Determination of strategy modes for autonomous vehicle operations

Patent metadata

Field	Value
Publication number	US-10870437-B2
Application number	US-201715673945-A
Country	US
Kind code	B2
Filing date	Aug 10, 2017
Priority date	Aug 10, 2017
Publication date	Dec 22, 2020
Grant date	Dec 22, 2020

Abstract

Systems and methods for determining strategy modes for autonomous vehicles are described. An autonomous vehicle may detect aspects of other vehicles and aspects of the environment using one or more sensors. The autonomous vehicle may then determine strategy modes of the other vehicles, and select a strategy mode for its own operation based on the determined strategy modes and an operational goal for the autonomous vehicle. The strategy modes may include an uncoupled strategy mode, a permissive strategy mode, an assistive strategy mode, and a preventative strategy mode. The autonomous vehicle may further determine elements in the environment and topological constraints associated with the environment, and select the strategy mode for its own operation based thereon.

First claim

What is claimed is:

1. An autonomous ground-based vehicle, comprising:
a propulsion mechanism;
a steering mechanism;
at least one imaging device; and
a control system comprising a processor and a memory, the control system configured to:
capture, using the at least one imaging device, at least one image of a second autonomous vehicle and an environment;
determine a strategy mode of the second autonomous vehicle, at least one aspect related to the environment, and at least one topological constraint associated with the environment based at least in part on the captured at least one image, wherein at least one aspect associated with the second autonomous vehicle within the at least one image indicates the strategy mode selected by the second autonomous vehicle; and
select an autonomous strategy mode from a plurality of autonomous strategy modes for the autonomous ground-based vehicle based at least in part on the determined strategy mode of the second autonomous vehicle, the determined at least one aspect related to the environment, and the determined at least one topological constraint associated with the environment, wherein the autonomous strategy mode for the autonomous ground-based vehicle comprises one of an uncoupled strategy mode, a permissive strategy mode, an assistive strategy mode, or a preventative strategy mode;
wherein each of the plurality of autonomous strategy modes comprises a respective set of available actions of the autonomous ground-based vehicle.

2. The autonomous ground-based vehicle of claim 1 , wherein the strategy mode of the second autonomous vehicle is determined based at least in part on illumination or flashing of one or more lights of the second autonomous vehicle.

3. The autonomous ground-based vehicle of claim 1 , wherein the strategy mode of the second autonomous vehicle is determined based at least in part on a visual identifier on a portion of the second autonomous vehicle.

4. The autonomous ground-based vehicle of claim 1 , wherein the strategy mode of the second autonomous vehicle is determined based at least in part on a motion of the second autonomous vehicle.

5. An autonomous vehicle, comprising:
a propulsion mechanism;
a steering mechanism;
at least one sensor; and
a control system comprising a processor and a memory, the control system configured to:
detect, using the at least one sensor, at least one aspect of a second autonomous vehicle;
determine a strategy mode of the second autonomous vehicle based at least in part on the detected at least one aspect, wherein the at least one aspect of the second autonomous vehicle indicates the strategy mode selected by the second autonomous vehicle; and
select an autonomous strategy mode from a plurality of autonomous strategy modes for the autonomous vehicle based at least in part on the determined strategy mode of the second autonomous vehicle, wherein the autonomous strategy mode for the autonomous vehicle comprises one of an uncoupled strategy mode, a permissive strategy mode, an assistive strategy mode, or a preventative strategy mode;
wherein each of the plurality of autonomous strategy modes comprises a respective set of available actions of the autonomous vehicle.

6. The autonomous vehicle of claim 5 , wherein the at least one sensor comprises an imaging sensor that captures images of at least a portion of the second autonomous vehicle.

7. The autonomous vehicle of claim 6 , wherein the at least one aspect comprises at least one of illumination or flashing of one or more lights of the second autonomous vehicle; and
wherein the strategy mode of the second autonomous vehicle is determined based at least in part on the detected at least one of illumination or flashing of the one or more lights.

8. The autonomous vehicle of claim 6 , wherein the at least one aspect comprises a visual identifier on the at least a portion of the second autonomous vehicle, the visual identifier comprising at least one of a license plate, an alphanumeric identifier, a symbol, or a color of the at least a portion of the second autonomous vehicle; and
wherein the strategy mode of the second autonomous vehicle is determined based at least in part on the detected visual identifier.

9. The autonomous vehicle of claim 6 , wherein the at least one aspect comprises a motion of the second autonomous vehicle; and
wherein the strategy mode of the second autonomous vehicle is determined based at least in part on the detected motion of the second autonomous vehicle.

10. The autonomous vehicle of claim 5 , wherein the at least one sensor comprises at least one of a signal receiver or a radiofrequency receiver to receive a signal; and
wherein the at least one aspect comprises a signal broadcast by the second autonomous vehicle that indicates the strategy mode of the second autonomous vehicle.

11. The autonomous vehicle of claim 5 , wherein the at least one aspect further indicates at least one of a time of broadcast of a signal, a position of the second autonomous vehicle, a velocity of the second autonomous vehicle, a priority associated with the second autonomous vehicle, a state of the second autonomous vehicle, capabilities of the second autonomous vehicle, an identity of the second autonomous vehicle, or a vehicle type of the second autonomous vehicle.

12. The autonomous vehicle of claim 5 , wherein the at least one sensor comprises at least one of a radar sensor or a LIDAR sensor; and
wherein the at least one aspect comprises at least one of a position, a velocity, or a vehicle type of the second autonomous vehicle.

13. The autonomous vehicle of claim 5 , wherein the control system is configured to determine the strategy mode of the second autonomous vehicle by predicting the strategy mode of the second autonomous vehicle based at least in part on the detected at least one aspect of the second autonomous vehicle.

14. The autonomous vehicle of claim 5 , wherein the control system is further configured to:
detect, using the at least one sensor, at least one aspect related to an environment;
wherein the at least one aspect related to the environment comprises an element in the environment, the element comprising at least one of a natural obstacle, a building, a weather formation, a pathway characteristic, a pedestrian, a cyclist, or an animal;
wherein the autonomous strategy mode for the autonomous vehicle is further selected based at least in part on the detected at least one aspect related to the environment.

15. The autonomous vehicle of claim 5 , wherein the control system is further configured to:
determine at least one topological constraint associated with an environment;
wherein the at least one topological constraint comprises at least one of pathway characteristics or conditions, weather conditions associated the environment, or characteristics or capabilities of the autonomous vehicle;
wherein the autonomous strategy mode for the autonomous vehicle is further selected based at least in part on the determined at least one topological constraint associated with the environment.

16. A method of operating an autonomous vehicle, comprising:
detecting, using at least one sensor, at least one aspect of a second autonomous vehicle;
determining a strategy mode of the second autonomous vehicle based at least in part on the detected at least one aspect, wherein the at least one aspect of the second autonomous vehicle indicates the strategy mode selected by the second autonomous vehicle;
selecting an autonomous strategy mode from a plurality of autonomous strategy modes for the autonomous vehicle based at

Assignees

• Amazon Tech Inc

Inventors

• Battles Jon Stuart
• Curlander James Christopher
• Felser Larry
• Kimchi Gur
• Mishra Pragyana K

Classifications

• B60W2555/20

  Ambient conditions, e.g. wind or rain · CPC title

• B60W2420/403

  Image sensing, e.g. optical camera · CPC title

• B60W30/06

  Automatic manoeuvring for parking · CPC title

• B60W60/0011 Primary

  involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles · CPC title

• B60W30/182 Primary

  Selecting between different operative modes, e.g. comfort and performance modes · CPC title