Driving mode adjustment

Patent metadata

Field	Value
Publication number	US-10347127-B2
Application number	US-201313772615-A
Country	US
Kind code	B2
Filing date	Feb 21, 2013
Priority date	Feb 21, 2013
Publication date	Jul 9, 2019
Grant date	Jul 9, 2019

Abstract

A computing device may be configured to receive sensor information indicative of respective characteristics of vehicles on a road of travel of a first vehicle. The computing device may be configured to identify, based on the respective characteristics, a second vehicle that exhibits an aggressive driving behavior manifested as an unsafe or unlawful driving action. Also, based on the respective characteristics, the computing device may be configured to determine a type of the second vehicle. The computing device may be configured to estimate a distance between the first vehicle and the second vehicle. The computing device may be configured to modify a control strategy of the first vehicle, based on the aggressive driving behavior of the second vehicle, the type of the second vehicle, and the distance between the first vehicle and the second vehicle; and control the first vehicle based on the modified control strategy.

First claim

What is claimed is:

1. A method comprising:
receiving, by a computing device, from one or more sensors coupled to a first vehicle, sensor information indicative of one or more respective characteristics of vehicles on a road of travel of the first vehicle, wherein the computing device is configured to control the first vehicle in an autonomous operation mode;
identifying, from the vehicles, based on the one or more respective characteristics, a second vehicle that exhibits an aggressive driving behavior indicative of one or more driving actions that increase a risk of the second vehicle causing a road accident, wherein identifying the second vehicle includes determining a type of the second vehicle;
estimating, by the computing device, a distance between the first vehicle and the second vehicle;
monitoring, by the computing device, lane changing patterns performed by the second vehicle and respective distances maintained by the second vehicle relative to other vehicles on the road of travel;
assigning, by the computing device, to the second vehicle, a weight, such that a magnitude of the weight increases when the second vehicle changes lanes above a threshold frequency, increases as the estimated distance between the first vehicle and the second vehicle decreases, decreases as distances maintained by the second vehicle relative to other vehicles increases, and increases with aggressiveness of a driving behavior corresponding to the type of the second vehicle;
performing a comparison between the weight assigned to the second vehicle and respective weights assigned to one or more other vehicles on the road of travel;
modifying, using the computing device, a control strategy associated with the driving behavior of the first vehicle, wherein the modification is based on the magnitude of the weight assigned to the second vehicle, the comparison, the one or more respective characteristics of vehicles on the road of travel of the first vehicle, and traffic rules associated with the road of travel of the first vehicle; and
controlling, using the computing device, the first vehicle based on the modified control strategy.

2. The method of claim 1 , wherein the aggressive driving behavior comprises one of exceeding a speed limit, lane changing at a frequency exceeding a first threshold frequency, failing to signal intent to pass another vehicle, tailgating another vehicle, using a horn at a frequency exceeding a second threshold frequency, and flashing headlights at a frequency exceeding a third threshold frequency.

3. The method of claim 1 , wherein receiving the sensor information comprises:
receiving, from an image-capture device coupled to the first vehicle, an image, wherein identifying the second vehicle comprises identifying the object in the image, and wherein the image-capture device is one of a camera or a light detection and ranging (LIDAR) device.

4. The method of claim 1 , wherein the respective characteristics of the second vehicle include a longitudinal speed of the second vehicle, a lateral speed of the second vehicle, a direction of motion of the second vehicle, a size of the second vehicle, a respective position of the second vehicle on the road, trajectory of the second vehicle, and acceleration or deceleration of the second vehicle.

5. The method of claim 4 , further comprising:
receiving one or more of LIDAR-based information from a LIDAR device coupled to the first vehicle or an image of the second vehicle captured by a camera coupled to the first vehicle, wherein the LIDAR-based information comprises a three-dimensional (3D) point cloud that includes a set of points based on light emitted from the LIDAR device and reflected from the second vehicle;
receiving, from a radio detection and ranging (RADAR) device coupled to the first vehicle, RADAR-based information relating to one or more respective motion characteristics of the second vehicle; and
determining the one or more respective characteristics of the first vehicle based on the one or more of the LIDAR-based information and the image, and the RADAR-based information.

6. The method of claim 1 , wherein controlling the first vehicle based on the modified control strategy comprises one or more of: (i) reducing a speed of the first vehicle, (ii) maintaining a predetermined safe distance from the second vehicle, (iii) changing lanes to move away from the second vehicle, and (iv) stopping the first vehicle.

7. The method of claim 1 , wherein controlling the first vehicle based on the modified control strategy comprises determining a desired path of the first vehicle, wherein determining the desired path of the vehicle takes into account the aggressive driving behavior of the second vehicle and the assigned weight indicative of the degree of influence of the aggressive driving behavior of the second vehicle on the driving behavior of the first vehicle.

8. A non-transitory computer readable medium having stored thereon instructions executable by a computing device to cause the computing device to perform functions comprising:
receiving, from one or more sensors coupled to a first vehicle, sensor information indicative of one or more respective characteristics of vehicles on a road of travel of a first vehicle;
identifying, from the vehicles, based on the one or more respective characteristics, a second vehicle that exhibits an aggressive driving behavior indicative of one or more driving actions that increase a risk of the second vehicle causing a road accident, wherein identifying the second vehicle includes determining a type of the second vehicle;
estimating a distance between the first vehicle and the second vehicle;
monitoring lane changing patterns performed by the second vehicle and respective distances maintained by the second vehicle relative to other vehicles on the road of travel;
assigning to the second vehicle, a weight, such that a magnitude of the weight increases when the second vehicle changes lanes above a threshold frequency, increases as the estimated distance decreases, decreases as distances maintained by the second vehicle relative to other vehicles increases, and increases with aggressiveness of a driving behavior corresponding to the type of the second vehicle;
performing a comparison between the weight assigned to the second vehicle and respective weights assigned to one or more other vehicles on the road of travel;
modifying a control strategy associated with a driving behavior of the first vehicle, wherein the modification is based on the magnitude of the weight assigned to the second vehicle, the comparison, the one or more respective characteristics of vehicles on the road of travel of the first vehicle, and traffic rules associated with the road of travel of the first vehicle; and
controlling the first vehicle based on the modified control strategy.

9. The non-transitory computer readable medium of claim 8 , wherein the aggressive driving behavior comprises one of exceeding a speed limit, lane changing at a frequency exceeding a first threshold frequency, failing to signal intent to pass another vehicle, tailgating another vehicle, using a horn at a frequency exceeding a second threshold frequency, and flashing headlights at a frequency exceeding a third threshold frequency.

10. The non-transitory computer readable medium of claim 8 , wherein the function of receiving the sensor information comprises:
receiving, from an image-capture device coupled to the first vehicle, an image, wherein identifying the second vehicle comprises identifying the object in the image, and wherein the image-capture device is one of a camera or a light detection and ranging (LIDAR) device.

11. The non-transitory comput

Assignees

• Waymo Llc

Inventors

• Droz Pierre-Yves
• Zhu Jiajun

Classifications

• B60W2554/801

  Lateral distance · CPC title

• B60W50/0098

  Details of control systems ensuring comfort, safety or stability not otherwise provided for · CPC title

• G08G1/166

  for active traffic, e.g. moving vehicles, pedestrians, bikes · CPC title

• B60W2050/0075

  Automatic parameter input, automatic initialising or calibrating means · CPC title

• B60W2520/10

  Longitudinal speed · CPC title