Speed and route planning in view of weather

Patent metadata

Field	Value
Publication number	US-12072203-B2
Application number	US-202117207663-A
Country	US
Kind code	B2
Filing date	Mar 20, 2021
Priority date	Mar 20, 2020
Publication date	Aug 27, 2024
Grant date	Aug 27, 2024

Abstract

An example method involves identifying one or more potential route segments that collectively connect at least two geographical points, receiving spatiotemporal weather information that predicts future weather conditions along each of the potential segments, and, for each potential segment, evaluating a partial cost function that comprises a summation of a set of segment-weighted cost factors, where at least one segment-weighted cost factor comprises an adverse weather risk factor based on the future weather conditions along the potential segment. The method also involves selecting, based on a minimization of a total cost function, a set of selected segments and corresponding segment target speeds for the vehicle to utilize while traversing between the at least two geographical points so as to avoid adverse weather conditions, the total cost function being the sum of partial cost functions associated with a set of segments that collectively connect the at least two geographical points.

First claim

What is claimed is:

1. A method performed by a computing system configured to control operation of a vehicle, the method comprising:
identifying one or more potential route segments that collectively connect at least two geographical points;
receiving spatiotemporal weather information that is predictive of future weather conditions along each of the potential route segments;
for each particular potential route segment of the one or more potential route segments, determining a partial cost function based on a summation of a plurality of segment-weighted cost factors associated with the particular potential route segment, wherein each segment-weighted cost factor of the plurality of segment-weighted cost factors comprises (i) a respective cost factor that is a function of speed of the vehicle and (ii) a respective weight that is based on an importance of the respective cost factor, wherein at least one segment-weighted cost factor comprises an adverse weather risk factor, and wherein the adverse weather risk factor is based on a probability as a function of speed of the vehicle of the vehicle encountering the future weather conditions along the particular potential route segment;
selecting, based on a minimization of a total cost function, a set of selected route segments and corresponding route segment target speeds for the vehicle to utilize while traversing between the at least two geographical points, wherein the total cost function is the sum of partial cost functions associated with a set of route segments that collectively connect the at least two geographical points, and wherein a route segment target speed for one of the selected route segments in the set is selected such that the vehicle avoids an adverse weather condition in another of the selected route segments in the set; and
controlling the vehicle to operate along the set of selected route segments at the corresponding route segment target speeds between the at least two geographical points.

2. The method of claim 1 , wherein identifying the one or more potential route segments comprises identifying a preplanned route, and
wherein the preplanned route comprises the set of selected route segments.

3. The method of claim 1 , wherein identifying the one or more potential route segments comprises identifying a plurality of preplanned routes that each connect a current location of the vehicle to a destination of the vehicle, and
wherein selecting the set of selected route segments comprises selecting from among the plurality of preplanned routes.

4. The method of claim 1 , wherein the adverse weather risk factor is based on a type of the future weather conditions along the given potential route segment, the type comprising one or more of rain, fog, snow, freezing rain, sleet, or hail.

5. The method of claim 1 , wherein the adverse weather risk factor is further based on an anticipated severity of the future weather conditions along the given potential route segment.

6. The method of claim 1 , wherein the plurality of segment-weighted cost factors further comprise one or more of (i) a distance factor that is based on a total distance that the vehicle has travelled, or is anticipated to travel, from a route starting point of the at least two geographical points, (ii) a fuel consumption factor that is based on a current or anticipated fuel level of the vehicle, or (iii) an estimated time of arrival (ETA) factor that is based on an ETA of the vehicle to reach a route intermediate point or a route end point.

7. The method of claim 1 , further comprising:
after the vehicle has begun travelling along the set of selected route segments, determining a new segment-weighted cost factor;
adding the new segment-weighted cost factor to the plurality of segment-weighted cost factors to form a new plurality of segment-weighted cost factors; and
for each remaining route segment of the set of selected route segments, evaluating the partial cost function based on the new plurality of segment-weighted cost factors.

8. The method of claim 1 , further comprising:
dynamically adjusting at least one of the weights while the vehicle is travelling along the set of selected route segments.

9. The method of claim 1 , wherein each target speed comprises one or more of a range of speeds, a maximum speed, a minimum speed, or an average speed according to which the vehicle traverses the corresponding selected route segment.

10. The method of claim 1 , wherein the at least two geographical points comprise a current geographical location of the vehicle on the route and a route decision point, and
wherein the route decision point comprises at least one of an operational depot, a highway exit, an intersection, a gas or charging station, or an interchange.

11. The method of claim 1 , further comprising:
identifying, based on the spatiotemporal weather information, one or more geographical adverse weather areas that correspond to one or more selected route segments,
wherein selecting the route segment target speeds for route segments within the one or more geographical adverse weather areas is based on an adverse weather effect associated with the one or more geographical adverse weather areas along the one or more selected route segments.

12. The method of claim 1 , wherein identifying the one or more potential route segments comprises:
identifying one or more speed-limit-change points between a current location of the vehicle and a destination for the vehicle at which a speed limit change is present, and
identifying the one or more potential route segments to be one or more potential route segments that collectively connect the at least two geographical points including the identified one or more speed-limit-change points.

13. The method of claim 1 , wherein receiving the spatiotemporal weather information comprises:
identifying a lead vehicle having a second computing system that has travelled, or is currently travelling, on at least one of the one or more potential route segments and that is ahead of, and within a predetermined distance from, a current location of the vehicle; and
in response to identifying the lead vehicle, querying the second computing system of the lead vehicle to obtain at least a portion of the spatiotemporal weather information.

14. The method of claim 1 , wherein the method is performed before the vehicle departs a route starting point of the at least two geographical points.

15. The method of claim 1 , wherein the method is performed periodically and/or dynamically as the vehicle is travelling, so as to adjust the set of selected route segments and the corresponding route segment target speeds for the vehicle to utilize while traversing between the at least two geographical points.

16. An article of manufacture including a non-transitory computer-readable medium having stored thereon instructions that, when executed by a processor in a computing system, causes the computing system to perform operations comprising:
identifying one or more potential route segments that collectively connect at least two geographical points;
receiving spatiotemporal weather information that is predictive of future weather conditions along each of the potential route segments;
for each particular potential route segment of the one or more potential route segments, determining a partial cost function based on a summation of a plurality of segment-weighted cost factors associated with the particular route segment, wherein each segment-weighted cost factor of the plurality of segment-weighted cost factors comprises (i) a respective cost factor that is

Assignees

• Waymo Llc

Inventors

• Sofman Boris
• Pitzer Benjamin
• James Michael

Classifications

• G05D1/692

  involving a plurality of disparate vehicles · CPC title

• G08G1/22

  Platooning, i.e. convoy of communicating vehicles · CPC title

• G01C21/3492

  employing speed data or traffic data, e.g. real-time or historical (traffic control systems for road vehicles involving transmission of navigation instructions to the vehicle G08G1/0968) · CPC title

• G01C21/3461 Primary

  Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types or segments such as motorways, toll roads or ferries · CPC title

• G01C21/3469

  Fuel consumption; Energy use; Emission aspects · CPC title