Detecting and responding to processions for autonomous vehicles

Patent metadata

Field	Value
Publication number	US-12228929-B2
Application number	US-202318510722-A
Country	US
Kind code	B2
Filing date	Nov 16, 2023
Priority date	Aug 20, 2018
Publication date	Feb 18, 2025
Grant date	Feb 18, 2025

Abstract

The technology relates to detecting and responding to processions. For instance, sensor data identifying two or more objects in an environment of a vehicle may be received. The two or more objects may be determined to be disobeying a predetermined rule in a same way. Based on the determination that the two or more objects are disobeying a predetermined rule, that the two or more objects are involved in a procession may be determined. The vehicle may then be controlled autonomously in order to respond to the procession based on the determination that the two or more objects are involved in a procession.

First claim

The invention claimed is:

1. A method comprising:
receiving, by one or more processors, sensor data associated with an environment of a vehicle;
determining, by the one or more processors based on the sensor data, a result indicating that (1) a plurality of objects in the environment of the vehicle have a similar behavior, and (2) one or more emergency vehicles are located in a vicinity of the plurality of objects; and
in response to the result, controlling, by the one or more processors, the vehicle autonomously to yield to all of the plurality of objects even when the vehicle would otherwise have had a right of way.

2. The method of claim 1 , wherein the plurality of objects includes one or more pedestrians.

3. The method of claim 2 , wherein the one or more pedestrians include police.

4. The method of claim 1 , wherein the one or more emergency vehicles include at least one of a police car, a firetruck, an ambulance, or a police motorcycle.

5. The method of claim 1 , wherein the similar behavior of the plurality of objects includes disobeying a traffic rule.

6. The method of claim 5 , wherein the plurality of objects pass through an intersection without stopping for a red light of a traffic light signal light located at the intersection.

7. The method of claim 1 , further comprising:
determining, by the one or more processors based on the sensor data, a number of objects in the plurality of objects; and
determining, by the one or more processors based on the number of objects, how likely the plurality of objects is part of a procession.

8. The method of claim 7 , further comprising:
determining, by the one or more processors based on the sensor data, whether the number of objects meets one or more thresholds.

9. The method of claim 8 , wherein the one or more thresholds includes a threshold minimum number of objects.

10. The method of claim 9 , wherein the threshold minimum number of objects is two.

11. The method of claim 7 , wherein the number of objects is determined over a threshold minimum period of time.

12. A control system comprising one or more processors configured to:
receive sensor data associated with an environment of a vehicle;
determine, based on the sensor data, a result indicating that (1) a plurality of objects in the environment of the vehicle have a similar behavior, and (2) one or more emergency vehicles are located in a vicinity of the plurality of objects; and
in response to the result, control the vehicle autonomously to yield to all of the plurality of objects even when the vehicle would otherwise have had a right of way.

13. The control system of claim 12 , wherein the plurality of objects includes one or more pedestrians.

14. The control system of claim 13 , wherein the one or more pedestrians include police.

15. The control system of claim 12 , wherein the one or more emergency vehicles include at least one of a police car, a firetruck, an ambulance, or a police motorcycle.

16. The control system of claim 12 , wherein the similar behavior of the plurality of objects includes disobeying a traffic rule.

17. The control system of claim 16 , wherein the plurality of objects pass through an intersection without stopping for a red light of a traffic light signal light located at the intersection.

18. The control system of claim 12 , wherein the one or more processors are further configured to:
determine, based on the sensor data, a number of objects in the plurality of objects; and
determine, based on the number of objects, how likely the plurality of objects is part of a procession.

19. The control system of claim 18 , wherein the one or more processors are further configured to determine, based on the sensor data, whether the number of objects meets one or more thresholds.

20. The control system of claim 19 , wherein the one or more thresholds includes a threshold minimum number of objects.

21. The control system of claim 20 , wherein the threshold minimum number of objects is two.

22. The control system of claim 18 , wherein the number of objects is determined over a threshold minimum period of time.

Assignees

• Waymo Llc

Inventors

• Silver David Harrison
• Yang Qichi

Classifications

• G05D1/81

  Handing over between on-board automatic and on-board manual control · CPC title

• G06V20/584

  of vehicle lights or traffic lights · CPC title

• B60W2555/60

  Traffic rules, e.g. speed limits or right of way · CPC title

• B60W2554/804

  Relative longitudinal speed · CPC title

• B60W30/18009 Primary

  related to particular drive situations · CPC title