Spring system-based change lane approach for autonomous vehicles

Patent metadata

Field	Value
Publication number	US-10053091-B2
Application number	US-201615334152-A
Country	US
Kind code	B2
Filing date	Oct 25, 2016
Priority date	Oct 25, 2016
Publication date	Aug 21, 2018
Grant date	Aug 21, 2018

Abstract

In one embodiment, in response to a request for changing lane, one or more objects surrounding an autonomous vehicle are perceived. For each of the perceived objects, a virtual spring is assigned to connect the object and the autonomous vehicle. Each virtual spring is associated with a specific spring model to generate a force based on relative positions of an associated object and the autonomous vehicle. One or more forces generated from one or more virtual springs corresponding to the one or more surrounding objects are aggregated to generate an aggregated force. One or more lane-changing parameters for the autonomous vehicle are determined based on the aggregated force and a direction of the aggregated force.

First claim

What is claimed is:

1. A computer-implemented method for operating an autonomous vehicle, the method comprising:
in response to a request for changing lane, perceiving one or more objects surrounding an autonomous vehicle;
for each of the perceived objects, assigning, by a spring analyzer executed by a processor, a virtual spring connecting the object and the autonomous vehicle, wherein each virtual spring is associated with a specific spring model to generate a force based on relative positions of an associated object and the autonomous vehicle;
aggregating, by a lane analyzer executed by the processor, one or more forces generated from one or more virtual springs corresponding to the one or more surrounding objects to generate an aggregated force;
determining one or more lane-changing parameters for the autonomous vehicle based on the aggregated force and a direction of the aggregated force, including determining a turning angle of changing lane based on the direction of the aggregated force; and
controlling by a control module the autonomous vehicle to change lane from a first lane to a second lane based on the one or more lane-changing parameters.

2. The method of claim 1 , wherein each virtual spring is modeled based on a strength coefficient and a distance between the autonomous vehicle and a corresponding object relative to an initial length of the virtual spring.

3. The method of claim 2 , wherein the strength coefficient and the initial length of a virtual spring are determined based on relative positions of the autonomous vehicle and the corresponding object.

4. The method of claim 1 , further comprising determining which of the surrounding objects will affect lane changing of the autonomous vehicle, wherein a virtual spring is connected between the autonomous vehicle and an object only if the object potentially affects the lane changing of the autonomous vehicle.

5. The method of claim 1 , wherein a direction and a magnitude of the aggregated force are utilized to determine whether the autonomous vehicle should change lane at a point in time.

6. The method of claim 1 , wherein a magnitude of the aggregated force is utilized to determine a speed of the lane changing.

7. The method of claim 1 , wherein assigning a virtual spring comprises:
assigning a first virtual spring to connect the autonomous vehicle with a current lane from which the autonomous vehicle is changing lane, the first virtual spring being associated with a first spring model; and
assigning a second virtual spring to connect the autonomous vehicle with a target lane to which the autonomous vehicle is changing lane, the second virtual spring being associated with a second spring model, wherein the lane-changing parameters are determined based on a first force derived from the first spring model and a second force derived from the second spring model.

8. The method of claim 1 , wherein assigning a virtual spring comprises:
assigning a first virtual spring to connect the autonomous vehicle with a first vehicle moving in a current lane from which the autonomous vehicle is changing lane, the first virtual spring being associated with a first spring model; and
assigning a second virtual spring to connect the autonomous vehicle with a second vehicle moving in a target lane to which the autonomous vehicle is changing lane, the second virtual spring being associated with a second spring model, wherein the lane-changing parameters are determined based on a first force derived from the first spring model and a second force derived from the second spring model.

9. A non-transitory machine-readable medium having instructions stored therein, which when executed by a processor, cause the processor to perform operations of operating an autonomous vehicle, the operations comprising:
in response to a request for changing lane, perceiving one or more objects surrounding an autonomous vehicle;
for each of the perceived objects, assigning a virtual spring connecting the object and the autonomous vehicle, wherein each virtual spring is associated with a specific spring model to generate a force based on relative positions of an associated object and the autonomous vehicle;
aggregating one or more forces generated from one or more virtual springs corresponding to the one or more surrounding objects to generate an aggregated force;
determining one or more lane-changing parameters for the autonomous vehicle based on the aggregated force and a direction of the aggregated force, including determining a turning angle of changing lane based on the direction of the aggregated force; and
controlling the autonomous vehicle to change lane from a first lane to a second lane based on the one or more lane-changing parameters.

10. The machine-readable medium of claim 9 , wherein each virtual spring is modeled based on a strength coefficient and a distance between the autonomous vehicle and a corresponding object relative to an initial length of the virtual spring.

11. The machine-readable medium of claim 10 , wherein the strength coefficient and the initial length of a virtual spring are determined based on relative positions of the autonomous vehicle and the corresponding object.

12. The machine-readable medium of claim 9 , wherein the operations further comprise determining which of the surrounding objects will affect lane changing of the autonomous vehicle, wherein a virtual spring is connected between the autonomous vehicle and an object only if the object potentially affects the lane changing of the autonomous vehicle.

13. The machine-readable medium of claim 9 , wherein a direction and a magnitude of the aggregated force are utilized to determine whether the autonomous vehicle should change lane at a point in time.

14. The machine-readable medium of claim 9 , wherein a magnitude of the aggregated force is utilized to determine a speed of the lane changing.

15. The machine-readable medium of claim 9 , wherein assigning a virtual spring comprises:
assigning a first virtual spring to connect the autonomous vehicle with a current lane from which the autonomous vehicle is changing lane, the first virtual spring being associated with a first spring model; and
assigning a second virtual spring to connect the autonomous vehicle with a target lane to which the autonomous vehicle is changing lane, the second virtual spring being associated with a second spring model, wherein the lane-changing parameters are determined based on a first force derived from the first spring model and a second force derived from the second spring model.

16. The machine-readable medium of claim 9 , wherein assigning a virtual spring comprises:
assigning a first virtual spring to connect the autonomous vehicle with a first vehicle moving in a current lane from which the autonomous vehicle is changing lane, the first virtual spring being associated with a first spring model; and
assigning a second virtual spring to connect the autonomous vehicle with a second vehicle moving in a target lane to which the autonomous vehicle is changing lane, the second virtual spring being associated with a second spring model, wherein the lane-changing parameters are determined based on a first force derived from the first spring model and a second force derived from the second spring model.

17. A data processing system, comprising:
a processor; and
a memory coupled to the processor to store instructions, which when executed by the processor, cause the processor to perform operations, the operations including
in response to a request for changing lane, perceiving one o

Assignees

• Baidu Usa Llc

Inventors

• Jiang Yifei
• Tao Jiaming
• Li Dong
• Hu Jiangtao
• Li Liyun
• Yang Guang
• Wang Jingao

Classifications

• B60W30/18163 Primary

  Lane change; Overtaking manoeuvres · CPC title

• G08G1/165

  for passive traffic, e.g. including static obstacles, trees · CPC title

• B62D15/0255 Primary

  Automatic changing of lane, e.g. for passing another vehicle · CPC title

• B60W50/14

  Means for informing the driver, warning the driver or prompting a driver intervention · CPC title

• B60W2554/00

  Input parameters relating to objects · CPC title