Systems and methods for controlling an autonomous vehicle

Patent metadata

Field	Value
Publication number	US-11851084-B2
Application number	US-202117232524-A
Country	US
Kind code	B2
Filing date	Apr 16, 2021
Priority date	Apr 16, 2021
Publication date	Dec 26, 2023
Grant date	Dec 26, 2023

Abstract

Systems and methods for controlling an autonomous vehicle are disclosed herein. One embodiment determines a reference path for the autonomous vehicle along a roadway segment and steers the autonomous vehicle along a path that includes controlled back and forth lateral deviations from the reference path along the roadway segment to provide feedback to an occupant of the autonomous vehicle, the feedback indicating to the occupant that the autonomous vehicle is in an autonomous driving mode and that the autonomous driving mode is operating correctly.

First claim

What is claimed is:

1. A system for controlling an autonomous vehicle, the system comprising:
one or more processors; and
a memory communicably coupled to the one or more processors and storing:
a path-planning module including instructions that when executed by the one or more processors cause the one or more processors to determine a reference path for the autonomous vehicle along a roadway segment; and
a feedback-generation module including instructions that when executed by the one or more processors cause the one or more processors to steer the autonomous vehicle along a path that includes controlled back and forth lateral deviations from the reference path along the roadway segment to provide feedback to an occupant of the autonomous vehicle, the feedback indicating to the occupant that the autonomous vehicle is in an autonomous driving mode and that the autonomous driving mode is operating correctly, wherein the controlled back and forth lateral deviations are larger when the roadway segment is straight than when the roadway segment is curved.

2. The system of claim 1 , wherein the feedback-generation module includes instructions to select the controlled back and forth lateral deviations, at least in part, to avoid a roadway obstacle.

3. The system of claim 1 , wherein the feedback-generation module includes instructions to derive the controlled back and forth lateral deviations from observed driving patterns of a particular human driver.

4. The system of claim 1 , wherein the feedback-generation module includes instructions to select a direction in which the controlled back and forth lateral deviations are initiated that avoids bringing the autonomous vehicle into closer proximity with a detected object in a region adjacent to a lane in which the autonomous vehicle is traveling.

5. The system of claim 1 , wherein the feedback-generation module includes instructions to vary randomly within predetermined limits a frequency of occurrence of the controlled back and forth lateral deviations.

6. The system of claim 1 , wherein the feedback-generation module includes instructions to perform one of:
coupling a steering wheel of the autonomous vehicle to move in accordance with the controlled back and forth lateral deviations; and
decoupling the steering wheel from the controlled back and forth lateral deviations.

7. The system of claim 1 , wherein the feedback-generation module includes instructions to enable a user to configure a frequency and a magnitude of the controlled back and forth lateral deviations within predetermined limits.

8. The system of claim 1 , wherein the feedback-generation module includes further instructions to combine controlled variations in a speed of the autonomous vehicle with the controlled back and forth lateral deviations.

9. A non-transitory computer-readable medium for controlling an autonomous vehicle and storing instructions that when executed by one or more processors cause the one or more processors to:
determine a reference path for the autonomous vehicle along a roadway segment; and
steer the autonomous vehicle along a path that includes controlled back and forth lateral deviations from the reference path along the roadway segment to provide feedback to an occupant of the autonomous vehicle, the feedback indicating to the occupant that the autonomous vehicle is in an autonomous driving mode and that the autonomous driving mode is operating correctly, wherein the controlled back and forth lateral deviations are larger when the roadway segment is straight than when the roadway segment is curved.

10. A method of controlling an autonomous vehicle, the method comprising:
determining a reference path for the autonomous vehicle along a roadway segment; and
steering the autonomous vehicle along a path that includes controlled back and forth lateral deviations from the reference path along the roadway segment to provide feedback to an occupant of the autonomous vehicle, the feedback indicating to the occupant that the autonomous vehicle is in an autonomous driving mode and that the autonomous driving mode is operating correctly, wherein the controlled back and forth lateral deviations are larger when the roadway segment is straight than when the roadway segment is curved.

11. The method of claim 10 , wherein the controlled back and forth lateral deviations are selected, at least in part, to avoid a roadway obstacle.

12. The method of claim 10 , wherein the controlled back and forth lateral deviations are derived from observed driving patterns of a particular human driver.

13. The method of claim 10 , wherein a direction in which the controlled back and forth lateral deviations are initiated is selected that avoids bringing the autonomous vehicle into closer proximity with a detected object in a region adjacent to a lane in which the autonomous vehicle is traveling.

14. The method of claim 10 , wherein a frequency of occurrence of the controlled back and forth lateral deviations is varied randomly within predetermined limits.

15. The method of claim 10 , wherein a steering wheel of the autonomous vehicle is one of coupled to move in accordance with the controlled back and forth lateral deviations and decoupled from the controlled back and forth lateral deviations.

16. The method of claim 10 , wherein a user can configure a frequency and a magnitude of the controlled back and forth lateral deviations within predetermined limits.

17. The method of claim 10 , further comprising combining controlled variations in a speed of the autonomous vehicle with the controlled back and forth lateral deviations.

Assignees

• Toyota Res Inst Inc

Inventors

• Kuehner Manuel Ludwig
• Brooks Daniel J
• Yasuda Hiroshi
• Camhi Jaime

Classifications

• B60W60/001 Primary

  Planning or execution of driving tasks · CPC title

• B60W10/20

  including control of steering systems · CPC title

• B60W30/09

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

• B60W30/0956

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

• B60W30/10

  Path keeping {(cruise control for automatically following a preceding vehicle B60W30/165)} · CPC title