Modifying the behavior of an autonomous vehicle using context based parameter switching

Patent metadata

Field	Value
Publication number	US-12099359-B1
Application number	US-202318447473-A
Country	US
Kind code	B1
Filing date	Aug 10, 2023
Priority date	Sep 27, 2012
Publication date	Sep 24, 2024
Grant date	Sep 24, 2024

Abstract

A vehicle configured to operate in an autonomous mode may operate a sensor to determine an environment of the vehicle. The sensor may be configured to obtain sensor data of a sensed portion of the environment. The sensed portion may be defined by a sensor parameter. Based on the environment of the vehicle, the vehicle may select at least one parameter value for the at least one sensor parameter such that the sensed portion of the environment corresponds to a region of interest. The vehicle may operate the sensor, using the selected at least one parameter value for the at least one sensor parameter, to obtain sensor data of the region of interest, and control the vehicle in the autonomous mode based on the sensor data of the region of interest.

First claim

What is claimed is:

1. A method comprising:
determining an environment of a vehicle, wherein the vehicle is configured to operate in an autonomous mode and comprises a sensor configured to obtain sensor data in accordance with at least one sensor parameter;
selecting a region of interest based on the determined environment of the vehicle, wherein the region of interest extends a first distance ahead of the vehicle, a second distance to one side of the vehicle, and a third distance behind the vehicle, such that the region of interest moves with the vehicle;
selecting at least one parameter value for the at least one sensor parameter based on the region of interest;
operating the sensor, using the selected at least one parameter value for the at least one sensor parameter, to obtain sensor data of the region of interest; and
controlling the vehicle in the autonomous mode based on the sensor data of the region of interest.

2. The method of claim 1 , wherein the determined environment of the vehicle is a freeway environment.

3. The method of claim 2 , wherein the second distance corresponds to a number of lanes to one side of the vehicle.

4. The method of claim 3 , wherein the number of lanes is two lanes.

5. The method of claim 1 , wherein the at least one sensor parameter comprises one or more distance parameters, one or more direction parameters, and/or one or more height parameters.

6. The method of claim 1 , wherein the sensor comprises a LIDAR device.

7. The method of claim 6 , wherein the at least one sensor parameter relates to a pulse rate or angular resolution of the LIDAR device.

8. The method of claim 1 , wherein the sensor comprises an image capture device.

9. The method of claim 8 , wherein the at least one sensor parameter relates to an exposure time or frame rate of the image capture device.

10. The method of claim 1 , wherein the at least one sensor parameter relates to an algorithm used to process the sensor data.

11. The method of claim 1 , wherein the sensor comprises a radar device.

12. The method of claim 1 , wherein determining the environment of the vehicle comprises:
determining a location of the vehicle; and
referring to a map to determine a type of environment corresponding to the location.

13. The method of claim 1 , wherein determining the environment of the vehicle comprises at least one of determining a number of lanes in the environment, determining a presence of a median in the environment, determining a shape of a road in the environment, determining a speed limit in the environment, determining a speed of the vehicle in the environment, determining a speed of other vehicles in the environment, determining a presence of pedestrians in the environment, determining a presence of a traffic light in the environment, or determining a presence of a cross walk in the environment.

14. The method of claim 1 , wherein determining the environment of the vehicle comprises determining at least one of a type of road on which the vehicle is operating, an amount of traffic on the road, a lighting condition, or a weather condition.

15. A vehicle comprising:
a sensor configured to obtain sensor data in accordance with at least one sensor parameter; and
a computer system configured to perform operations comprising:
determining an environment of the vehicle;
selecting a region of interest based on the determined environment of the vehicle, wherein the region of interest extends a first distance ahead of the vehicle, a second distance to one side of the vehicle, and a third distance behind the vehicle, such that the region of interest moves with the vehicle;
selecting at least one parameter value for the at least one sensor parameter based on the region of interest;
operating the sensor, using the selected at least one parameter value for the at least one sensor parameter, to obtain sensor data of the region of interest; and
controlling the vehicle based on the sensor data of the region of interest.

16. The vehicle of claim 15 , wherein the at least one sensor parameter comprises one or more distance parameters, one or more direction parameters, and/or one or more height parameters.

17. The vehicle of claim 15 , wherein the sensor comprises at least one of a LIDAR device, an image capture device, or a radar device.

18. The vehicle of claim 15 , wherein determining the environment of the vehicle comprises determining at least one of a type of road on which the vehicle is operating, an amount of traffic on the road, a lighting condition, or a weather condition.

19. A non-transitory computer readable medium having stored therein instructions executable by a computer system to cause the computer systems to perform operations comprising:
determining an environment of a vehicle, wherein the vehicle is configured to operate in an autonomous mode and comprises a sensor configured to obtain sensor data in accordance with at least one sensor parameter;
selecting a region of interest based on the determined environment of the vehicle, wherein the region of interest extends a first distance ahead of the vehicle, a second distance to one side of the vehicle, and a third distance behind the vehicle, such that the region of interest moves with the vehicle;
selecting at least one parameter value for the at least one sensor parameter based on the region of interest;
operating the sensor, using the selected at least one parameter value for the at least one sensor parameter, to obtain sensor data of the region of interest; and
controlling the vehicle in the autonomous mode based on the sensor data of the region of interest.

20. The non-transitory computer readable medium of claim 19 , wherein the at least one sensor parameter comprises one or more distance parameters, one or more direction parameters, and/or one or more height parameters.

Assignees

• Waymo Llc

Inventors

• Zhu Jiajun
• Urmson Christopher
• Ferguson David I
• Fairfield Nathaniel
• Dolgov Dmitri

Classifications

• B60W2420/408

  Radar; Laser, e.g. lidar · CPC title

• B60W2554/4029

  Pedestrians · CPC title

• B60W2555/20

  Ambient conditions, e.g. wind or rain · CPC title

• B60W30/18159

  Traversing an intersection · CPC title

• B60W2554/20

  Static objects · CPC title