Extension to safety protocols for autonomous vehicle operation

Patent metadata

Field	Value
Publication number	US-11685371-B2
Application number	US-202017032804-A
Country	US
Kind code	B2
Filing date	Sep 25, 2020
Priority date	Mar 29, 2019
Publication date	Jun 27, 2023
Grant date	Jun 27, 2023

Abstract

Various systems and methods for controlling a vehicle using driving policies are described herein. A system for controlling a vehicle using driving policies includes a memory device; and a processor subsystem to access instructions on the memory device that cause the processor subsystem to: operate a host vehicle using a driving policy from a policy repository, the host vehicle operating in a lane on a first road, the driving policy governed by a safety model; detect a second vehicle, the second vehicle operating in a second lane; determine whether the second vehicle is an oncoming vehicle or an intersecting vehicle, the oncoming vehicle operating on the first road with the first and second lanes in adjacent bidirectional arrangement, and the intersecting vehicle operating on a second road that intersects the first road; and initiate a vehicle maneuver of the host vehicle to reduce or avoid a collision with the second vehicle, based on the safety model, the vehicle maneuver performed based on whether the second vehicle is an oncoming vehicle or an intersecting vehicle.

First claim

What is claimed is:

1. An automated driving system for a host vehicle, the system comprising:
an interface to obtain sensing data of an environment in a vicinity of the host vehicle, the sensing data captured from at least one sensor device of the host vehicle; and
at least one processing device configured to:
determine a planned navigational action associated with operation of the host vehicle on a roadway;
identify, from the sensing data, a second vehicle in the environment of the host vehicle, the second vehicle identified as an oncoming vehicle on the roadway;
identify, from the sensing data, a position of the oncoming vehicle on the roadway, the oncoming vehicle operating in an incorrect lane of the roadway;
calculate, based on the position of the oncoming vehicle on the roadway, a. longitudinal distance and a lateral distance between the host vehicle and the oncoming vehicle for the planned navigational action;
determine whether the calculated longitudinal distance between vehicles for the planned navigational action is less than a minimum safe longitudinal distance and the calculated lateral distance between vehicles for the planned navigational action is less than a minimum safe lateral distance based on:
a forward acceleration of the host vehicle and a forward acceleration of the oncoming vehicle during a predicted response time in which the host vehicle and the oncoming vehicle are predicted to initiate braking, and
a braking acceleration of the host vehicle and a braking acceleration of the oncoming vehicle during a predicted braking time in which the host vehicle and the oncoming vehicle are predicted to apply the braking, wherein the predicted braking time follows the predicted response time;
identify a dangerous situation of the planned navigational action, based on determining that the calculated longitudinal distance between vehicles is less than the minimum sate longitudinal distance and the calculated lateral distance between vehicles is less than the minimum safe lateral distance; and
cause an evasive maneuver of the host vehicle to avoid a collision, in response to the identification of the dangerous situation, the evasive maneuver including deceleration of the host vehicle and a change in a lateral position on the roadway.

2. The system of claim 1 , wherein the host vehicle and the oncoming vehicle are operated on at least a portion of the roadway that is a bidirectional single lane road.

3. The system of claim I, wherein the host vehicle is operated in a first lane of the roadway and the oncoming vehicle is operated in a second lane of the roadway, the first lane located next to the second lane.

4. The system of claim I, wherein the longitudinal distance is calculated based on the forward acceleration of the host vehicle using a maximum forward acceleration value defined for the host vehicle b a manufacturer of the host vehicle.

5. The system of claim 4 , wherein the longitudinal distance is further calculated with the braking acceleration of the host vehicle and the braking acceleration of the oncoming vehicle having at least minimum braking acceleration values defined by a respective manufacturer for each vehicle.

6. The system of claim I, wherein the forward acceleration for each vehicle evaluated during the predicted response time is bounded by a speed limit governing the roadway.

7. The system of claim 1 , wherein the longitudinal distance is further based on current speeds of the host vehicle and the oncoming vehicle.

8. The system of claim 7 , wherein the current speed of the oncoming vehicle is determined from output from at least one of a LI DAR system or a RADAR system of the host vehicle.

9. The system of claim 1 ; wherein the at least one sensor device includes a camera, and wherein the sensing data includes at least one image captured from the camera.

10. At least one non-transitory machine-readable storage medium comprising instructions stored thereupon, which when executed by a processor of a driver assist navigation system of a host vehicle, cause the processor to perform operations comprising:
obtaining sensing data of an environment in a vicinity of the host vehicle, the sensing data captured from at least one sensor device of the host vehicle; determining a planned navigational action associated with operation of the host vehicle on a roadway;
identifying, from the sensing data, a second vehicle in the environment of the host vehicle, the second vehicle identified as an oncoming vehicle on the roadway;
identifying, from the sensing data, a position of the oncoming vehicle on the roadway, the oncoming vehicle operating in an incorrect lane of the roadway;
calculating, based on the position of the oncoming vehicle on the roadway, a longitudinal distance and a lateral distance between the host vehicle and the oncoming vehicle for the planned navigational action;
determine whether the calculated longitudinal distance between vehicles for the planned navigational action is less than a minimum safe longitudinal distance and the calculated lateral distance between vehicles for the planned navigational action is less than a minimum safe lateral distance based on:
a forward acceleration of the host vehicle and a forward acceleration of the oncoming vehicle during a predicted response time in which the host vehicle and the oncoming vehicle are predicted to initiate braking, and
a braking acceleration of the host vehicle and a braking acceleration of the oncoming vehicle during a predicted braking time in which the host, vehicle and the oncoming vehicle are predicted to apply the braking, wherein the predicted braking time follows the predicted response time;

identifying a dangerous situation of the planned navigational action, based on determining that the calculated longitudinal distance between vehicles being is less than the minimum sake longitudinal distance and the calculated lateral distance between vehicles is less than all the minimum safe lateral distance: and
causing an evasive maneuver of the host vehicle to avoid a collision, in response to the identification of the dangerous situation, the evasive maneuver including deceleration of the host vehicle and a change in a lateral position on the roadway.

11. The machine-readable storage medium of claim 10 , wherein the host vehicle and the oncoming vehicle are operated on at least a portion of the roadway that is a bidirectional single lane road.

12. The machine-readable storage medium of claim 10 , wherein the host vehicle is operated in a first lane of the roadway and the oncoming vehicle is operated in a second lane of the roadway, the first lane located next to the second lane.

13. The machine-readable storage medium of claim 10 , wherein the longitudinal distance is calculated based on the forward acceleration of the host vehicle using a maximum forward acceleration value defined for the host vehicle by a manufacturer of the host vehicle.

14. The machine-readable storage medium of claim 13 , wherein the longitudinal distance is further calculated with the braking acceleration of the host vehicle and the braking acceleration of the oncoming vehicle having at least minimum braking acceleration values defined by a respective manufacturer for each vehicle.

15. The machine-readable storage medium of claim 10 , wherein the forward acceleration for each vehicle evaluated during the predicted response time is bounded by a speed limit governing the roadway.

16. The machine-readable storage medium of claim 10 , wherein the longitudinal distance is further based on current speeds of the host vehicle an

Assignees

• Mobileye Vision Technologies Ltd

Inventors

• Buerkle Cornelius
• Gassmann Bernd
• Oboril Fabian

Classifications

• G06V20/584

  of vehicle lights or traffic lights · CPC title

• G06V20/588

  Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road · CPC title

• B60W30/09 Primary

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

• B60W30/146

  Speed limiting · CPC title

• B60W2555/60

  Traffic rules, e.g. speed limits or right of way · CPC title