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US 10,681,513 B2Granted
Identifying a stopping place for an autonomous vehicle
AssigneenuTonomy Inc.
InventorsKarl Iagnemma, Harshavardhan Ravichandran
Life of this patent
Estimating the term…
Abstract
Among other things, stored data is maintained indicative of potential stopping places that are currently feasible stopping places for a vehicle within a region. The potential stopping places are identified as part of static map data for the region. Current signals are received from sensors or one or more other sources current signals representing perceptions of actual conditions at one or more of the potential stopping places. The stored data is updated based on changes in the perceptions of actual conditions. The updated stored data is exposed to a process that selects a stopping place for the vehicle from among the currently feasible stopping places.
Claims18
A computer-implemented method comprising:
- receiving, by one or more processors, static map data for a region, wherein the static map data identifies one or more potential stopping places for a vehicle within the region;
- maintaining, by the one or more processors, stored data indicative of one or more currently feasible stopping places for the vehicle within the region, wherein the one or more currently feasible stopping places area subset of the one or more potential stopping places, and wherein at least one potential stopping place of the one or more potential stopping places is determined to be a currently feasible stopping place based on:
- an amount of time elapsed since the potential stopping place was determined to be infeasible for parking stopping exceeding a first threshold value,
- a reason for the determination that the potential stopping place is infeasible for stopping, and
- at least one of a historical level of demand for parking in a vicinity of the potential stopping place being less than a second threshold value or traffic volume in the vicinity of the potential stopping place being less than a third threshold value;
- receiving from one or more sensors or one or more other sources current signals representing perceptions of actual conditions at the one or more currently feasible stopping places;
- updating, by the one or more processors, the stored data based on the perceptions of actual conditions to include one or more updated currently feasible stopping places;
- and
- exposing, by the one or more processors, the updated stored data to a process that selects a stopping place for the vehicle from among the one or more updated currently feasible stopping places.
6 more elements
An autonomous vehicle, comprising:
- one or more processors;
- one or more sensors;
- and
- one or more data storage devices including instructions that when executed by the one or more processors, cause the autonomous vehicle to perform functions comprising:
- receiving static map data for a region, wherein the static map data identifies one or more potential stopping places for a vehicle within the region;
- maintaining stored data indicative of one or more currently feasible stopping places for the vehicle within the region, wherein the one or more currently feasible stopping places are a subset of the one or more potential stopping places, and wherein a at least one potential stopping place of the one or more potential stopping places is determined to be a currently feasible stopping place based on:
- an amount of time elapsed since the potential stopping place was determined to be infeasible for stopping exceeding a first threshold value,
- a reason for the determination that the potential stopping place is infeasible for stopping, and
- at least one of a historical level of demand for parking in a vicinity of the potential stopping place being less than a second threshold value or traffic volume in the vicinity of the potential stopping place being less than a third threshold value;
- receiving from the one or more sensors or one or more other sources current signals representing perceptions of actual conditions at the one or more currently feasible stopping places;
- updating the stored data based on the perceptions of actual conditions to include one or more updated currently feasible stopping places;
- and exposing the updated stored data to a process that selects a stopping place for the vehicle from among the one or more updated currently feasible stopping places.
9 more elements
A non-transitory computer readable medium storing instructions thereon that, when executed by one or more processors, cause the one or more processors to perform functions comprising:
- receiving static map data for a region, wherein the static map data identifies one or more potential stopping places for a vehicle within the region;
- maintaining stored data indicative of one or more currently feasible stopping places for the vehicle within the region, wherein the one or more currently feasible stopping places are a subset of the one or more potential stopping places, and wherein at least one potential stopping place of the one or more potential stopping places determined to be a currently feasible stopping place based on:
- an amount of time elapsed since the potential stopping place was determined to be infeasible for stopping exceeding a first threshold value,
- a reason for the determination that the potential stopping place is infeasible for stopping, and
- at least one of a historical level of demand for parking in a vicinity of the potential stopping place being less than a second threshold value or traffic volume in the vicinity of the potential stopping place being less than a third threshold value;
- receiving from one or more sensors or one or more other sources current signals representing perceptions of actual conditions at the one or more currently feasible stopping places;
- updating the stored data based on the perceptions of actual conditions to include one or more updated currently feasible stopping places;
- and
- exposing the updated stored data to a process that selects a stopping place for the vehicle from among the one or more updated currently feasible stopping places.
6 more elements
Dependencies are inferred from the claim text.