Vehicle planned path signal

Patent metadata

Field	Value
Publication number	US-11639173-B2
Application number	US-202016801212-A
Country	US
Kind code	B2
Filing date	Feb 26, 2020
Priority date	Feb 26, 2020
Publication date	May 2, 2023
Grant date	May 2, 2023

Abstract

A future location of a movable object is predicted to intersect a planned path of a host vehicle. A host vehicle component is actuated to output a signal indicating to move the movable object. Then, at least one of the movable object is determined to have moved or the planned path of the host vehicle is updated. Then, the host vehicle is operated along the planned path or the updated planned path.

First claim

What is claimed is:

1. A system, comprising:
a first computer for a host vehicle and including a processor and a memory, the memory storing first instructions executable by the processor to:
predict that a future location of a movable object in an area, and a planned path of the host vehicle from a first location to a sub-area defined within the area, will intersect;
actuate the host vehicle component to output a signal indicating to move the movable object;
upon determining a first distance along the planned path from the host vehicle to the movable object is less than or equal to a threshold distance, actuate the propulsion component to operate the host vehicle along a portion of the planned path, wherein the portion is a nudge;
then, at least one of (a) determine that the movable object has moved, or (b) update the planned path of the host vehicle; and
then, operate the host vehicle along the planned path or the updated planned path; and

a second computer for the movable object, the second computer including a second processor and a second memory, the second memory storing second instructions executable by the second processor to:
predict that the host vehicle will move along the planned path;
then, upon determining that the future location of the movable object is in a travel route designated in the area, at least one of (a) determine that the host vehicle has moved along the updated path or (b) update the future location of the movable object; and
then, operate the movable object to the future location or the updated future location.

2. The system of claim 1 , wherein the second instructions further include instructions to determine the future location of the movable object is in the travel route based on at least one of sensor data and location data.

3. The system of claim 1 , wherein the second instructions further include instructions to determine the updated future location will avoid intersecting the planned path.

4. The system of claim 1 , wherein the second instructions further include instructions to determine the updated future location based on a distance from the future location to the updated future location being within a specified distance.

5. The system of claim 1 , wherein the movable object is a vehicle.

6. The system of claim 5 , wherein the second instructions further include instructions to operate the movable object to a parking space based on moving the movable object to a threshold number of updated future locations.

7. The system of claim 1 , wherein the first instructions further include instructions to input host vehicle sensor data into a machine learning program that identifies the movable object.

8. The system of claim 1 , wherein the future location is defined in part by a path of the movable object.

9. The system of claim 1 , wherein the first instructions further include instructions to determine at least one of the movable object and the host vehicle is moving at a speed below a speed threshold.

10. The system of claim 1 , wherein the first instructions further include instructions to, upon identifying a parking space for the host vehicle, actuate a turn signal of the host vehicle.

11. The system of claim 1 , wherein the first instructions further include instructions to, upon determining a planned path into a parking space, perform a parking maneuver along the planned path.

12. The system of claim 1 , wherein the movable object is one of a vehicle or a pedestrian.

13. A method comprising:
in a host vehicle, predicting that a future location of a movable object and a planned path of the host vehicle will intersect;
actuating the host vehicle component to output a signal indicating to move the movable object, wherein the host vehicle component is at least one of a horn, exterior lights, or a propulsion component;
upon determining a distance along the planned path from the host vehicle to the movable object is less than or equal to a threshold distance, actuating the propulsion component to operate the host vehicle along a portion of the planned path, wherein the portion is a nudge;
then, at least one of (a) determining that the movable object has moved, or (b) updating the planned path of the host vehicle;
then, operating the host vehicle along the planned path or the updated planned path; and
in the movable object, predicting that the host vehicle will move along the planned path;
then, upon determining that the future location of the movable object is in a travel route designated in the area, at least one of (a) determining that the host vehicle has moved along the updated path or (b) updating the future location of the movable object; and
then, operating the movable object to the future location or the updated future location.

14. The method of claim 13 , wherein the movable object is one of a vehicle or a pedestrian.

15. The system of claim 1 , wherein the second instructions further include instructions to predict that the future location will not intersect the planned path based on a width of a path around the moveable object being greater than a width threshold.

16. The system of claim 1 , wherein the second instructions further include instructions to predict the future location based on detecting (a) the host vehicle is within a second threshold distance of the moveable object, and (b) the host vehicle speed is less than a speed threshold.

17. The system of claim 1 , wherein the host vehicle component is at least one of a horn, exterior lights, or a propulsion component.

Assignees

• Ford Global Tech Llc

Inventors

• Niewiadomski Luke
• Xu Li
• Pilutti Thomas Edward
• Golgiri Hamid M
• Kotte Jens

Classifications

• B60Q1/488 Primary

  for indicating intention to park · CPC title

• B60Q1/507

  specific to autonomous vehicles · CPC title

• B60W30/0956 Primary

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

• B60Q1/346

  with automatic actuation · CPC title

• B60Q5/006

  indicating risk of collision between vehicles or with pedestrians · CPC title