Quality scoring for pullovers for autonomous vehicles

Patent metadata

Field	Value
Publication number	US-12130147-B2
Application number	US-202117410068-A
Country	US
Kind code	B2
Filing date	Aug 24, 2021
Priority date	Sep 28, 2020
Publication date	Oct 29, 2024
Grant date	Oct 29, 2024

Abstract

Aspects of the disclosure relate to evaluating quality of a predetermined pullover location for an autonomous vehicle. For instance, a plurality of inputs for the predetermined pullover location may be received. The plurality of inputs may each include a value representative of a characteristic of the predetermined pullover location. The plurality of inputs may be combined to determine a pullover quality value for the predetermined pullover location. The pullover quality value may be provided to a vehicle in order to enable the vehicle to select a pullover location for the vehicle.

First claim

The invention claimed is:

1. A method comprising:
receiving, by one or more processors, previous observations, by one or more autonomous vehicles of a fleet of autonomous vehicles, of how often and how long one or more first vehicles have previously parked at a predetermined pullover location for an autonomous vehicle of the fleet of autonomous vehicles;
determining, by the one or more processors based on the previous observations, a likelihood that one or more second vehicles parked at the predetermined pullover location will begin to unpark from the predetermined pullover location;
determining, by the one or more processors based on the likelihood, a pullover quality value for the predetermined pullover location; and
enabling the autonomous vehicle to select a pullover location for the autonomous vehicle by providing, by the one or more processors, the pullover quality value to the autonomous vehicle.

2. The method of claim 1 , further comprising determining, by the one or more processors based on the previous observations, an expected curb occupancy for the predetermined pullover location for a given period of time, wherein determining the likelihood is further based on the expected curb occupancy.

3. The method of claim 1 , further comprising receiving, by the one or more processors, road geometry for the predetermined pullover location, wherein determining the pullover quality value is further based on the road geometry.

4. The method of claim 3 , wherein the road geometry relates to whether vehicles park on one or both sides of a road at the predetermined pullover location.

5. The method of claim 1 , further comprising receiving, by the one or more processors, an indication of whether the predetermined pullover location is adjacent to a bicycle lane, wherein determining the pullover quality value is further based on the indication.

6. The method of claim 1 , further comprising receiving, by the one or more processors, an indication of historical traffic conditions at the predetermined pullover location for a given period of time, wherein determining the pullover quality value is further based on the indication.

7. The method of claim 1 , further comprising receiving, by the one or more processors, an indication of legal restrictions at the predetermined pullover location, wherein determining the pullover quality value is further based on the indication.

8. The method of claim 1 , further comprising receiving, by the one or more processors, an indication of whether attempted pullovers at the predetermined pullover location by the one or more autonomous vehicles of the fleet of autonomous vehicles included double-parking, blocking a driveway, parking close to an object, or parallel parking, wherein determining the pullover quality value is further based on the indication.

9. The method of claim 1 , further comprising:
receiving, by the one or more processors, different previous observations, by the one or more autonomous vehicles, of one or more first emergency vehicles at the predetermined pullover location; and
determining, by the one or more processors based on the different previous observations, a different likelihood of one or more second emergency vehicles on a road at the predetermined pullover location, wherein determining the pullover quality value is further based on the different likelihood.

10. The method of claim 1 , further comprising:
receiving, by the one or more processors, different previous observations, by the one or more autonomous vehicles, of one or more vehicles of a particular size or shape parking at the predetermined pullover location; and
determining, by the one or more processors based on the different previous observations, a feasibility of a vehicle of the particular size or shape to park at the predetermined pullover location, wherein determining the pullover quality value is further based on the feasibility.

11. The method of claim 1 , further comprising running, by the one or more processors, simulations of one or more autonomous vehicles attempting to park at the predetermined pullover location, wherein determining the pullover quality value is further based on one or more results of the simulations.

12. The method of claim 1 , further comprising receiving, by the one or processors, input from passengers of the fleet of autonomous vehicles providing feedback about attempted pullovers at the predetermined pullover location, wherein determining the pullover quality value is further based on the input.

13. The method of claim 1 , further comprising:
receiving, from a client computing device, a request for a trip identifying a first location;
using the pullover quality value and the first location to identify a suggested location for the trip; and
providing the suggested location to the client computing device for display to a user.

14. The method of claim 1 , further comprising:
receiving, from a client computing device, a request for a trip identifying a first location;
using the pullover quality value and the first location to identify a suggested location for the trip; and
providing a notification to the client computing device indicating that the autonomous vehicle will pick up or drop off a passenger at the suggested location.

15. The method of claim 14 , wherein the notification includes context indicating why the autonomous vehicle will pick up or drop off a passenger at the suggested location, and the method further includes determining the context based on the pullover quality value.

16. The method of claim 15 , further comprising:
determining an estimated walking time to the suggested location; and
comparing the estimated walking time to a threshold, and wherein providing the notification is further based on the comparison.

17. The method of claim 16 , wherein when the comparison indicates that the estimated walking time is greater than the threshold, providing the notification further includes providing the estimated walking time for display with the notification.

18. The method of claim 1 , further comprising enabling the autonomous vehicle to select either the predetermined pullover location or a different predetermined pullover location by providing, by the one or more processors to the autonomous vehicle, the pullover quality value and a different pullover quality value associated with the different predetermined pullover location.

19. The method of claim 18 , further comprising:
receiving, by the one or more processors, different previous observations, by the one or more autonomous vehicles, of one or more other vehicles at the different predetermined pullover location; and
determining, by the one or more processors based on the different previous observations, the different pullover quality value for the different predetermined pullover location.

20. A system comprising one or more processors configured to:
receive previous observations, by one or more autonomous vehicles of a fleet of autonomous vehicles, of how often and how long one or more first vehicles have previously parked at a predetermined pullover location for an autonomous vehicle of the fleet of autonomous vehicles;
determine, based on the previous observations, a likelihood that one or more second vehicles parked at the predetermined pullover location will begin to unpark from the predetermined pullover location;
determine, based on the likelihood, a pullover quality value for the predetermined pullover location; and
provide the pullover quality value to the autonomous vehicle t

Assignees

• Waymo Llc

Inventors

• Pandit Salil
• Gutlansky Daniella
• Doherty Eamonn
• Friedman Eric
• Pedersen Jonathan
• Chan Andrew
• Agarwal Gaurav
• Mai Bruce

Classifications

• G01C21/3438

  Rendezvous; Ride sharing · CPC title

• B60W30/095

  Predicting travel path or likelihood of collision · CPC title

• B60W2552/45

  Pedestrian sidewalk · CPC title

• B60W2554/80

  Spatial relation or speed relative to objects · CPC title

• B60W2554/404

  Characteristics · CPC title