Systems and methods for trajectory based safekeeping of vehicles

Patent metadata

Field	Value
Publication number	US-11167754-B2
Application number	US-201916547712-A
Country	US
Kind code	B2
Filing date	Aug 22, 2019
Priority date	Aug 22, 2019
Publication date	Nov 9, 2021
Grant date	Nov 9, 2021

Abstract

Systems and methods for operating a vehicle. The methods comprise: generating, by a computing device, a vehicle trajectory for the vehicle that is in motion; detecting an object within a given distance from the vehicle; generating, by the computing device, at least one possible object trajectory for the object which was detected; using, by the computing device, the vehicle trajectory and the at least one possible object trajectory to determine whether there is an undesirable level of risk that a collision will occur between the vehicle and the object; modifying, by the computing device, the vehicle trajectory when a determination is made that there is an undesirable level of risk that the collision will occur; and automatically causing the vehicle to move according to the modified vehicle trajectory.

First claim

What is claimed is:

1. A method for operating a vehicle, comprising:
generating, by a computing device, a vehicle trajectory for a vehicle that is in motion;
detecting an object within a given distance from the vehicle;
generating, by the computing device, first and second possible object trajectories for the object which was detected;
selecting, by the computing device, a possible object trajectory from the first and second possible object trajectories which provides a worst-case collision scenario for the vehicle and the object which was detected;
modifying, by the computing device, the vehicle trajectory when the worst-case collision scenario indicates that there is at least a threshold probability that a collision will occur between the vehicle and the object; and
automatically causing the vehicle to move according to the modified vehicle trajectory.

2. The method according to claim 1 , wherein the at least one possible object trajectory comprises
a trajectory defined by the object's actual speed and actual direction of travel,
a trajectory defined by the object's actual speed and another possible direction of travel for the object,
a trajectory defined by another possible speed for the object and the object's actual direction of travel, or
a trajectory defined by the another possible speed for the object and the another possible direction of travel for the object.

3. The method according to claim 2 , further comprising classifying the object into a class of a plurality of pre-defined classes.

4. The method according to claim 3 , wherein the another possible speed for the object and the another possible direction of travel for the object are predefined for the class into which the object was classified.

5. The method according to claim 1 , wherein a plurality of possible object trajectories are generated by the computing device for the object that was detected.

6. The method according to claim 1 , wherein the threshold probability that a collision will occur is met when the vehicle trajectory and the possible object trajectory intersect each other.

7. The method according to claim 1 , further comprising comparing a collision time to a threshold time value.

8. The method according to claim 6 , wherein the threshold probability that a collision will occur is met when the collision time is equal to or less than the threshold time value.

9. A system, comprising:
a processor;
a non-transitory computer-readable storage medium comprising programming instructions that are configured to cause the processor to implement a method for operating a vehicle, wherein the programming instructions comprise instructions to:
generate a vehicle trajectory for the vehicle that is in motion;
detect an object within a given distance from the vehicle;
generate first and second possible object trajectories for the object which was detected;
select a possible object trajectory from the first and second possible object trajectories which provides a worst-case collision scenario for the vehicle and the object which was detected;
modifying the vehicle trajectory when the worst-case collision scenario indicates that there is at least a threshold probability that the collision will occur between the vehicle and the object which was detected; and
automatically causing the vehicle to move according to the modified vehicle trajectory.

10. The system according to claim 9 , wherein the at least one possible object trajectory comprises
a trajectory defined by the object's actual speed and actual direction of travel,
a trajectory defined by the object's actual speed and another possible direction of travel for the object,
a trajectory defined by another possible speed for the object and the object's actual direction of travel, or
a trajectory defined by the another possible speed for the object and the another possible direction of travel for the object.

11. The system according to claim 10 , further comprising classifying the object into a class of a plurality of pre-defined classes.

12. The system according to claim 11 , wherein the another possible speed for the object and the another possible direction of travel for the object are predefined for the class into which the object was classified.

13. The system according to claim 9 , wherein the threshold probability that a collision will occur is met when the vehicle trajectory and the at least one possible object trajectory intersect each other during a given period of time.

14. The system according to claim 9 , wherein the threshold probability that a collision will occur is met when a collision time is equal to or less than a threshold time value.

15. A computer program product comprising a memory and programming instructions that are configured to cause a processor to:
generate a vehicle trajectory for the vehicle that is in motion;
detect an object within a given distance from the vehicle;
generate first and second possible object trajectories for the object which was detected;
select a possible object trajectory from the first and second possible object trajectories which provides a worst-case collision scenario for the vehicle and the object which was detected;
modify the vehicle trajectory when the worst-case collision scenario indicates that there is at least a threshold probability that the collision will occur between the vehicle and the object which was detected; and
automatically cause the vehicle to move according to the modified vehicle trajectory.

16. The computer program product according to claim 15 , wherein the programming instructions are further configured to cause the processor to classify the object into a class of a plurality of pre-defined classes.

17. The computer program product according to claim 15 , wherein at least one possible speed for the object and at least one possible direction of travel for the object are predefined for the class into which the object was classified, and the first or second possible object trajectories is generated using the at least one possible speed for the object and the at least one possible direction of travel for the object.

18. The computer program product according to claim 15 , wherein the threshold probability that a collision will occur is met when the vehicle trajectory and the possible object trajectory intersect each other.

19. The computer program product according to claim 15 , wherein the programming instructions are further configured to cause the processor to compare a collision time to a threshold time value.

20. The computer program product according to claim 15 , wherein the threshold probability that a collision will occur is met when the collision time is equal to or less than the threshold time value.

Assignees

• Argo Ai Llc

Inventors

• Costa Albert
• Ollis Mark
• Petroff Thomas
• Browning Brett

Classifications

• B60W30/09 Primary

  Taking automatic action to avoid collision, e.g. braking and steering · CPC title

• B60W2554/00

  Input parameters relating to objects · CPC title

• B60W2554/804

  Relative longitudinal speed · CPC title

• B60W30/0956 Primary

  the prediction being responsive to traffic or environmental parameters · CPC title

• G05D1/0214

  in accordance with safety or protection criteria, e.g. avoiding hazardous areas (monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13) · CPC title