Autonomous vehicle operation relative to unexpected dynamic objects

Patent metadata

Field	Value
Publication number	US-9764736-B2
Application number	US-201514826715-A
Country	US
Kind code	B2
Filing date	Aug 14, 2015
Priority date	Aug 14, 2015
Publication date	Sep 19, 2017
Grant date	Sep 19, 2017

Abstract

An autonomous vehicle may operate in an environment in which there is an unexpected dynamic object. The autonomous vehicle can detect the dynamic object. The dynamic object can have an associated movement. The movement of the dynamic object can be tracked. The movement of the dynamic object can be classified as being one ballistic or non-ballistic. It can be determined whether the dynamic object is on a collision course with the autonomous vehicle. Responsive to determining that the dynamic object is on a collision course with the autonomous vehicle, a driving maneuver for the autonomous vehicle can be determined. The driving maneuver can be based at least in part on the movement of the dynamic object. The autonomous vehicle can be caused to implement the determined driving maneuver.

First claim

What is claimed is:

1. A method of operating an autonomous vehicle relative to unexpected dynamic objects in an external environment, the method comprising:
detecting a dynamic object in the external environment of the autonomous vehicle, the dynamic object having an associated movement;
tracking the movement of the dynamic object;
classifying the movement of the dynamic object as one of ballistic or non-ballistic;
classifying a size of the dynamic object;
determining whether the dynamic object is on a collision course with the autonomous vehicle;
responsive to determining that the dynamic object is on a collision course with the autonomous vehicle, determining a driving maneuver for the autonomous vehicle based at least in part on the classified movement of the dynamic object and the classified size of the dynamic object; and
causing the autonomous vehicle to implement the determined driving maneuver.

2. The method of claim 1 , wherein the size of the dynamic object is classified as one of small or large.

3. The method of claim 2 , wherein, if the movement of the dynamic object is classified as being ballistic and the size of the dynamic object is classified as being large, the determined driving maneuver includes one or more aggressive evasive maneuvers.

4. The method of claim 2 , wherein, if the movement of the dynamic object is classified as being ballistic and the size of the dynamic object is classified as being small, the determined driving maneuver includes one or more evasive maneuvers.

5. The method of claim 2 , wherein, if the movement of the dynamic object is classified as being non-ballistic and the size of the dynamic object is classified as being large, the driving maneuver includes one or more evasive maneuvers.

6. The method of claim 2 , wherein, if the movement of the dynamic object is classified as being non-ballistic and the size of the dynamic object is classified as being small, further including:
ignoring the dynamic object in determining a driving maneuver for the autonomous vehicle.

7. The method of claim 1 , further including:
determining whether a collision between the dynamic object and the autonomous vehicle is avoidable or unavoidable; and
responsive to determining that a collision between the dynamic object and the autonomous vehicle is unavoidable, determining a collision mitigating maneuver for the autonomous vehicle.

8. The method of claim 7 , wherein determining the collision mitigating maneuver for the autonomous vehicle is based at least partially on the location of at least one occupant within the autonomous vehicle.

9. The method of claim 1 , wherein causing the autonomous vehicle to implement the determined driving maneuver includes automatically causing the autonomous vehicle to implement the determined driving maneuver.

10. The method of claim 1 , wherein causing the autonomous vehicle to implement the determined driving maneuver includes causing the autonomous vehicle to implement the determined driving maneuver responsive to receiving a vehicle occupant input.

11. A system for operating an autonomous vehicle relative to unexpected dynamic objects in an external environment, the system comprising:
a sensor system configured to detect a dynamic object in the external environment of the autonomous vehicle, the dynamic object having an associated movement;
a processor operatively connected to the sensor system, the processor being programmed to initiate executable operations comprising:
tracking the movement of the dynamic object;
classifying the movement of the dynamic object as one of ballistic or non-ballistic;
classifying a size of the dynamic object;
determining whether the dynamic object is on a collision course with the autonomous vehicle;
responsive to determining that the dynamic object is on a collision course with the autonomous vehicle, determining a driving maneuver for the autonomous vehicle based at least in part on the classified movement of the dynamic object and the classified size of the dynamic object; and
causing the autonomous vehicle to implement the determined driving maneuver.

12. The system of claim 11 , wherein the size of the dynamic object is classified as one of small or large.

13. The system of claim 12 , wherein, if the movement of the dynamic object is classified as being ballistic and the size of the dynamic object is classified as being large, the determined driving maneuver includes one or more aggressive evasive maneuvers.

14. The system of claim 12 , wherein, if the movement of the dynamic object is classified as being ballistic and the size of the dynamic object is classified as being small, the determined driving maneuver includes one or more evasive maneuvers.

15. The system of claim 12 , wherein, if the movement of the dynamic object is classified as being non-ballistic and the size of the dynamic object is classified as being large, the driving maneuver includes one or more evasive maneuvers.

16. The system of claim 12 , wherein, if the movement of the dynamic object is classified as being non-ballistic and the size of the dynamic object is classified as being small, further including:
ignoring the dynamic object in determining a driving maneuver for the autonomous vehicle.

17. The system of claim 11 , further including:
determining whether a collision between the dynamic object and the autonomous vehicle is avoidable or unavoidable; and
responsive to determining that a collision between the dynamic object and the autonomous vehicle is unavoidable, determining a collision mitigating maneuver for the autonomous vehicle.

18. The system of claim 17 , wherein determining the collision mitigating maneuver for the autonomous vehicle is based at least partially on the location of at least one occupant within the autonomous vehicle.

19. The system of claim 11 , wherein causing the autonomous vehicle to implement the determined driving maneuver includes automatically causing the autonomous vehicle to implement the determined driving maneuver.

20. A computer program product for operating an autonomous vehicle relative to unexpected dynamic objects in an external environment, the computer program product comprising a computer readable storage medium having program code embodied therein, the program code executable by a processor to perform a method comprising:
detecting a dynamic object in the external environment of the autonomous vehicle, the dynamic object having an associated movement;
tracking the movement of the dynamic object;
classifying the movement of the dynamic object as one of ballistic or non-ballistic;
classifying a size of the dynamic object;
determining whether the dynamic object is on a collision course with the autonomous vehicle;
responsive to determining that the dynamic object is on a collision course with the autonomous vehicle, determining a driving maneuver for the autonomous vehicle based at least in part on the classified movement of the dynamic object and the classified size of the dynamic object; and
causing the autonomous vehicle to implement the determined driving maneuver.

Assignees

• Toyota Motor Eng & Mfg North America Inc

Inventors

• Prokhorov Danil V

Classifications

• B60W10/20

  including control of steering systems · CPC title

• B60W30/0956

  the prediction being responsive to traffic or environmental parameters · CPC title

• B60W2720/10

  Longitudinal speed · CPC title

• B60W10/04

  including control of propulsion units · CPC title

• B60W30/085

  Taking automatic action to adjust vehicle attitude in preparation for collision, e.g. braking for nose dropping · CPC title