System, method, and computer-readable medium for an autonomous vehicle to pass a bicycle

Patent metadata

Field	Value
Publication number	US-11940798-B2
Application number	US-201816029270-A
Country	US
Kind code	B2
Filing date	Jul 6, 2018
Priority date	Jul 6, 2018
Publication date	Mar 26, 2024
Grant date	Mar 26, 2024

Abstract

An autonomous vehicle configured to autonomously pass a cyclist includes an imaging device and processing circuitry configured to receive information from the imaging device. Additionally, the processing circuitry of the autonomous vehicle is configured to identify a cyclist passing situation based on the information received from the imaging device, and plan a path of an autonomous vehicle based on the cyclist passing situation. The autonomous vehicle also includes a positioning system and the processing circuitry is further configured to receive information from the positioning system, determine if the cyclist passing situation is sufficiently identified, and identify the cyclist passing situation based on the information from the imaging device and the positioning system when the cyclist passing situation is not sufficiently identified based on the information received from the imaging device.

First claim

The invention claimed is:

1. A system, comprising:
an imaging device; and
processing circuitry configured to
receive information from the imaging device,
receive information from a positioning system,
identify variables to a left side and a right side of an autonomous vehicle based on the information received from the imaging device,
determine whether the identified variables identify a cyclist passing situation based on the information received from the imaging device, the cyclist passing situation being a situation in which the autonomous vehicle passes the cyclist,
in a case when the cyclist passing situation is not identified based on the information received from the imaging device alone, identify the cyclist passing situation based on the information from the imaging device and the positioning system,
match the cyclist passing situation with real world data collected from vehicles driven by human drivers in corresponding situations, the real world data including a least a safe passing distance relative to the cyclist as determined from data collected from the vehicles driven by the human drivers passing cyclists, and
plan a path of the autonomous vehicle based on the real world data,
wherein the cyclist passing situation is based on the information received from the imaging device includes identifying a centerline as either a solid center line or a dashed center line, and a current weather condition,
the cyclist passing situation being based on the information received from the imaging device includes identifying when the cyclist is traveling in a bike lane, the processing circuitry determining that the cyclist passing situation arises when the cyclist is not traveling in the bike lane, and
the cyclist passing situation and the path of the autonomous vehicle is planned taking into account whether the cyclist is traveling at less than half of a posted speed limit and whether passing is permitted in a no-passing zone when a vehicle travels at less than half of the posted speed limit,
wherein the planned path of the autonomous vehicle is displayed in the autonomous vehicle.

2. The system of claim 1 , further comprising:
a positioning system, wherein the positioning system utilizes maps accessible by the processing circuitry.

3. The system of claim 1 , wherein the cyclist passing situation being based on the information received from the imaging device includes identifying a type of road shoulder including paved or unpaved.

4. The system of claim 1 , wherein the cyclist passing situation being based on the information received from the imaging device includes identifying oncoming traffic in an adjacent lane.

5. A method for passing a cyclist, comprising:
receiving, via processing circuitry, information from an imaging device;
receiving information from a positioning system;
identifying, via the processing circuitry, variables to a left side and a right side of an autonomous vehicle based on the information received from the imaging device;
determining whether the identified variables identify a cyclist passing situation based on the information received from the imaging device, the cyclist passing situation being a situation in which the autonomous vehicle passes the cyclist;
in a case when the cyclist passing situation is not identified based on the information received from the imaging device alone, identifying the cyclist passing situation based on the information from the imaging device and the positioning system;
matching, via the processing circuitry, the identified cyclist passing situation with real world data collected from vehicles driven by human drivers in corresponding situations, the real world data including a least a safe passing distance relative to the cyclist as determined from data collected from the vehicles driven by the human drivers passing cyclists; and
planning, via the processing circuitry, a path of the autonomous vehicle based on the real world data,
wherein the cyclist passing situation is based on the information received from the imaging device includes identifying a centerline as either a solid center line or a dashed center line, and a current weather condition,
the cyclist passing situation being based on the information received from the imaging device includes identifying when the cyclist is traveling in a bike lane, the cyclist passing situation being determined to arise when the cyclist is not traveling in the bike lane, and
the cyclist passing situation and the path of the autonomous vehicle is planned taking into account whether the cyclist is traveling at less than half of a posted speed limit and whether passing is permitted in a no-passing zone when a vehicle travels at less than half of the posted speed limit,
wherein the planned path of the autonomous vehicle is displayed in the autonomous vehicle.

6. The method of claim 5 , wherein the cyclist passing situation being based on the information received from the imaging device includes identifying a type of road shoulder including paved or unpaved.

7. The method of claim 5 , wherein the cyclist passing situation being based on the information received from the imaging device includes identifying oncoming traffic in an adjacent lane.

8. A non-transitory computer-readable storage medium storing computer-readable instructions that, when executed by a computer, cause the computer to perform a method, the method comprising:
receiving information from an imaging device;
receiving information from a positioning system;
identifying variables to a left side and a right side of an autonomous vehicle based on the information received from the imaging device;
determining whether the identified variables identify a cyclist passing situation based on the information received from the imaging device, the cyclist passing situation being a situation in which the autonomous vehicle passes the cyclist;

in a case when the cyclist passing situation is not identified based on the information received from the imaging device alone, identifying the cyclist passing situation based on the information from the imaging device and the positioning system;
matching the identified cyclist passing situation with real world data collected from vehicles driven by human drivers in corresponding situations, the real world data including a least a safe passing distance relative to the cyclist as determined from data collected from the vehicles driven by the human drivers passing cyclists; and
planning a path of the autonomous vehicle based on the real world data,
wherein the cyclist passing situation is based on the information received from the imaging device includes identifying a centerline as either a solid center line on a dashed center line, and a current weather condition,
the cyclist passing situation being based on the information received from the imaging device includes identifying when the cyclist is traveling in a bike lane, cyclist passing situation being determined to arise when the cyclist is not traveling in the bike lane, and
the cyclist passing situation and the path of the autonomous vehicle is planned taking into account whether the cyclist is traveling at less than half of a posted speed limit and whether passing is permitted in a no-passing zone when a vehicle travels at less than half of the posted speed limit,
wherein the planned path of the autonomous vehicle is displayed in the autonomous vehicle.

9. The non-transitory computer-readable storage medium of claim 8 , wherein the cyclist passing situation being based on the information received from the imaging device includes identifying a type of road shoulder including paved or unpaved.

Assignees

• Toyota Res Inst Inc
• Univ Michigan Regents

Inventors

• Delp Michael J
• Feng Ruijia
• Bao Shan

Classifications

• B60W60/0015

  specially adapted for safety · CPC title

• B60W2554/4026

  Cycles · CPC title

• G05D1/617

  Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards (arrangements for controlling the position or course of two or more vehicles for avoiding collisions therebetween G05D1/693; arrangements for reacting to or preventing system or operator failure G05D1/80) · CPC title

• B60W30/18163 Primary

  Lane change; Overtaking manoeuvres · CPC title

• G05D1/0214 Primary

  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