Autonomous vehicle operation in view-obstructed environments

Patent metadata

Field	Value
Publication number	US-9649979-B2
Application number	US-201514609273-A
Country	US
Kind code	B2
Filing date	Jan 29, 2015
Priority date	Jan 29, 2015
Publication date	May 16, 2017
Grant date	May 16, 2017

Abstract

Arrangements related to operating an autonomous vehicle in view-obstructed environments are described. At least a portion of an external environment of the autonomous vehicle can be sensed to detect one or more objects located therein. An occupant viewable area of the external environment can be determined. It can be determined whether one or more of the detected one or more objects is located outside of the determined occupant viewable area. Responsive to determining that a detected object is located outside of the determined occupant viewable area, one or more actions can be taken. For instance, the action can include presenting an alert within the autonomous vehicle. Alternatively or in addition, the action can include causing a current driving action of the autonomous vehicle to be modified.

First claim

What is claimed is:

1. A method of operating an autonomous vehicle in a view-obstructed environment comprising:
acquiring, using one or more sensors, sensor data of at least a portion of an external environment of the autonomous vehicle;
detecting one or more objects located in the external environment based on the acquired sensor data;
determining, using one or more processors, an occupant viewable area of the external environment, the occupant viewable area being a portion of the external environment that is visible to a vehicle occupant, the occupant viewable area being determined based at least in part on a field of vision for the occupant and any obstructions located in the external environment;
determining whether one or more of the detected one or more objects is located outside of the determined occupant viewable area by comparing a location of the detected one or more objects to the determined occupant viewable area; and
responsive to determining that one or more of the detected one or more objects is located outside of the determined occupant viewable area, presenting an alert within the autonomous vehicle indicating that one or more of the detected one or more objects is determined to be located outside of the determined occupant viewable area, the alert being presented while the autonomous vehicle continues to operate in a highly automated mode,
wherein, in the highly automated mode, the autonomous vehicle is configured to navigate without receiving input from the vehicle occupant.

2. The method of claim 1 , wherein the alert is an audible alert, and wherein presenting the alert within the autonomous vehicle includes emitting the audible alert within the autonomous vehicle.

3. The method of claim 2 , wherein the audible alert is emitted in a location within the autonomous vehicle corresponding to the location of the detected one or more objects located outside of the determined occupant viewable area.

4. The method of claim 1 , wherein the alert is a visual alert, and wherein presenting the alert within the autonomous vehicle includes displaying the visual alert within the autonomous vehicle.

5. The method of claim 4 , wherein the visual alert includes a representation of the external environment, and wherein a representation of the one or more of the detected one or more objects located outside of the occupant viewable area is overlaid upon the representation of the external environment.

6. The method of claim 5 , wherein a representation of at least one of a representation of the occupant viewable area and a representation of the sensed at least a portion of an external environment is overlaid upon the representation of the external environment.

7. The method of claim 1 , wherein determining an occupant viewable area of the external environment based at least in part on any obstructions located in the external environment is only performed responsive to detecting the one or more objects located in the external environment based on the acquired sensor data.

8. A system for operating an autonomous vehicle in a view-obstructed environment, comprising:
a sensor system configured to acquire sensor data of at least a portion of an external environment of the autonomous vehicle;
a processor operatively connected to the sensor system, the processor being programmed to initiate executable operations comprising:
detecting one or more objects located in the external environment based on the acquired sensor data;
determining an occupant viewable area of the external environment, the occupant viewable area being a portion of the external environment that is visible to a vehicle occupant, the occupant viewable area being determined based at least in part on a field of vision for the vehicle occupant and any obstructions located in the external environment;
determining whether one or more of the detected one or more objects is located outside of the determined occupant viewable area by comparing a location of the detected one or more objects to the determined occupant viewable area; and
responsive to determining that one or more of the detected one or more objects is located outside of the determined occupant viewable area, presenting an alert within the autonomous vehicle indicating that one or more of the detected one or more objects is determined to be located outside of the determined occupant viewable area, the alert being presented while the autonomous vehicle continues to operate in a highly automated mode,
wherein, in the highly automated mode, the autonomous vehicle is configured to navigate without receiving input from the vehicle occupant.

9. The system of claim 8 , further including:
a speaker operatively connected to the processor, wherein the alert is an audible alert, and wherein presenting the alert within the autonomous vehicle includes emitting the audible alert within the autonomous vehicle via the speaker.

10. The system of claim 9 , wherein emitting the audible alert within the autonomous vehicle includes emitting the audible alert in a location within the autonomous vehicle corresponding to the location of the detected one or more objects located outside of the determined occupant viewable area.

11. The system of claim 8 , further including:
a display operatively connected to the processor, wherein the alert is a visual alert, and wherein presenting the alert within the autonomous vehicle includes presenting the visual alert within the autonomous vehicle on the display.

12. The system of claim 11 , wherein the visual alert includes a representation of the external environment, and wherein a representation of the one or more of the detected one or more objects located outside of the occupant viewable area is overlaid upon the representation of the external environment.

13. The system of claim 12 , wherein at least one of a representation of the occupant viewable area and a representation of the sensed at least a portion of an external environment is overlaid upon the representation of the external environment.

14. A method of operating an autonomous vehicle in a view-obstructed environment comprising:
acquiring, using one or more sensors, sensor data of at least a portion of an external environment of the autonomous vehicle;
detecting one or more objects located in the external environment based on the acquired sensor data;
determining a human occupant physical measurement of at least a portion of a body of a current human occupant of the autonomous vehicle based on acquired data of the current human occupant of the autonomous vehicle;
determining, using one or more processors, an occupant viewable area of the external environment, the occupant viewable area being a portion of the external environment that is visible to the current human occupant of the autonomous vehicle, the occupant viewable area being determined based at least in part on a field of vision for the current human occupant of the autonomous vehicle and the determined human occupant physical measurement;
determining whether one or more of the detected one or more objects is located outside of the determined occupant viewable area by comparing a location of the detected one or more objects to the determined occupant viewable area; and
responsive to determining that one or more of the detected one or more objects is located outside of the determined occupant viewable area, presenting an alert within the autonomous vehicle indicating that one or more of the detected one or more objects is determined to be located outside of the determined occupant viewable area.

15. A system for operating an autonomous vehicle in a view

Assignees

• Toyota Motor Eng & Mfg North America Inc

Inventors

• Sakai Katsuhiro
• Prokhorov Danil V
• Okumura Bunyo
• Nagasaka Naoki
• Harada Masahiro
• Kamata Nobuhide

Classifications

• B60W50/14 Primary

  Means for informing the driver, warning the driver or prompting a driver intervention · CPC title

• B60W2050/143

  Alarm means · CPC title

• B60W2050/146

  Display means · CPC title

• B60W2556/00

  Input parameters relating to data · CPC title

• B60W2554/00

  Input parameters relating to objects · CPC title