Method and system for determining and dynamically updating a route and driving style for passenger comfort

Patent metadata

Field	Value
Publication number	US-10107635-B2
Application number	US-201615286153-A
Country	US
Kind code	B2
Filing date	Oct 5, 2016
Priority date	Aug 19, 2016
Publication date	Oct 23, 2018
Grant date	Oct 23, 2018

Abstract

The disclosure provides for a method for determining a route for passenger comfort and operating a vehicle according to the determined route. To start, a set of routes from a start location to an end location may be determined. Each route includes one or more portions. For each route of the set of routes, a total motion sickness value is determined based on a sway motion sickness value, a surge motion sickness value, and a heave motion sickness value for each of the given portions. The total motion sickness value for a route reflects a likelihood that a user will experience motion sickness while in a vehicle along the route. A route may then be selected from the set of routes based on the total motion sickness value of each route of the set of routes, and the vehicle may be maneuvered according to the selected route.

First claim

The invention claimed is:

1. A method comprising:
determining, by one or more processors, a set of routes from a start location to an end location, each route of the set of routes comprising one or more portions;
for each given route of the set of routes, determining, by the one or more processors, a total motion sickness value based on a sway motion sickness value relating to a lateral acceleration of a vehicle, a surge motion sickness value relating to a fore-aft acceleration of the vehicle, and a heave motion sickness value relating to a vertical acceleration of the vehicle for each of the one or more portions of the given route, wherein the total motion sickness value for a route reflects a likelihood that a user will experience motion sickness while in the vehicle along the route;
selecting, by the one or more processors, a first route of the set of routes based on the total motion sickness value of each route of the set of routes; and
maneuvering, by the one or more processors, the vehicle according to the first route.

2. The method of claim 1 , further comprising:
receiving, by the one or more processors, user input indicating a user is experiencing symptoms of motion sickness while the vehicle is operating using a first driving style; and
operating, by the one or more processors, the vehicle using a second driving style, the second driving style being less assertive than the first driving style.

3. The method of claim 1 , wherein selecting the first route of the set of routes based on the total motion sickness value of each route of the set of routes includes comparing each total motion sickness value to a threshold value.

4. The method of claim 1 , wherein the set of routes are displayed with an indication of at least one respective total motion sickness value.

5. The method of claim 1 , further comprising determining, by the one or more processors, a plurality of total motion sickness values for a given route of the set of routes, each total motion sickness value for the given route being for a given driving style of a plurality of driving styles.

6. The method of claim 5 , wherein selecting the first route of the set of routes includes selecting a first driving style; and
wherein a combination of the first route and the first driving style are selected when a total motion sickness value determined for the combination is below a threshold value and an estimated arrival time for the combination is earlier than any other combination of routes and driving styles.

7. The method of claim 1 , further comprising, for each portion of the one or more portions of the given route, determining the sway motion sickness value, the surge motion sickness value, and the heave motion sickness value for a given portion based on a given driving style; and
wherein the total motion sickness value for each portion is a weighted combination of at least the sway motion sickness value, the surge motion sickness value, and the heave motion sickness value.

8. The method of claim 7 , further comprising determining a roll motion sickness value, a yaw motion sickness value, and a pitch motion sickness value for the given portion based on a given driving style; and
wherein the total motion sickness value for each portion is further based on the roll motion sickness value, the yaw motion sickness value, and the pitch motion sickness value.

9. The method of claim 1 , further comprising:
receiving, by the one or more processors, user input related to a level of comfort on a trip; and
determining, by the one or more processors, a threshold value using at least the user input;
wherein selecting the first route is further based on the threshold value.

10. The method of claim 1 , wherein the total motion sickness value for each portion is further based on a location of a seat in the vehicle.

11. A system comprising:
a memory storing instructions for operating a vehicle autonomously; and
one or more processors configured to:
determine a set of routes from a start location to an end location, each route of the set of routes comprising one or more portions;
for each given route of the set of routes, determine a total motion sickness value based on a sway motion sickness value relating to a lateral acceleration of the vehicle, a surge motion sickness value relating to a fore-aft acceleration of the vehicle, and a heave motion sickness value relating to a vertical acceleration of the vehicle for each of the one or more portions of the given route, wherein the total motion sickness value for a route reflects a likelihood that a user will experience motion sickness while in the vehicle along the route;
select a first route of the set of routes based on the total motion sickness value of each route of the set of routes; and
maneuver the vehicle according to the first route.

12. The system of claim 11 , wherein the one or more processors are further configured to:
receive user input indicating a user is experiencing symptoms of motion sickness while the vehicle is operating using a first driving style; and
operate the vehicle using a second driving style, the second driving style being less assertive than the first driving style.

13. The system of claim 11 , wherein selecting the first route of the set of routes based on the total motion sickness value of each route of the set of routes includes comparing each total motion sickness value to a threshold value.

14. The system of claim 11 , wherein the set of routes are displayed with an indication of at least one respective total motion sickness value.

15. The system of claim 11 , wherein the one or more processors are further configured to determine a plurality of total motion sickness values for a given route of the set of routes, each total motion sickness value for the given route being for a given driving style of a plurality of driving styles.

16. The system of claim 15 , wherein selecting the first route of the set of routes includes selecting a first driving style; and
wherein a combination of the first route and the first driving style are selected when a total motion sickness value determined for the combination is below a threshold value and an estimated arrival time for the combination is earlier than any other combination of routes and driving styles.

17. The system of claim 11 , wherein the one or more processors are further configured to, for each portion of the one or more portions of the given route, determine the sway motion sickness value, the surge motion sickness value, and the heave motion sickness value for a given portion based on a given driving style; and
wherein the total motion sickness value for each portion is a weighted combination of at least the sway motion sickness value, the surge motion sickness value, and the heave motion sickness value.

18. The system of claim 11 , further comprising the vehicle.

19. The medium of claim 11 , wherein the method further comprises:
receiving user input indicating a user is experiencing symptoms of motion sickness while the vehicle is operating using a first driving style; and
operating the vehicle using a second driving style, the second driving style being less assertive than the first driving style.

20. A non-transitory, tangible computer-readable storage medium on which computer readable instructions of a program are stored, the computer readable instructions, when executed by one or more processors, cause the one or more processors to perform a method, the method comprising:
determining a set of routes

Assignees

• Waymo Llc

Inventors

• Larner Daniel Lynn
• Russell Jared Stephen

Classifications

• G01C21/3484 Primary

  Personalized, e.g. from learned user behaviour or user-defined profiles · CPC title

• G01C21/3461

  Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types or segments such as motorways, toll roads or ferries · CPC title

• B60W30/025 Primary

  related to comfort of drivers or passengers · CPC title

• G01C21/3453

  Special cost functions, i.e. other than distance or default speed limit of road segments · CPC title

• B60W60/001

  Planning or execution of driving tasks · CPC title