Autonomous vehicle system for determining a pullover spot in response to detected local failure

Patent metadata

Field	Value
Publication number	US-11878703-B2
Application number	US-202117532547-A
Country	US
Kind code	B2
Filing date	Nov 22, 2021
Priority date	Sep 24, 2018
Publication date	Jan 23, 2024
Grant date	Jan 23, 2024

Abstract

A method for determining a pullover spot for a vehicle is described. The method includes using a computing device to detect information related to a system of the vehicle or an environment surrounding the vehicle using a sensor of a vehicle and determine a local failure of the vehicle based on the information. The computing device may then be used to determine that the vehicle should pullover before completing a current trip related to transporting a passenger or good by comparing vehicle requirements for the trip with the local failure and determine a pullover spot by identifying a first area for the vehicle to park in part based on a second area being available for a second vehicle to pick up the passenger or good. The computing device may operate the vehicle to the pullover spot and transmit a request for a second vehicle.

First claim

The invention claimed is:

1. A method comprising:
receiving, by one or more computing devices, information related to a status of one or more systems of a first vehicle;
determining, by the one or more computing devices based on the received information, that a local failure at the first vehicle has occurred during a current trip for transporting one or more passengers; and
in response to determining that the local failure at the first vehicle has occurred during the current trip:
determining, by the one or more computing devices, three areas to facilitate a transfer of the one or more passengers from the first vehicle to a second vehicle, the three areas including: (1) a first area of the three areas for the first vehicle to park, (2) a second area of the three areas for the second vehicle to park and pick up the one or more passengers, and (3) a third area of the three areas adjacent to the first area for the one or more passengers to disembark from the first vehicle that is within a first predetermined distance from a sidewalk or a road shoulder and is within a second predetermined distance from the second area;
transmitting first instructions by the one or more computing devices, to the first vehicle, the first instructions causing the first vehicle to park in the first area;
transmitting, by the one or more computing devices, a request for the second vehicle to park in the second area;
determining, by the one or more computing devices, that the one or more passengers have transferred from the first vehicle parked in the first area to the second vehicle parked in the second area; and
in response to the determining that that the one or more passengers have transferred from the first vehicle to the second vehicle, transmitting second instructions, by the one or more computing devices, to the first vehicle, the second instructions causing the first vehicle to travel to a fallback location based on the local failure.

2. The method of claim 1 , wherein determining that the local failure at the first vehicle has occurred during the current trip includes comparing the received information with one or more set thresholds.

3. The method of claim 1 , further comprising:
comparing, by the one or more computing devices, vehicle requirements for the current trip with the local failure, wherein the vehicle requirements are based on characteristics of roadways for the current trip and planned maneuvers for the first vehicle during the current trip.

4. The method of claim 1 , wherein the first area is within a maximum distance from a current location of the first vehicle.

5. The method of claim 1 , wherein the first area is reachable by the first vehicle within a maximum amount of time from when the local failure is detected.

6. The method of claim 1 , further comprising:
when a wait time for the second vehicle is known and exceeds a maximum wait time threshold, determining that the second area is within a maximum distance from one or more facilities for the one or more passengers.

7. The method of claim 1 , wherein transmitting the request for the second vehicle includes transmitting information related to the second area.

8. The method of claim 1 , wherein the determining, by the one or more computing devices, that the one or more passengers have transferred from the first vehicle to the second vehicle further includes receiving, by the one or more computing devices, an indication that the transfer of the one or more passengers has been completed.

9. The method of claim 1 , wherein the determining, by the one or more computing devices, that the one or more passengers have transferred from the first vehicle to the second vehicle further includes detecting, by the one or more computing devices, that the one or more passengers are located in the second vehicle.

10. A first vehicle capable of operating autonomously, the first vehicle comprising:
one or more sensors configured to detect a status of one or more systems of the first vehicle; and
one or more processors configured to:
receive information from the one or more sensors;
determine, based on the received information, that a local failure at the first vehicle has occurred during a current trip for transporting one or more passengers; and
in response to determining that the local failure at the first vehicle has occurred during the current trip:
determine three areas to facilitate a transfer of the one or more passengers from the first vehicle to a second vehicle, the three areas including: (1) a first area of the three areas for the first vehicle to park, (2) a second area of the three areas for the second vehicle to park and pick up the one or more passengers, and (3) a third area of the three areas adjacent to the first area for the one or more passengers to disembark from the first vehicle that is within a first predetermined distance from a sidewalk or a road shoulder and is within a second predetermined distance from the second area;
determine that the one or more passengers have transferred from the first vehicle parked in the first area to the second vehicle parked in the second area; and
in response to the determination that that the one or more passengers have transferred from the first vehicle to the second vehicle, operate the first vehicle to travel to a fallback location based on the local failure.

11. A method comprising:
determining, by one or more computing devices, three areas to facilitate a transfer of one or more passengers from a first vehicle to a second vehicle when a local failure at the first vehicle has occurred during a current trip, the three areas including: (1) a first area of the three areas for the first vehicle to park, (2) a second area of the three areas for the second vehicle to park and pick up the one or more passengers, and (3) a third area of the three areas adjacent to the first area for the one or more passengers to disembark from the first vehicle that is within a first predetermined distance from a sidewalk or a road shoulder and is within a second predetermined distance from the second area;
in response to determining the three areas:
transmitting first instructions by the one or more computing devices, to the first vehicle, the first instructions causing the first vehicle to park in the first area;
transmitting, by the one or more computing devices, a request for the second vehicle to park in the second area;
determining, by the one or more computing devices, that the one or more passengers have transferred from the first vehicle parked in the first area to the second vehicle parked in the second area; and
in response to the determining that that the one or more passengers have transferred from the first vehicle to the second vehicle, transmitting second instructions, by the one or more computing devices, to the first vehicle, the second instructions causing the first vehicle to travel to a fallback location based on the local failure.

12. The method of claim 11 , further comprising:
receiving, by the one or more computing devices, information related to a status of one or more systems of the first vehicle; and
determining, by the one or more computing devices based on the received information, that the local failure at the first vehicle has occurred during the current trip.

13. The method of claim 12 , wherein determining that the local failure has occurred during the current trip includes comparing the received information with one or more set thresholds.

14. The method of claim 12 , further comprising:
comparing, by the one or more computing devices, vehicle requirements for the current trip with the local failure, w

Assignees

• Waymo Llc

Inventors

• Chi Emily
• Andrade Ryan Joseph

Classifications

• B60W50/029 Primary

  Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts · CPC title

• B60W60/0024

  with mediation between passenger and vehicle requirements, e.g. decision between dropping off a passenger or urgent vehicle service · CPC title

• B60W60/00253

  Taxi operations · CPC title

• B60W60/00256

  Delivery operations · CPC title

• G05D1/0072

  to counteract a motor failure · CPC title