Robotic vehicle active safety systems and methods

Patent metadata

Field	Value
Publication number	US-9630619-B1
Application number	US-201514932962-A
Country	US
Kind code	B1
Filing date	Nov 4, 2015
Priority date	Nov 4, 2015
Publication date	Apr 25, 2017
Grant date	Apr 25, 2017

Abstract

Systems and methods implemented in algorithms, software, firmware, logic, or circuitry may be configured to process data and sensory input to determine whether an object external to an autonomous vehicle (e.g., another vehicle, a pedestrian, road debris, a bicyclist, etc.) may be a potential collision threat to the autonomous vehicle. The autonomous vehicle may be configured to implement active safety measures to avoid the potential collision and/or mitigate the impact of an actual collision to passengers in the autonomous vehicle and/or to the autonomous vehicle itself. Interior safety systems, exterior safety systems, a drive system or some combination of those systems may be activated to implement active safety measures in the autonomous vehicle.

First claim

What is claimed is:

1. A method comprising:
receiving trajectory data representing a trajectory of a driverless, autonomous vehicle in an environment external to the autonomous vehicle;
sensing an object in the environment;
determining object data comprising a position of the object, an object type of the object, and an object classification of the object;
determining one or more predicted locations of the object in the environment based on the object data;
determining a predicted collision location based on the trajectory data and the one or more predicted locations of the object in the environment;
determining a first threshold location in the environment between the object and the predicted collision location;
determining a second threshold location in the environment between the object and the predicted collision location, the second threshold location being closer to the collision location than the first threshold location;
sensing an updated position of the object in the environment;
implementing a first safety action using a safety system in response to the updated position corresponding to the first threshold location; and
implementing a second safety action using the safety system in response to the updated position corresponding to the second threshold location.

2. The method of claim 1 , wherein the safety system comprises an acoustic beam steering array, the first safety action comprises emitting a first audio alert at a first angle relative to the trajectory of the autonomous vehicle and the second safety action comprises emitting a second audio alert at a second angle relative to the trajectory of the autonomous vehicle.

3. The method of claim 1 , wherein the safety system comprises a light emitter, the first safety action comprises emitting a first light pattern, and the second safety action comprises emitting a second light pattern.

4. The method of claim 1 , wherein the safety system comprises an alert system for alerting the object of a possible collision, the method further comprising determining a collision avoidance trajectory to maneuver the autonomous vehicle from the trajectory.

5. The method of claim 4 , further comprising transmitting the collision avoidance trajectory for use in maneuvering the autonomous vehicle from the trajectory.

6. The method of claim 1 , wherein the first safety action has a first urgency and the second safety action has a second urgency.

7. The method of claim 1 , wherein the safety system comprises at least one of an external bladder or a seat belt tensioning system.

8. The method of claim 1 , wherein the implementing the first safety action or the implementing the second safety action comprises moving a seat positioned in an interior of the autonomous vehicle from a first position to a second position.

9. A system comprising:
an autonomous vehicle configured to drive autonomously on a roadway, the autonomous vehicle having a plurality of sensors for sensing an object in an environment surrounding the autonomous vehicle; and
a computing system communicatively coupled to the autonomous vehicle to receive data from the plurality of sensors and to transmit instructions to control components of the autonomous vehicle, the computing system being programmed to:
determine a trajectory of the autonomous vehicle;
determine a first location of the object and a type of the object;
determine, based on the first location of the object and the type of the object, a predicted region comprising a region in which the object is predicted to travel;
determine a first threshold boundary within the predicted region and a second threshold boundary within the predicted region;
cause the autonomous vehicle to emit a first alert having a first urgency based on a determination that an updated location of the object coincides with the first threshold boundary; and
cause the autonomous vehicle to emit a second alert having a second urgency based on a determination that the updated location of the object coincides with the second threshold boundary.

10. The system of claim 9 , wherein the computing system is further programmed to determine a predicted collision location of the autonomous vehicle and the object and the first threshold boundary is relatively farther from the predicted collision location than the second threshold boundary.

11. The system of claim 10 , wherein the predicted collision location is in the predicted region.

12. The system of claim 9 , wherein the autonomous vehicle is a bi-directional vehicle configured to drive forward in a first direction or drive forward in a substantially opposite second direction without turning around the autonomous vehicle, and the computing system is further programmed to generate instructions for the autonomous vehicle to change direction from driving forward in the first direction along the trajectory to driving forward in the second direction without turning around based on a determination that the updated location of the object coincides with the second threshold boundary.

13. The system of claim 9 , wherein the computing system is further programmed to generate instructions to activate a safety system of the autonomous vehicle based on a determination that the updated location of the object coincides with the second threshold boundary.

14. The system of claim 13 , wherein the safety system comprises an external bladder or a seat belt tensioning system.

15. The system of claim 9 , wherein the autonomous vehicle further includes an acoustic safety system, the first alert comprises a first audio alert emitted by the acoustic safety system, and the second alert comprises a second audio alert emitted by the acoustic safety system.

16. The system of claim 15 , wherein the acoustic safety system comprises an acoustic beam steering array, the first audio alert is emitted at a first angle relative to the trajectory of the autonomous vehicle, and the second audio alert is emitted at a second angle relative to the trajectory of the autonomous vehicle.

17. The system of claim 9 , wherein the autonomous vehicle further includes a light emitter, the first alert comprises a first emitted light pattern emitted by the light emitter, and the second alert comprises a second emitted light pattern emitted by the light emitter.

Assignees

• Zoox Inc

Inventors

• Kentley Timothy David
• Levinson Jesse Sol
• Lind Amanda Blair

Classifications

• B60W2554/00

  Input parameters relating to objects · CPC title

• G01S17/87

  Combinations of systems using electromagnetic waves other than radio waves · CPC title

• G01S13/867

  Combination of radar systems with cameras · CPC title

• G01S2013/9322

  using additional data, e.g. driver condition, road state or weather data · CPC title

• G01S5/16

  using electromagnetic waves other than radio waves · CPC title