Mapping active and inactive construction zones for autonomous driving

Patent metadata

Field	Value
Publication number	US-10317906-B2
Application number	US-201615370361-A
Country	US
Kind code	B2
Filing date	Dec 6, 2016
Priority date	Apr 10, 2013
Publication date	Jun 11, 2019
Grant date	Jun 11, 2019

Abstract

Aspects of the present disclosure relate to differentiating between active and inactive construction zones. In one example, this may include identifying a construction object associated with a construction zone. The identified construction object may be used to map the area of the construction zone. Detailed map information may then be used to classify the activity of the construction zone. The area of the construction zone and the classification may be added to the detailed map information. Subsequent to adding the construction zone and the classification to the detailed map information, the construction object (or another construction object) may be identified. The location of the construction object may be used to identify the construction zone and classification from the detailed map information. The classification of the classification may be used to operate a vehicle having an autonomous mode.

First claim

The invention claimed is:

1. A method comprising:
accessing map information identifying a roadway;
detecting one or more construction objects;
defining, in response to detecting one or more construction objects and using one or more processors, an area along the roadway as a construction zone based at least in part on the one or more construction objects;
detecting a feature of the construction zone;
classifying, using the one or more processors, the construction zone as active or inactive based on whether the feature is different from the map information;
storing, using the one or more processors, the classification of the construction zone in the map information; and
autonomously driving a vehicle more cautiously through the construction zone when the construction zone is classified as active than when the construction zone is classified as inactive.

2. The method of claim 1 wherein classifying the construction zone comprises classifying the construction zone as inactive when there are no differences or minor differences between the feature and the map information.

3. The method of claim 2 wherein a difference between the feature and the map information is a minor difference when the difference would not affect autonomous driving.

4. The method of claim 3 wherein the minor difference comprises a change outside of lanes of the roadway.

5. The method of claim 1 further comprising sending the classification to a second vehicle.

6. The method of claim 5 further comprising autonomously driving the second vehicle more cautiously through the construction zone when the construction zone is classified as active.

7. The method of claim 1 wherein detecting a feature comprises detecting a position of a lane and wherein the construction zone is classified as active when a position of a lane stored in the map information is different from the detected position of the lane.

8. The method of claim 1 wherein autonomously driving a vehicle more cautiously through the construction zone comprises driving the vehicle more slowly.

9. The method of claim 1 autonomously driving a vehicle more cautiously through the construction zone comprises increasing a distance between the vehicle and objects in the roadway.

10. A system comprising:
one or more processors; and
memory storing instructions and map information, the instructions being executable by the one or more computing devices, the map information identifying a roadway;
wherein the instructions comprise:
receiving sensor data collected by a first vehicle;
detecting one or more construction objects based on the sensor data;
defining, in response to detecting one or more construction objects and using one or more processors, an area along the roadway as a construction zone based at least in part on the one or more construction objects;
detecting a feature of the construction zone;
classifying, using the one or more processors, the construction zone as active or inactive based on whether the feature is different from the map information; and
sending the classification of the construction zone to a second vehicle for use by the second vehicle when the second vehicle is in an autonomous driving mode.

11. The system of claim 10 wherein sending the classification to the second vehicle comprises the first vehicle broadcasting the classification to the second vehicle.

12. The system of claim 10 wherein sending the classification to the second vehicle comprises the first vehicle sending the classification to a server and the server relaying the classification to the second vehicle.

13. The system of claim 10 wherein the instructions further comprise autonomously driving the second vehicle more cautiously through the construction zone when the construction zone is classified as active.

14. The system of claim 10 wherein the instructions further comprise storing the classification in the map information.

15. A vehicle comprising:
an acceleration system;
a sensor;
one or more processors in communication with the acceleration system; and
memory storing instructions and map information, the instructions being executable by the one or more computing devices, the map information identifying a roadway;
wherein the instructions comprise:
detecting one or more construction objects;
defining, in response to detecting one or more construction objects and using one or more processors, an area along the roadway as a construction zone based at least in part on the one or more construction objects;
detecting a feature of the construction zone;
classifying, using the one or more processors, the construction zone as active or inactive based on whether the feature is different from the map information; and
autonomously operating the acceleration system based on the classification of the construction zone.

16. The vehicle of claim 15 wherein autonomously operating the acceleration system based on the classification of the construction zone comprises autonomously driving the vehicle more cautiously through the construction zone when the construction zone is classified as active than when the construction zone is classified as inactive.

17. The vehicle of claim 15 wherein autonomously operating the acceleration system based on the classification of the construction zone comprises autonomously driving the vehicle more slowly through the construction zone when the construction zone is classified as active than when the construction zone is classified as inactive.

18. The vehicle of claim 15 wherein the instructions further comprise method of claim 1 further sending the classification to a different vehicle.

19. The vehicle of claim 18 wherein sending the classification to the different vehicle comprises broadcasting the classification to the different vehicle.

20. The vehicle of claim 18 wherein sending the classification to the different vehicle comprises sending the classification to a server and the server relaying the classification to the different vehicle.

Assignees

• Waymo Llc

Inventors

• Ferguson David I
• Burnette Donald Jason

Classifications

• G01S2013/9316

  combined with communication equipment with other vehicles or with base stations · CPC title

• G06V20/582

  of traffic signs · CPC title

• G01S19/42

  Determining position · CPC title

• B60W30/00

  Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units · CPC title

• G05D1/00

  Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00) · CPC title