Autonomous vehicle operated with guide assistance of human driven vehicles

Patent metadata

Field	Value
Publication number	US-10990094-B2
Application number	US-201816159283-A
Country	US
Kind code	B2
Filing date	Oct 12, 2018
Priority date	May 13, 2015
Publication date	Apr 27, 2021
Grant date	Apr 27, 2021

Abstract

Sensor information is collected from human driven vehicles which are driven in a given region. From the sensor information, a road condition is detected on a road segment, where the road condition has a sufficiently high likelihood of impairing autonomous vehicles in safely navigating through the one or more road segments. Information about the one or more road segments is communicated to the one or more autonomous vehicles.

First claim

What is claimed is:

1. A method for operating a computer system to guide an autonomous vehicle, the method being implemented by one or more processors of the computer system and comprising:
receiving data indicating that a road segment has a road condition with a likelihood of impairing an autonomous vehicle navigating the road segment;
selecting a guide vehicle to guide the autonomous vehicle through at least a portion of the road segment;
communicating instructions over a network, to the guide vehicle, to travel to a location to guide the autonomous vehicle through at least the portion of the road segment; and
communicating tracking instructions over the network to cause the autonomous vehicle to track the guide vehicle.

2. The method of claim 1 , further comprising:
communicating further instructions to the autonomous vehicle to stop at the location and to wait for the guide vehicle to arrive or pass near the autonomous vehicle.

3. The method of claim 1 , further comprising:
communicating, to the guide vehicle, a route from the location that passes through the road segment.

4. The method of claim 1 , further comprising:
communicating a notification to the guide vehicle which indicates that the autonomous vehicle is or will be tracking the guide vehicle through at least the portion of the road segment.

5. The method of claim 1 , further comprising:
communicating feedback instructions to a driver of the guide vehicle to facilitate the tracking of the autonomous vehicle through at least the portion of the road segment.

6. The method of claim 5 , wherein the feedback instructions include a notification to the driver of the guide vehicle to slow down, navigate to a specified location, and/or wait at the specified location.

7. The method of claim 1 , wherein the autonomous vehicle tracks the guide vehicle through at least the portion of the road segment while operating in a guide mode in which the guide vehicle's operation is authoritative over a default set of driving rules for the autonomous vehicle.

8. The method of claim 1 , further comprising:
determining that the autonomous vehicle has completed tracking the guide vehicle through at least the portion of the road segment; and
communicating a notification to the guide vehicle that tracking is complete.

9. The method of claim 1 , wherein selecting the guide vehicle includes selecting the guide vehicle from multiple candidate vehicles based on an estimated time of arrival of each of the multiple candidate vehicles to the location.

10. The method of claim 1 , wherein selecting the guide vehicle includes selecting the guide vehicle from multiple candidate vehicles based on a comparison of planned routes of each of the multiple candidate vehicles and a planned route of the autonomous vehicle.

11. A computer system comprising:
a memory to store a set of instructions;
one or more processors to execute the set of instructions to perform operations including:
receiving data indicating that a road segment has a road condition with a likelihood of impairing an autonomous vehicle navigating the road segment;
selecting a guide vehicle to guide the autonomous vehicle through at least a portion of the road segment;
communicating instructions over a network, to the guide vehicle, to travel to a location to guide the autonomous vehicle through at least the portion of the road segment; and
communicating tracking instructions over the network to cause the autonomous vehicle to track the guide vehicle.

12. The computer system of claim 11 , wherein the one or more processors execute the set of instructions to perform further operations including:
communicating further instructions to the autonomous vehicle to stop at the location and to wait for the guide vehicle to arrive or pass near the autonomous vehicle.

13. The computer system of claim 11 , wherein the one or more processors execute the set of instructions to perform further operations including:
communicating, to the guide vehicle, a route from the location that passes through the road segment.

14. The computer system of claim 11 , wherein the one or more processors execute the set of instructions to perform further operations including:
communicating a notification to the guide vehicle which indicates that the autonomous vehicle is or will be tracking the guide vehicle through at least the portion of the road segment.

15. The computer system of claim 11 , wherein the one or more processors execute the set of instructions to perform further operations including:
communicating feedback instructions to a driver of the guide vehicle to facilitate the tracking of the autonomous vehicle through at least the portion of the road segment.

16. The computer system of claim 15 , wherein the feedback instructions include a notification to the driver of the guide vehicle to slow down, navigate to a specified location, and/or wait at the specified location.

17. The computer system of claim 11 , wherein the autonomous vehicle tracks the guide vehicle through at least the portion of the road segment while operating in a guide mode in which the guide vehicle's operation is authoritative over a default set of driving rules for the autonomous vehicle.

18. The computer system of claim 11 , wherein the one or more processors execute the set of instructions to perform further operations including:
determining that the autonomous vehicle has completed tracking the guide vehicle through at least the portion of the road segment; and
communicating a notification to the guide vehicle that tracking is complete.

19. The computer system of claim 11 , wherein selecting the guide vehicle includes selecting the guide vehicle from multiple candidate vehicles based on an estimated time of arrival of each of the multiple candidate vehicles to the location.

20. A non-transitory computer-readable medium that stores instructions, which when executed by one or more processors of a computer system, cause the one or more processors to perform operations comprising:
receiving data indicating that a road segment has a road condition with a likelihood of impairing an autonomous vehicle navigating the road segment;
selecting a guide vehicle to guide the autonomous vehicle through at least a portion of the road segment;
communicating instructions over a network, to the guide vehicle, to travel to a location to guide the autonomous vehicle through at least the portion of the road segment; and
communicating tracking instructions over the network to cause the autonomous vehicle to track the guide vehicle.

Assignees

• Uatc Llc

Inventors

• Ross William
• Bares John
• Larose David
• Sweeney Matthew

Classifications

• B60W2556/45

  External transmission of data to or from the vehicle · CPC title

• G06V20/56

  exterior to a vehicle by using sensors mounted on the vehicle · CPC title

• G08G1/0962

  having an indicator mounted inside the vehicle, e.g. giving voice messages · CPC title

• G08G1/22

  Platooning, i.e. convoy of communicating vehicles · CPC title

• G01S13/867

  Combination of radar systems with cameras · CPC title