Zone driving

Patent metadata

Field	Value
Publication number	US-9268332-B2
Application number	US-201414324470-A
Country	US
Kind code	B2
Filing date	Jul 7, 2014
Priority date	Oct 5, 2010
Publication date	Feb 23, 2016
Grant date	Feb 23, 2016

Abstract

A roadgraph may include a graph network of information such as roads, lanes, intersections, and the connections between these features. The roadgraph may also include one or more zones associated with particular rules. The zones may include locations where driving is typically challenging such as merges, construction zones, or other obstacles. In one example, the rules may require an autonomous vehicle to alert a driver that the vehicle is approaching a zone. The vehicle may thus require a driver to take control of steering, acceleration, deceleration, etc. In another example, the zones may be designated by a driver and may be broadcast to other nearby vehicles, for example using a radio link or other network such that other vehicles may be able to observer the same rule at the same location or at least notify the other vehicle's drivers that another driver felt the location was unsafe for autonomous driving.

First claim

The invention claimed is:

1. A method for maneuvering a vehicle, the method comprising:
accessing, by one or more processors, map information including a geographic area associated with a rule that indicates a driver to take control of at least one control aspect of the vehicle;
maneuvering, by the one or more processors, the vehicle in an autonomous driving mode by controlling a first control aspect of the vehicle and a second control aspect of the vehicle without continuous input from the driver, wherein the first and second control aspects are selected from the group consisting of acceleration, deceleration, and steering;
determining, by the one or more processors, when the vehicle is within a predetermined distance from the geographic area;
when the vehicle is determined to be within a predetermined distance from the geographic area, identifying, by the one or more processors, the at least one control aspect using the map information;
generating, by the one or more processors, a notification indicating of the need to control the identified at least one control aspect through the geographic area;
receiving, by the one or more processors, input indicating that the driver is controlling the first control aspect; and
in response to receiving the input and while the driver is controlling the first control aspect, continuing, by the one or more processors, to control the second control aspect through the geographic area.

2. The method of claim 1 , wherein the first control aspect is the steering control and the second control aspect is the acceleration control.

3. The method of claim 1 , wherein the first control aspect is the acceleration control and the second control aspect is the steering control.

4. The method of claim 1 , wherein the first control aspect is the deceleration control and the second control aspect is the steering control.

5. The method of claim 1 , further comprising:
determining, by the one or more processors, when the vehicle has passed through the geographic area and the driver has relinquished control of the first control aspect; and
when the vehicle is determined to have passed through the geographic area and the driver is determined to have relinquished control of the first control aspect, maneuvering the vehicle, by the one or more processors, by controlling the first control aspect and the second control aspect.

6. The method of claim 1 , further comprising:
after generating the notification, determining that the driver has not taken control of the first control aspect; and
when the driver is determine to have not taken control of the first control aspect, escalating an aspect of the notification.

7. The method of claim 1 , further comprising determining, by the one or more processors, the predetermined distance based on a current speed of the vehicle.

8. A system for maneuvering a vehicle, the comprising:
memory storing map information including a geographic area associated with a rule that indicates a driver to take control of at least one control aspect of the vehicle;
one or more processors configured to:
access the memory; maneuver the vehicle in an autonomous driving mode by controlling a first control aspect of the vehicle and a second control aspect of the vehicle without continuous input from the driver, wherein the first and second control aspects are selected from the group consisting of acceleration, deceleration, and steering;
determine when the vehicle is within a predetermined distance from the geographic area;
when the vehicle is determined to be within a predetermined distance from the geographic area, identify the at least one control aspect using the map information;
generate a notification indicating of the need to control the identified at least one control aspect through the geographic area;
receive input indicating that the driver is controlling the first control aspect; and
in response to receiving the input and while the driver is controlling the first control aspect, continue to control the second control aspect through the geographic area.

9. The system of claim 8 , wherein the first control aspect is the steering control and the second control aspect is the acceleration control.

10. The system of claim 8 , wherein the first control aspect is the acceleration control and the second control aspect is the steering control.

11. The system of claim 8 , wherein the first control aspect is the deceleration control and the second control aspect is the steering control.

12. The system of claim 8 , wherein the one or more processors are further configured to:
determine when the vehicle has passed through the geographic area and the driver has relinquished control of the first control aspect; and
when the vehicle is determined to have passed through the geographic area and the driver is determined to have relinquished control of the first control aspect, maneuver the vehicle by controlling the first control aspect and the second control aspect.

13. The system of claim 8 , wherein the one or more processors are further configured to:
after generating the notification, determine that the driver has not taken control of the first control aspect; and
when the driver is determine to have not taken control of the first control aspect, escalate an aspect of the notification.

14. The system of claim 8 , wherein the one or more processors are further configured to determine the predetermined distance based on a current speed of the vehicle.

15. A tangible, non-transitory, computer-readable storage medium on which computer readable instructions of a program are stored, the instructions, when executed by a processor, cause the processor to perform a method of maneuvering a vehicle, the method comprising:
accessing map information including a geographic area associated with a rule that indicates a driver to take control of at least one control aspect of the vehicle;
maneuvering the vehicle in an autonomous driving mode by controlling a first control aspect of the vehicle and a second control aspect of the vehicle without continuous input from the driver, wherein the first and second control aspects are selected from the group consisting of acceleration, deceleration, and steering;
determining when the vehicle is within a predetermined distance from the geographic area;
when the vehicle is determined to be within a predetermined distance from the geographic area, identifying the at least one control aspect using the map information;
generating a notification indicating of the need to control the identified at least one control aspect through the geographic area;
receiving input indicating that the driver is controlling the first control aspect; and
in response to receiving the input and while the driver is controlling the first control aspect, continuing to control the second control aspect through the geographic area.

16. The medium of claim 15 , wherein the first control aspect is the steering control and the second control aspect is the acceleration control.

17. The medium of claim 15 , wherein the first control aspect is the acceleration control and the second control aspect is the steering control.

18. The medium of claim 15 , wherein the first control aspect is the deceleration control and the second control aspect is the steering control.

19. The medium of claim 15 , wherein the method further comprises:
after generating the notification, determining that the driver has not taken control of the first control aspect; and
when the driver is determine to have not

Assignees

• Google Inc

Inventors

• Montemerlo Michael Steven
• Dolgov Dmitri A
• Urmson Christopher Paul

Classifications

• B60W2552/05

  Type of road, e.g. motorways, local streets, paved or unpaved roads · CPC title

• B60W2555/60

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

• B60W2556/50

  of positioning data, e.g. GPS [Global Positioning System] data · CPC title

• B60T2210/32

  Vehicle surroundings · CPC title

• G01S13/867

  Combination of radar systems with cameras · CPC title