Systems and methods for responding to a vehicle parked on shoulder of the road

Patent metadata

Field	Value
Publication number	US-10916134-B2
Application number	US-201816226983-A
Country	US
Kind code	B2
Filing date	Dec 20, 2018
Priority date	Dec 20, 2018
Publication date	Feb 9, 2021
Grant date	Feb 9, 2021

Abstract

System, methods, and other embodiments described herein relate to dynamically determining an appropriate responsive action for a moving vehicle that encounters a roadside pedestrian and stationary vehicle. In one embodiment the disclosed system identifies a stationary vehicle in an environment of a subject vehicle based at least in part on information from a plurality of sensors disposed on the subject vehicle and determines a classification for the stationary vehicle as valid or abandoned based at least in part on the information from the plurality of sensors. A classification of valid indicates that the subject vehicle is recommended to undertake an action relative to the stationary vehicle. The disclosed generates a score based at least in part on the classification, the score indicating a recommended trajectory modification for the subject vehicle, and modifies a trajectory of the subject vehicle based on score.

First claim

What is claimed is:

1. A vehicle control system for a subject vehicle, comprising:
a plurality of sensors that output information describing an environment around the subject vehicle;
a global positioning system that determines a location of the subject vehicle;
one or more processors; and
a memory communicably connected to the one or more processors and storing:
an identification module including one or more instructions that, when executed by the one or more processors, cause the one or more processors to:
i) identify a stationary vehicle in the environment based at least in part on the information from the plurality of sensors,
ii) determine whether a pedestrian is within a threshold proximity of the stationary vehicle, and
iii) determine a classification for the stationary vehicle as being valid or abandoned based at least in part on whether the pedestrian is within the threshold proximity of the stationary vehicle,
wherein the classification of valid indicates that the subject vehicle is recommended to undertake an action relative to the stationary vehicle;

an analysis module including one or more instructions that, when executed by the one or more processors, cause the one or more processors to determine a score based at least in part on the classification of the stationary vehicle, the score indicating a recommended trajectory modification for the subject vehicle; and
a drive control module including one or more instructions that, when executed by the one or more processors, cause the one or more processors to modify a trajectory of the subject vehicle based at least in part on the score.

2. The vehicle control system of claim 1 , wherein the identification module includes instructions to process at least some of the information from the plurality of sensors to determine a lateral distance between the pedestrian and the stationary vehicle, and wherein the identification module further includes instructions that determine the classification of the stationary vehicle as valid or abandoned based at least in part on the lateral distance.

3. The vehicle control system of claim 1 , wherein the analysis module includes instructions to determine the score based on a plurality of weighted factors including one or more of: a lateral distance of the pedestrian from a side of a road, a posture position of the pedestrian, a presence of multiple other pedestrians, a lateral distance of the stationary vehicle from the side of the road, a time of day, a weather condition, or a road condition.

4. The vehicle control system of claim 1 , wherein the analysis module includes instructions to: i) process at least some of the information from the plurality of sensors to determine a side of the stationary vehicle the pedestrian is located on, and ii) adjust the score according to the side of the stationary vehicle the pedestrian is located.

5. The vehicle control system of claim 1 , wherein the analysis module includes instructions to: i) process at least some of the information from the plurality of sensors to determine whether a guardrail is disposed between the pedestrian and the subject vehicle, and ii) adjust the score based on a presence or absence of the guardrail.

6. The vehicle control system of claim 1 , further comprising a notification module including one or more instructions that, when executed by the one or more processors, cause the one or more processors to provide a notification to a user of the vehicle, the notification indicating at least the classification of the stationary vehicle.

7. The vehicle control system of claim 6 , wherein, the notification module includes instructions to indicate in the notification that the trajectory of the subject vehicle will be modified.

8. The vehicle control system of claim 1 , further comprising a vehicle-to-everything (V2X) device to receive a communication from the stationary vehicle indicating that the stationary vehicle is valid, and the identification module includes instructions to determine the classification of the stationary vehicle based at least in part on the communication.

9. The vehicle control system of claim 1 , further comprising a network interface that wirelessly communicates with one or more external systems, and the identification module includes instructions to:
request identification of the classification of the stationary vehicle from the one or more external systems via the network interface; and
determine the classification of the stationary vehicle based at least in part on a response to the request received via the network interface,
wherein the one or more external systems are separate from and external to the subject vehicle.

10. The vehicle control system of claim 1 , further comprising a network interface that wirelessly communicates with one or more external systems, and the identification module includes instructions to transmit data indicating the classification of the stationary vehicle to an external system via the network interface, wherein the one or more external systems are separate from and external to the subject vehicle.

11. A non-transitory computer-readable medium storing instructions for controlling a subject vehicle and that when executed by one or more processors cause the one or more processors to:
identify a stationary vehicle in an environment of the subject vehicle based at least in part on information from a plurality of sensors disposed on the subject vehicle;
determine a classification for the stationary vehicle as valid or abandoned based at least in part on a presence of a pedestrian near the stationary vehicle, wherein the classification of valid indicates that the subject vehicle is recommended to undertake an action relative to the stationary vehicle;
determine a score based at least in part on the classification of the stationary vehicle, the score indicating a recommended trajectory modification; and
modify a trajectory of the subject vehicle based at least in part on the score.

12. The non-transitory computer-readable medium of claim 11 , wherein the instructions to determine the classification of the stationary vehicle include instructions to:
process at least some of the information from the plurality of sensors to detect a presence of a pedestrian in a vicinity of the stationary vehicle;
determine a lateral distance between the pedestrian and the stationary vehicle; and
determine the classification of the stationary vehicle as valid or abandoned based at least in part on the lateral distance between the pedestrian and the stationary vehicle.

13. The non-transitory computer-readable medium of claim 11 , wherein the instructions to determine the score include instructions to determine the score based on a plurality of weighted factors including one or more of: a lateral distance of the pedestrian from a side of a road, a posture position of the pedestrian, a presence of multiple other pedestrians, a lateral distance of the stationary vehicle from the side of the road, a time of day, a weather condition, or a road condition.

14. The non-transitory computer-readable medium of claim 11 , wherein the instructions to determine the score include instructions to: i) process at least some of the information from the plurality of sensors to determine a side of the stationary vehicle the pedestrian is located on, and ii) adjust the score according to the side of the stationary vehicle the pedestrian is located.

15. The non-transitory computer-readable medium of claim 11 , wherein the instructions to determine the score include instructions to: i) process at least some of the information from the plurality of

Assignees

• Denso Int America Inc

Inventors

• Gesch Matthew
• Kurumisawa Jin

Classifications

• B60Q9/00

  Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00 {, e.g. haptic signalling} · CPC title

• B60W2554/4049

  Relationship among other objects, e.g. converging dynamic objects · CPC title

• B60W2552/50

  Barriers · CPC title

• G08G1/096725 Primary

  where the received information generates an automatic action on the vehicle control · CPC title

• B60W60/0017

  of other traffic participants · CPC title