# US 10,870,437 B2 · Determination of strategy modes for autonomous vehicle operations

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- Number: US 10,870,437 B2
- Document ID: US10870437B2
- Status: Granted
- Kind: B2
- Application number: 15/673,945
- Filed: 2017-08-10
- Published: 2019-02-14
- Granted: 2020-12-22
- Earliest claimed: 2017-08-10
- Assignees: Amazon Technologies, Inc.
- Applicants: Amazon Technologies, Inc.
- Inventors: Jon Stuart Battles; James Christopher Curlander; Larry Felser; Gur Kimchi; Pragyana K. Mishra
- Web page: https://patentgrep.com/patent/US10870437B2

## CPC

- B60W 30/182: Selecting between different operative modes, e.g. comfort and performance modes
- B60W 30/00: Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W 30/06: Automatic manoeuvring for parking
- B60W 30/095: Predicting travel path or likelihood of collision
- B60W 60/0011: {involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles}
- B60W 60/00274: {considering possible movement changes}
- G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00)
- G05D 1/0055: {with safety arrangements}
- G05D 1/0231: {using optical position detecting means (position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16)}
- G05D 1/0246: {using a video camera in combination with image processing means}
- G05D 1/0287: {involving a plurality of land vehicles, e.g. fleet or convoy travelling (traffic control systems for road vehicles G08G1/00, particularly anticollision systems G08G1/16)}
- G08G 1/16: Anti-collision systems (road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08)
- G08G 1/161: {Decentralised systems, e.g. inter-vehicle communication}
- G08G 1/163: {involving continuous checking}
- G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes}
- G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection}
- G08G 5/21: located onboard the aircraft
- G08G 5/55: for a single aircraft
- G08G 5/723: {from the aircraft}
- G08G 5/80: Anti-collision systems
- H04W 4/025: {using location based information parameters}
- B60W 2420/403: Image sensing, e.g. optical camera
- B60W 2552/20: Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
- B60W 2554/20: Static objects
- B60W 2554/4026: Cycles
- B60W 2554/4029: Pedestrians
- B60W 2554/4045: Intention, e.g. lane change or imminent movement
- B60W 2554/4046: Behavior, e.g. aggressive or erratic
- B60W 2555/20: Ambient conditions, e.g. wind or rain
- B60W 2556/50: of positioning data, e.g. GPS [Global Positioning System] data
- B60W 2710/207: Steering angle of wheels
- G08G 5/57: for unmanned aircraft
- H04W 4/06: Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
- H04W 4/40: for vehicles, e.g. vehicle-to-pedestrians [V2P]
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})
- H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72)

## Abstract

Systems and methods for determining strategy modes for autonomous vehicles are described. An autonomous vehicle may detect aspects of other vehicles and aspects of the environment using one or more sensors. The autonomous vehicle may then determine strategy modes of the other vehicles, and select a strategy mode for its own operation based on the determined strategy modes and an operational goal for the autonomous vehicle. The strategy modes may include an uncoupled strategy mode, a permissive strategy mode, an assistive strategy mode, and a preventative strategy mode. The autonomous vehicle may further determine elements in the environment and topological constraints associated with the environment, and select the strategy mode for its own operation based thereon.

## Claims

### Claim 1

An autonomous ground-based vehicle, comprising:
a propulsion mechanism;
a steering mechanism;
at least one imaging device; and
a control system comprising a processor and a memory, the control system configured to:
capture, using the at least one imaging device, at least one image of a second autonomous vehicle and an environment;
determine a strategy mode of the second autonomous vehicle, at least one aspect related to the environment, and at least one topological constraint associated with the environment based at least in part on the captured at least one image, wherein at least one aspect associated with the second autonomous vehicle within the at least one image indicates the strategy mode selected by the second autonomous vehicle; and
select an autonomous strategy mode from a plurality of autonomous strategy modes for the autonomous ground-based vehicle based at least in part on the determined strategy mode of the second autonomous vehicle, the determined at least one aspect related to the environment, and the determined at least one topological constraint associated with the environment, wherein the autonomous strategy mode for the autonomous ground-based vehicle comprises one of an uncoupled strategy mode, a permissive strategy mode, an assistive strategy mode, or a preventative strategy mode;
wherein each of the plurality of autonomous strategy modes comprises a respective set of available actions of the autonomous ground-based vehicle.

### Claim 2 (depends on 1)

The autonomous ground-based vehicle of claim 1, wherein the strategy mode of the second autonomous vehicle is determined based at least in part on illumination or flashing of one or more lights of the second autonomous vehicle.

### Claim 3 (depends on 1)

The autonomous ground-based vehicle of claim 1, wherein the strategy mode of the second autonomous vehicle is determined based at least in part on a visual identifier on a portion of the second autonomous vehicle.

### Claim 4 (depends on 1)

The autonomous ground-based vehicle of claim 1, wherein the strategy mode of the second autonomous vehicle is determined based at least in part on a motion of the second autonomous vehicle.

### Claim 5

An autonomous vehicle, comprising:
a propulsion mechanism;
a steering mechanism;
at least one sensor; and
a control system comprising a processor and a memory, the control system configured to:
detect, using the at least one sensor, at least one aspect of a second autonomous vehicle;
determine a strategy mode of the second autonomous vehicle based at least in part on the detected at least one aspect, wherein the at least one aspect of the second autonomous vehicle indicates the strategy mode selected by the second autonomous vehicle; and
select an autonomous strategy mode from a plurality of autonomous strategy modes for the autonomous vehicle based at least in part on the determined strategy mode of the second autonomous vehicle, wherein the autonomous strategy mode for the autonomous vehicle comprises one of an uncoupled strategy mode, a permissive strategy mode, an assistive strategy mode, or a preventative strategy mode;
wherein each of the plurality of autonomous strategy modes comprises a respective set of available actions of the autonomous vehicle.

### Claim 6 (depends on 5)

The autonomous vehicle of claim 5, wherein the at least one sensor comprises an imaging sensor that captures images of at least a portion of the second autonomous vehicle.

### Claim 7 (depends on 6)

The autonomous vehicle of claim 6, wherein the at least one aspect comprises at least one of illumination or flashing of one or more lights of the second autonomous vehicle; and
wherein the strategy mode of the second autonomous vehicle is determined based at least in part on the detected at least one of illumination or flashing of the one or more lights.

### Claim 8 (depends on 6)

The autonomous vehicle of claim 6, wherein the at least one aspect comprises a visual identifier on the at least a portion of the second autonomous vehicle, the visual identifier comprising at least one of a license plate, an alphanumeric identifier, a symbol, or a color of the at least a portion of the second autonomous vehicle; and
wherein the strategy mode of the second autonomous vehicle is determined based at least in part on the detected visual identifier.

### Claim 9 (depends on 6)

The autonomous vehicle of claim 6, wherein the at least one aspect comprises a motion of the second autonomous vehicle; and
wherein the strategy mode of the second autonomous vehicle is determined based at least in part on the detected motion of the second autonomous vehicle.

### Claim 10 (depends on 5)

The autonomous vehicle of claim 5, wherein the at least one sensor comprises at least one of a signal receiver or a radiofrequency receiver to receive a signal; and
wherein the at least one aspect comprises a signal broadcast by the second autonomous vehicle that indicates the strategy mode of the second autonomous vehicle.

### Claim 11 (depends on 5)

The autonomous vehicle of claim 5, wherein the at least one aspect further indicates at least one of a time of broadcast of a signal, a position of the second autonomous vehicle, a velocity of the second autonomous vehicle, a priority associated with the second autonomous vehicle, a state of the second autonomous vehicle, capabilities of the second autonomous vehicle, an identity of the second autonomous vehicle, or a vehicle type of the second autonomous vehicle.

### Claim 12 (depends on 5)

The autonomous vehicle of claim 5, wherein the at least one sensor comprises at least one of a radar sensor or a LIDAR sensor; and
wherein the at least one aspect comprises at least one of a position, a velocity, or a vehicle type of the second autonomous vehicle.

### Claim 13 (depends on 5)

The autonomous vehicle of claim 5, wherein the control system is configured to determine the strategy mode of the second autonomous vehicle by predicting the strategy mode of the second autonomous vehicle based at least in part on the detected at least one aspect of the second autonomous vehicle.

### Claim 14 (depends on 5)

The autonomous vehicle of claim 5, wherein the control system is further configured to:
detect, using the at least one sensor, at least one aspect related to an environment;
wherein the at least one aspect related to the environment comprises an element in the environment, the element comprising at least one of a natural obstacle, a building, a weather formation, a pathway characteristic, a pedestrian, a cyclist, or an animal;
wherein the autonomous strategy mode for the autonomous vehicle is further selected based at least in part on the detected at least one aspect related to the environment.

### Claim 15 (depends on 5)

The autonomous vehicle of claim 5, wherein the control system is further configured to:
determine at least one topological constraint associated with an environment;
wherein the at least one topological constraint comprises at least one of pathway characteristics or conditions, weather conditions associated the environment, or characteristics or capabilities of the autonomous vehicle;
wherein the autonomous strategy mode for the autonomous vehicle is further selected based at least in part on the determined at least one topological constraint associated with the environment.

### Claim 16

A method of operating an autonomous vehicle, comprising:
detecting, using at least one sensor, at least one aspect of a second autonomous vehicle;
determining a strategy mode of the second autonomous vehicle based at least in part on the detected at least one aspect, wherein the at least one aspect of the second autonomous vehicle indicates the strategy mode selected by the second autonomous vehicle;
selecting an autonomous strategy mode from a plurality of autonomous strategy modes for the autonomous vehicle based at least in part on the determined strategy mode of the second autonomous vehicle, wherein the autonomous strategy mode for the autonomous vehicle comprises one of an uncoupled strategy mode, a permissive strategy mode, an assistive strategy mode, or a preventative strategy mode; and
selecting an action for the autonomous vehicle based at least in part on the selected autonomous strategy mode for the autonomous vehicle, each of the plurality of autonomous strategy modes including a respective set of available actions of the autonomous vehicle.

### Claim 17 (depends on 16)

The method of claim 16, further comprising:
detecting, using the at least one sensor, at least one aspect related to an environment;
wherein the autonomous strategy mode for the autonomous vehicle is further selected based at least in part on the detected at least one aspect related to the environment.

### Claim 18 (depends on 16)

The method of claim 16, further comprising:
determining at least one topological constraint associated with an environment;
wherein the autonomous strategy mode for the autonomous vehicle is further selected based at least in part on the determined at least one topological constraint associated with the environment.

### Claim 19 (depends on 16)

The method of claim 16, wherein determining the strategy mode of the second autonomous vehicle comprises predicting the strategy mode of the second autonomous vehicle based at least in part on the detected at least one aspect of the second autonomous vehicle.