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US 10,586,254 B2Granted
Method and system for adaptive vehicle control in autonomous vehicles
AssigneeNIO USA, Inc.
InventorAbhishek Singhal
Life of this patent
Estimating the term…
Abstract
Systems of an electrical vehicle and the operations thereof are provided that use object profiles to select autonomous vehicle operations, including acceleration rate, deceleration rate, steering angle, and inter-vehicle spacing.
Claims21
A vehicle, comprising:
- a vehicle interior for receiving a plurality of occupants;
- a plurality of sensors to collect sensed information associated with the vehicle interior and an exterior of the vehicle;
- an automatic vehicle location system to determine a current spatial location of the vehicle;
- a computer readable medium to store one or more occupant profiles describing a behavioral response of the vehicle to the sensed information when the vehicle is in an autonomous mode of operation;
- and
- a microprocessor, coupled to the plurality of sensors, automatic vehicle location system, and computer readable medium, that, when in the autonomous mode of operation:
- identifies a first occupant of the vehicle;
- accesses a first occupant profile corresponding to the identified first occupant, the first occupant profile comprising one or more behavior segments for the first occupant, the one or more behavior segments mapping a vehicle behavior response for the first occupant, the vehicle behavior response being one of more of an acceleration event, an acceleration rate, a deceleration event, a deceleration rate, a steering angle relative to a reference axis, and a spacing distance between an exterior surface of the vehicle and a nearby object for the first occupant, against one or more sensed inputs and wherein the vehicle collects sensed information during manual and autonomous control of the vehicle;
- identifies a second occupant of the vehicle;
- accesses a second occupant profile corresponding to the identified second occupant, the second occupant profile comprising one or more behavior segments for the second occupant;
- determines, based on the sensed information collected while the first occupant and the second occupant are both in the vehicle, that at least one of the one or more behavior segments for the first occupant and the one or more behavior segments for the second occupant are different than when only one of the first occupant and the second occupant are in the vehicle;
- generates, based on the first and the second occupant profiles and the determined difference in the at least one of the one or more behavior segments, a composite group profile comprising a combination of the first and the second occupant profiles that defines an autonomous control behavior for the one or more of an acceleration event, an acceleration rate, a deceleration event, a deceleration rate, a steering angle relative to a reference axis, and a spacing distance between an exterior surface of the vehicle and a nearby object in accordance with the combination of the first and the second occupant profiles;
- selects the composite group profile for use by the vehicle while the first occupant and the second occupant are both in the vehicle;
- and
- causes the vehicle to autonomously execute the selected one or more of an acceleration event, an acceleration rate, a deceleration event, a deceleration rate, a steering angle relative to a reference axis, and a spacing distance between an exterior surface of the vehicle and a nearby object in accordance with the composite group profile.
12 more elements
A method, comprising:
- identifying, by a microprocessor, a first occupant of a vehicle;
- identifying, by the microprocessor, a second occupant of the vehicle;
- when the microprocessor is in an autonomous mode of operation, accessing, by the microprocessor, a first occupant profile corresponding to the first identified occupant, the first occupant profile comprising one or more behavior segments for the first occupant, the one or more behavior segments mapping a vehicle behavior response for the first occupant, the vehicle behavior response being one of more of an acceleration event, an acceleration rate, a deceleration event, a deceleration rate, a steering angle relative to a reference axis, and a spacing distance between an exterior surface of the vehicle and a nearby object for the first occupant, against one or more sensed inputs, wherein the one or more behavior segments are based on sensed information collected by the vehicle during a manual vehicle control operation of the vehicle provided by the occupant, and accessing, by the microprocessor, a second occupant profile corresponding to the identified second occupant, the second occupant profile comprising one or more behavior segments for the second occupant;
- determining by the microprocessor and based on the sensed information collected while the first occupant and the second occupant are both in the vehicle, that at least one of the one or more behavior segments for the first occupant and the one or more behavior segments for the second occupant are different than when only one of the first occupant and the second occupant are in the vehicle;
- generating, by the microprocessor and based on the first and the second occupant profiles and the determined difference in the at least one of the one or more behavior segments, a composite group profile comprising a combination of the first and the second occupant profiles that defines an autonomous control behavior for one or more of an acceleration event, an acceleration rate, a deceleration event, a deceleration rate, a steering angle relative to a reference axis, and a spacing distance between an exterior surface of the vehicle and a nearby object in accordance with the combination of the first and the second occupant profiles;
- selecting, by the microprocessor, the composite group profile for use by the vehicle while the first occupant and the second occupant are both in the vehicle, wherein the composite group profile is selected for use in place of a single one of the first occupant profile and the second occupant profile, and
- causing, by the microprocessor, the vehicle to autonomously execute the selected one or more of an acceleration event, an acceleration rate, a deceleration event, a deceleration rate, a steering angle relative to a reference axis, and a spacing distance between an exterior surface of the vehicle and a nearby object in accordance with the composite group profile.
4 more elements
A method, comprising:
- receiving, by a microprocessor, sensed information collected by a vehicle, the sensed information comprising a spatial location of the vehicle and describing an exterior environment of the vehicle including one or more objects within a spatial range of the vehicle;
- identifying, by the microprocessor, the one or more objects;
- identifying, by the microprocessor, a first occupant of the vehicle;
- accessing, by the microprocessor, a first occupant profile corresponding to the identified first occupant, the first occupant profile comprising one or more driving behavior segments for the first occupant;
- providing, by the microprocessor, one or more behavioral profiles corresponding to the one or more objects to the vehicle to enable the vehicle to predict a behavior of the one or more objects;
- updating, by the microprocessor, the one or more behavioral profiles corresponding to the one or more objects based on descriptive information in the sensed information regarding a sensed behavior of the one or more objects;
- determining, by the microprocessor, a second occupant profile sharing a common driving type as the first occupant profile, the second occupant profile comprising one or more driving behaviors for the second occupant including an autonomous driving control response for the one or more objects when the first occupant profile is absent the autonomous driving control response for the one or more objects;
- and
- generating, by the microprocessor, a consolidated profile comprising a combination of the first and the second occupant profiles that autonomously controls the vehicle in accordance with the combination of the first occupant profile and the second occupant profile, and wherein the consolidated profile includes the autonomous driving control response for the one or more objects.
6 more elements
A method, comprising:
- identifying, by a microprocessor of a vehicle when operating in an autonomous driving mode, nearby object, the nearby object being one of an animal and human;
- sensing, by the microprocessor, navigation and environmental information;
- determining, by the microprocessor, a type of the identified nearby object;
- accessing, by the microprocessor, a profile corresponding to the identified type of identified nearby object, the object profile comprises a behavioral response for the object and, for each object behavioral response, sensed information triggering the corresponding object behavioral response, wherein the corresponding object behavioral response is one or more of an object acceleration event, an object acceleration rate, an object deceleration event, an object deceleration rate, an object steering angle relative to a reference axis, and a spacing distance between an exterior surface of the object and a nearby different object;
- based on the accessed profile and one or more of the sensed navigation or environmental information, predicting a future behavior of the identified nearby object;
- identifying, by the microprocessor, a first occupant of a vehicle;
- identifying, by the microprocessor, a second occupant of the vehicle;
- accessing, by the microprocessor, a first occupant profile corresponding to the first identified occupant, the first occupant profile comprising one or more behavior segments for the first occupant, the one or more behavior segments mapping a vehicle behavior response for the first occupant against one or more sensed inputs, wherein the one or more behavior segments are based on sensed information collected by the vehicle during a manual vehicle control operation of the vehicle provided by the occupant;
- accessing, by the microprocessor, a second occupant profile corresponding to the identified second occupant, the second occupant profile comprising one or more behavior segments for the second occupant;
- determining, by the microprocessor, a composite group profile comprising a combination of the first and the second occupant profiles that defines an autonomous control behavior for the vehicle based on the combination of the first and the second occupant profiles;
- selecting, by the microprocessor and based on the predicted future behavior of the identified nearby object and the composite group profile, one or more of a vehicle acceleration rate, a vehicle deceleration rate, a vehicle direction of travel relative to a reference axis, and a spacing distance between an exterior surface of the vehicle and the identified nearby object, the one or more of the vehicle acceleration rate, the vehicle deceleration rate, the vehicle direction of travel relative to a reference axis, and a spacing distance between an exterior surface of the vehicle and the identified nearby object in accordance with the composite group profile;
- and
- causing, by the microprocessor, the vehicle to autonomously execute an operation in response to the selected one or more of the vehicle acceleration rate, the vehicle deceleration rate, the vehicle direction of travel relative to a reference axis, and the vehicle spacing distance between an exterior surface of the vehicle and the identified nearby object to reflect the predicted future behavior of the identified nearby in accordance with the composite group profile.
10 more elements
Dependencies are inferred from the claim text.