Autonomous vehicle operated with guide assistance of human driven vehicles

Patent metadata

Field	Value
Publication number	US-9933779-B2
Application number	US-201615264374-A
Country	US
Kind code	B2
Filing date	Sep 13, 2016
Priority date	May 13, 2015
Publication date	Apr 3, 2018
Grant date	Apr 3, 2018

Abstract

Examples described herein include an autonomous vehicle that receives guide assistance from a human driven vehicle in response to a determination that the autonomous vehicle cannot progress safely on its route.

First claim

What is claimed is:

1. A method for operating a computer system to remotely control at least some operations of an autonomous vehicle, the method being implemented by one or more processors and comprising:
determining, from information communicated by an autonomous vehicle over a wireless network link, when an ability of the autonomous vehicle to safely progress over a road segment of a planned route to a given location is below a threshold level of confidence;
identifying a second vehicle to guide the autonomous vehicle through at least a portion of the planned or current route; and
sending instructions over the wireless link to cause the autonomous vehicle to track the second vehicle to the given location.

2. The method of claim 1 , further comprising:
determining a meeting location for the autonomous vehicle and the second vehicle; and
wherein sending the instructions includes instructing the autonomous vehicle to drive to the meeting location.

3. The method of claim 2 , further comprising:
tracking a position of the second vehicle as the second vehicle progresses to a meeting location; and
communicating the tracked position of the second vehicle to the autonomous vehicle.

4. The method of claim 2 , wherein sending the instructions includes:
instructing the autonomous vehicle to wait for the second vehicle at the meeting location.

5. The method of claim 1 , further comprising causing the autonomous vehicle to drive into traffic to initiate tracking of the second vehicle when the second vehicle is determined to be sufficiently near the autonomous vehicle.

6. The method of claim 1 , further comprising:
determining an alternative route to the given location which avoids at least a portion of the road segment; and
communicating the alternative route to the second vehicle; and
wherein sending the instructions includes instructing the autonomous vehicle to follow the second vehicle to initiate the alternative route.

7. The method of claim 1 , wherein sending the instructions includes instructing the autonomous vehicle to stop at a current location of the autonomous vehicle, and to wait for the second vehicle to arrive or pass near the autonomous vehicle.

8. The method of claim 1 , wherein sending the instructions includes enabling the autonomous vehicle to identify the second vehicle when the second vehicle is near the autonomous vehicle.

9. The method of claim 8 , wherein enabling the autonomous vehicle to identify the second vehicle includes providing the autonomous vehicle with a visual identifier of the second vehicle.

10. The method of claim 1 , wherein sending the instructions includes instructing the autonomous vehicle to switch on one or more lights.

11. The method of claim 1 , further comprising:
providing a notification to the second vehicle which indicates that the autonomous vehicle is or will be tracking the second vehicle to the given location.

12. The method of claim 1 , further comprising generating a record that identifies the road segment, and updating a map used by the autonomous vehicle to reflect the hazard.

13. The method of claim 1 , wherein sending the instructions to the autonomous vehicle includes instructing the autonomous vehicle to follow a protocol for detecting the second vehicle passing by the autonomous vehicle.

14. The method of claim 13 , further comprising:
communicating with the second vehicle to implement the protocol.

15. The method of claim 1 , wherein sending the instructions includes causing the autonomous vehicle to track the second vehicle in an alternative mode in which the second vehicle's operation is authoritative over a default set of driving rules.

16. The method of claim 15 , wherein causing the autonomous vehicle to track the second vehicle in the alternative mode includes causing the autonomous vehicle to commit a lane or turn violation in order to continue tracking the second vehicle.

17. The method of claim 1 , wherein identifying the second vehicle includes selecting the selected vehicle from multiple possible vehicles based on an estimated time of arrival of the vehicle to a current or meeting location of the autonomous vehicle.

18. The method of claim 1 , wherein identifying the second vehicle includes selecting one of multiple possible vehicles based on a comparison of a planned route of the second vehicle and a planned route of the autonomous vehicle.

19. A non-transitory computer-readable medium that stores instructions, which when executed by one or more processors, cause the one or more processors to perform operations comprising:
determining, from information communicated by an autonomous vehicle over a wireless network link, when an ability of the autonomous vehicle to safely progress over a road segment of a planned route to a given location is below a threshold level of confidence;
identifying a second vehicle to guide the autonomous vehicle through at least a portion of the planned or current route; and
sending instructions over the wireless link to cause the autonomous vehicle to track the second vehicle to the given location.

20. A computer system comprising:
a memory to store a set of instructions;
one or more processors to execute the instructions to:
determining, from information communicated by an autonomous vehicle over a wireless network link, when an ability of the autonomous vehicle to safely progress over a road segment of a planned route to a given location is below a threshold level of confidence;
identifying a second vehicle to guide the autonomous vehicle through at least a portion of the planned or current route; and
sending instructions over the wireless link to cause the autonomous vehicle to track the second vehicle to the given location.

Assignees

• Uber Technologies Inc

Inventors

• Ross William
• Bares John
• Larose David
• Sweeney Matthew

Classifications

• G08B25/00

  Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems · CPC title

• G01S2013/9322

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

• B60W50/029

  Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts · CPC title

• G01S13/867

  Combination of radar systems with cameras · CPC title

• G08G1/0962

  having an indicator mounted inside the vehicle, e.g. giving voice messages · CPC title