Parking behaviors for autonomous vehicles

Patent metadata

Field	Value
Publication number	US-11048256-B2
Application number	US-201916536560-A
Country	US
Kind code	B2
Filing date	Aug 9, 2019
Priority date	Aug 9, 2019
Publication date	Jun 29, 2021
Grant date	Jun 29, 2021

Abstract

Aspects of the disclosure relate to parking behaviors and maneuvering a vehicle in an autonomous driving mode accordingly. For instance, a pullover location for the vehicle to stop and wait for a passenger may be identified. The vehicle may be maneuvered in the autonomous driving mode in order to pull over by pulling forward into the pullover location. Whether to maneuver the vehicle in reverse in the pullover location before or after the passenger enters the vehicle may be determined based on context for the pull over with respect to the passenger. The vehicle may be maneuvered in the autonomous driving mode in reverse based on the determination of whether to maneuver the vehicle in reverse in the pullover location before or after the passenger enters the vehicle.

First claim

The invention claimed is:

1. A method of maneuvering a vehicle having an autonomous driving mode, the method comprising:
identifying, by one or more processors, a pullover location for the vehicle to stop and wait for a passenger;
maneuvering, by the one or more processors, the vehicle in the autonomous driving mode in order to pull over by pulling forward into the pullover location;
determining, by the one or more processors, whether to maneuver the vehicle in reverse in the pullover location before or after the passenger enters the vehicle based on context for the pull over with respect to the passenger; and
maneuvering, by the one or more processors, the vehicle in the autonomous driving mode in reverse based on the determination of whether to maneuver the vehicle in reverse in the pullover location before or after the passenger enters the vehicle.

2. The method of claim 1 , further comprising, when maneuvering the vehicle in order to pull over by pulling forward into the pullover location, adjusting a minimum distance for the vehicle with respect to other objects in order to maneuver the vehicle within the adjusted minimum distance of another object in front of the vehicle.

3. The method of claim 1 , further comprising, determining the context by determining that a pedestrian is within a predetermined threshold distance of the pullover location, and wherein maneuvering the vehicle in reverse includes maneuvering the vehicle in reverse after the passenger enters the vehicle.

4. The method of claim 1 , further comprising, determining the context by determining that no pedestrian is within a predetermined threshold distance of the pullover location, and wherein maneuvering the vehicle in reverse includes maneuvering the vehicle in reverse before the passenger enters the vehicle.

5. The method of claim 1 , further comprising:
determining the context by determining an expected amount of time for the passenger to reach the vehicle once the vehicle is ready to be maneuvered in reverse in the pullover location; and
comparing the expected amount of time to a threshold value, and wherein the determination of whether to maneuver the vehicle in reverse in the pullover location before or after the passenger enters the vehicle is further based on the comparison.

6. The method of claim 5 , wherein maneuvering the vehicle in reverse includes maneuvering the vehicle in reverse before the passenger enters the vehicle when the comparison indicates that the expected amount of time is greater than the threshold value.

7. The method of claim 5 , wherein maneuvering the vehicle in reverse includes maneuvering the vehicle in reverse after the passenger enters the vehicle when the comparison indicates that the expected amount of time is less than the threshold value.

8. The method of claim 5 , wherein the determining the expected amount of time is based on location information for a client computing device associated with the passenger.

9. The method of claim 8 , wherein determining the expected amount of time is further based on a predetermined walking speed for pedestrians.

10. The method of claim 5 , wherein the determining the expected amount of time is based on historical data indicating how long it has taken the passenger to reach one or more vehicles for a pick up in the past.

11. The method of claim 5 , wherein the determining the expected amount of time is based on historical data indicating an expected amount of time for passengers to reach one or more vehicles for a pick up.

12. The method of claim 5 , wherein the determining the expected amount of time is based on historical data indicating an expected amount of time for passengers to reach one or more vehicles for a pick up at a predetermined time of day.

13. The method of claim 5 , wherein the determining the expected amount of time is based on historical data indicating an expected amount of time for passengers to reach one or more vehicles for a pick up on a predetermined day of the week.

14. The method of claim 5 , wherein the determining the expected amount of time is based on historical data indicating an expected amount of time for passengers to reach one or more vehicles for a pick up at the pullover location.

15. The method of claim 5 , wherein the determining the expected amount of time is based on historical data indicating an expected amount of time for passengers to reach one or more vehicles for a pick up at a geographic region including the pullover location and one or more additional pullover locations.

16. The method of claim 1 , further comprising, determining the context by determining that a pedestrian who is making progress towards the vehicle is within a predetermined distance of the pullover location, and wherein maneuvering the vehicle in reverse includes maneuvering the vehicle in reverse after the passenger enters the vehicle.

17. The method of claim 1 , further comprising, determining the context by determining that no pedestrian who is making progress towards the vehicle is within a predetermined distance of the pullover location, and wherein maneuvering the vehicle in reverse includes maneuvering the vehicle in reverse after the passenger enters the vehicle.

18. The method of claim 1 , further comprising, determining the context by determining that a communication link has been established between one or more computing devices of the vehicle and a client computing device associated with the passenger, and wherein maneuvering the vehicle in reverse includes maneuvering the vehicle in reverse after the passenger enters the vehicle.

19. The method of claim 1 , further comprising, determining the context by determining that no communication link has been established between one or more computing devices of the vehicle and a client computing device associated with the passenger, and wherein maneuvering the vehicle in reverse includes maneuvering the vehicle in reverse before the passenger enters the vehicle.

20. The method of claim 1 , further comprising, determining the context by determining that location information for a client computing device associated with the passenger is within a predetermined threshold distance of the vehicle, and wherein maneuvering the vehicle in reverse includes maneuvering the vehicle in reverse after the passenger enters the vehicle.

21. The method of claim 1 , further comprising, determining the context by determining that location information for a client computing device associated with the passenger is not within a predetermined threshold distance of the vehicle, and wherein maneuvering the vehicle in reverse includes maneuvering the vehicle in reverse before the passenger enters the vehicle.

22. The method of claim 1 , wherein maneuvering the vehicle in reverse includes maneuvering the vehicle in reverse before the passenger enters the vehicle, and the method further comprises providing a notification to indicate to the passenger that the passenger should wait for the vehicle to complete a reversing maneuver before attempting entering the vehicle.

Assignees

• Waymo Llc

Inventors

• Dyer John Wesley
• Epstein Michael
• Pervyshev Konstantin
• Pedersen Jonathan Lee
• Pandit Salil

Classifications

• B62D15/0285

  Parking performed automatically · CPC title

• B60W2556/10

  Historical data · CPC title

• B60W2050/0075

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

• B60W60/0025 Primary

  specially adapted for specific operations · CPC title

• G05D1/021

  specially adapted to land vehicles · CPC title