals representing an environment around an autonomous vehicle and object detection signals representing an object or person on an exterior surface of the autonomous vehicle. The vehicle system further includes an autonomous mode controller programmed to autonomously control the autonomous vehicle in accordance with the environment signals output by the autonomous driving sensor, detect the object or person on the exterior surface of the autonomous vehicle in accordance with the object detection signals, and limit autonomous operation of the autonomous vehicle in response to detecting the object or person on the exterior surface of the autonomous vehicle.

First claim

The invention claimed is:

1. A vehicle system comprising:
at least one autonomous driving sensor programmed to output environment signals representing an environment around an autonomous vehicle and object detection signals representing an object or person on an exterior surface of the autonomous vehicle;
an autonomous mode controller programmed to autonomously control the autonomous vehicle in accordance with the environment signals output by the autonomous driving sensor, detect the object or person on the exterior surface of the autonomous vehicle in accordance with the object detection signals, and limit autonomous operation of the autonomous vehicle in response to detecting the object or person on the exterior surface of the autonomous vehicle.

2. The vehicle system of claim 1 , further comprising a communication interface programmed to receive a ride request identifying a pickup location.

3. The vehicle system of claim 2 , wherein the autonomous mode controller is programmed to limit autonomous operation of the autonomous vehicle by preventing the autonomous vehicle from autonomously navigating to the pickup location in response to detecting the object or person on the exterior surface of the autonomous vehicle.

4. The vehicle system of claim 1 , wherein the autonomous driving sensor is programmed to output the object detection signals when the autonomous vehicle is stationary.

5. The vehicle system of claim 1 , wherein the autonomous mode controller is programmed to output one of a first command signal and a second command signal to the autonomous driving sensor, the first command signal commanding the autonomous driving sensor to output the environment signal and the second command signal commanding the autonomous driving sensor to output the object detection signal.

6. The vehicle system of claim 5 , wherein the autonomous mode controller is programmed to output the second command signal while the autonomous vehicle is stationary.

7. The vehicle system of claim 1 , wherein the autonomous mode controller is programmed to determine whether the object or person has been on the exterior surface of the autonomous vehicle for at least a predetermined amount of time based at least in part on the object detection signal.

8. The vehicle system of claim 7 , wherein the autonomous mode controller is programmed to limit autonomous operation of the autonomous vehicle by preventing the autonomous vehicle from operating autonomously in response to detecting that the object or person has been on the exterior surface of the autonomous vehicle for at least the predetermined amount of time.

9. The vehicle system of claim 1 , wherein the autonomous driving sensor is programmed to output the object detection signal in response to the object or person on the exterior surface of the autonomous vehicle interfering with the autonomous driving sensor.

10. The vehicle system of claim 1 , further comprising a communication interface programmed to transmit a message indicating that the object or person has been detected on the exterior surface of the autonomous vehicle.

11. The vehicle system of claim 1 , wherein the autonomous mode controller is programmed to autonomously navigate the autonomous vehicle to a designated area in response to detecting the object or person on the exterior surface of the autonomous vehicle, wherein the designated area includes at least one of a police station, a parking lot, and a vehicle control center.

12. A method comprising:
receiving environment signals representing an environment around an autonomous vehicle;
receiving object detection signals representing an object or person on an exterior surface of the autonomous vehicle;
detecting the object or person on the exterior surface of the autonomous vehicle in accordance with the object detection signals; and
limiting autonomous operation of the autonomous vehicle in response to detecting the object or person on the exterior surface of the autonomous vehicle.

13. The method of claim 12 , further comprising autonomously controlling the autonomous vehicle in accordance with the environment signals if no objects or persons are detected on the exterior surface of the autonomous vehicle.

14. The method of claim 12 , further comprising receiving a ride request identifying a pickup location and wherein limiting autonomous operation of the autonomous vehicle includes preventing the autonomous vehicle from autonomously navigating to the pickup location in response to detecting the object or person on the exterior surface of the autonomous vehicle.

15. The method of claim 12 , wherein the object detection signals are received when the autonomous vehicle is stationary.

16. The method of claim 12 , further comprising one of commanding an autonomous driving sensor to output the environment signal and commanding the autonomous driving sensor to output the object detection signal, wherein the autonomous driving sensor is commanded to output the object detection signal only while the autonomous vehicle is stationary.

17. The method of claim 12 , further comprising determining whether the object or person has been on the exterior surface of the autonomous vehicle for at least a predetermined amount of time and wherein limiting autonomous operation of the autonomous vehicle includes preventing the autonomous vehicle from operating autonomously in response to detecting that the object or person has been on the exterior surface of the autonomous vehicle for at least the predetermined amount of time.

18. The method of claim 12 , wherein receiving the object detection signal includes receiving the object detection signal in response to the object or person on the exterior surface of the autonomous vehicle interfering with the autonomous driving sensor.

19. The method of claim 12 , further comprising transmitting a message indicating that the object or person has been detected on the exterior surface of the autonomous vehicle.

20. The method of claim 12 , wherein limiting the autonomous operation of the autonomous vehicle includes autonomously navigating the autonomous vehicle to a designated area in response to detecting the object or person on the exterior surface of the autonomous vehicle, wherein the designated area includes at least one of a police station, a parking lot, and a vehicle control center.

Assignees

• Ford Global Tech Llc

Inventors

• Yako Sarra Awad
• Post Kyle Richard
• Tellis Levasseur

Classifications

• G06Q10/083 Primary

  Shipping · CPC title

• B60W40/08

  related to drivers or passengers · CPC title

• B60W50/00

  Details of control systems for road vehicle drive control not related to the control of a particular sub-unit {, e.g. process diagnostic or vehicle driver interfaces} · CPC title

• G01C21/3407

  specially adapted for specific applications · CPC title

• B60W2554/00

  Input parameters relating to objects · CPC title