Autonomous vehicle fleet service and system

Patent metadata

Field	Value
Publication number	US-9606539-B1
Application number	US-201514932959-A
Country	US
Kind code	B1
Filing date	Nov 4, 2015
Priority date	Nov 4, 2015
Publication date	Mar 28, 2017
Grant date	Mar 28, 2017

Abstract

Various embodiments relate generally to autonomous vehicles and associated mechanical, electrical and electronic hardware, computer software and systems, and wired and wireless network communications to provide an autonomous vehicle fleet as a service. In particular, a method may include monitoring a fleet of vehicles, at least one of which is configured to autonomously transit from a first geographic region to a second geographic region, detecting data indicating an event associated with the vehicle having a calculated confidence level, receiving data representing a subset of candidate trajectories responsive to detecting the event, which is associated with a planned path for the vehicle, identifying guidance data to select from one or more of the candidate trajectories as a guided trajectory, receiving data representing a selection of a candidate trajectory, and transmitting the selection of the candidate trajectory as of the guided trajectory to the vehicle.

First claim

What is claimed:

1. A method comprising:
monitoring, at a computing system, a fleet of independent driverless vehicles, at least one of which is configured to autonomously transit from a first geographic region to a second geographic region via a road network, the driverless vehicles being bidirectional autonomous vehicles capable of driving forward in a first direction or driving forward in an opposite second direction and having at least one mechanism for communicating a current forward direction to one or more potential people in a surrounding environment;
receiving, at the computing system, data from a driverless vehicle in the fleet indicating an event encountered by the driverless vehicle that may cause the driverless vehicle to maneuver from a current trajectory;
generating, by the computing system, multiple candidate trajectories for the driverless vehicle to maneuver from the current trajectory;
calculating, by the computing system, confidence levels associated with the multiple candidate trajectories;
ranking, by the computing system, the multiple candidate trajectories according to the confidence levels;
choosing a particular candidate trajectory from among the multiple candidate trajectories based at least in part on the confidence levels associated with the multiple candidate trajectories; and
transmitting, to the driverless vehicle, the particular candidate trajectory for use in maneuvering the driverless vehicle whereby the driverless vehicle uses the mechanism to communicate any change of the first direction to the potential people in the surrounding environment,
wherein the choosing comprises:
presenting, to a human teleoperator, at least a subset of the multiple candidate trajectories in ranked order according to the associated confidence levels; and
receiving input from the human teleoperator to select the particular candidate trajectory.

2. The method of claim 1 , wherein the mechanism comprises active lighting, and further comprising placing the active lighting in a first state that indicates the driverless vehicle is moving forward in the first direction and as part of the maneuvering, placing the active lighting in a second state that indicates the driverless vehicle is moving forward in the second direction.

3. The method of claim 1 , wherein the mechanism comprises active lighting, and further comprising causing the active lighting to enter an animated state when the driverless vehicle is maneuvering.

4. The method of claim 1 , wherein the mechanism comprises a sound generator to emit a pattern of sounds, and further comprising causing the sound generator to emit the pattern of sounds when the driverless vehicle is maneuvering.

5. The method of claim 1 , wherein receiving data indicating the event comprises receiving data specifying a detected obstacle in the current trajectory, and further comprising determining whether the obstacle is a static obstacle or a dynamic obstacle.

6. The method of claim 5 , wherein choosing a particular candidate trajectory comprises selecting the particular candidate trajectory based at least in part on whether the obstacle is determined to be a static obstacle or a dynamic obstacle.

7. The method of claim 1 , wherein the associated confidence levels are related to a probability that the event impacts operation of the vehicle.

8. The method of claim 1 , wherein the associated confidence levels are related to respective degrees of certainty that a particular candidate trajectory will reduce a probability that the event impacts operation of the vehicle.

Assignees

• Zoox Inc

Inventors

• Kentley Timothy David
• Levinson Jesse Sol
• Gamara Rachad Youssef
• Sibley Gabriel Thurston

Classifications

• G08G1/166

  for active traffic, e.g. moving vehicles, pedestrians, bikes · CPC title

• G01S17/875

  for determining attitude · CPC title

• G01S7/4972

  Alignment of sensor · CPC title

• G01S13/87

  Combinations of radar systems, e.g. primary radar and secondary radar · CPC title

• G08G1/005

  including pedestrian guidance indicator · CPC title