# US 11,113,547 B2 · Planning control in response to a driving obstruction during operation of an autonomous driving vehicle (ADV) > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,113,547 B2 - Document ID: US11113547B2 - Status: Granted - Kind: B2 - Application number: 15/610,351 - Filed: 2017-05-31 - Published: 2018-12-06 - Granted: 2021-09-07 - Earliest claimed: 2017-05-31 - Assignees: Baidu USA LLC - Applicants: Baidu USA LLC - Inventors: Yifei Jiang; Jiaming Tao; Dong Li; Jiangtao Hu - Web page: https://patentgrep.com/patent/US11113547B2 ## CPC - G06V 20/58: Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads - 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 30/0956: {the prediction being responsive to traffic or environmental parameters} - B60W 30/18163: {Lane change; Overtaking manoeuvres} - B60W 60/0011: {involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles} - B60W 60/0015: {specially adapted for safety} - B60W 60/0027: {using trajectory prediction for other traffic participants} - B60W 60/00276: {for two or more other traffic participants} - B62D 15/025: {Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence)} - B62D 15/0265: {Automatic obstacle avoidance by steering} - G05D 1/0223: {involving speed control of the vehicle (vehicle fittings for automatically controlling, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator B60K31/00)} - B60T 2210/32: Vehicle surroundings - B60W 2520/10: Longitudinal speed - B60W 2554/00: Input parameters relating to objects - B60W 2554/20: Static objects - B60W 2554/408: Traffic behavior, e.g. swarm - B60W 2554/801: Lateral distance - 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 1/0255: {using acoustic signals, e.g. ultra-sonic singals (sonar systems designed for anti-collision purposes G01S15/93)} - G05D 1/0257: {using a radar (radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931)} - G05D 1/0278: {using satellite positioning signals, e.g. GPS} - G05D 1/028: {using a RF signal} - G08G 1/096827: {where the route is computed onboard} - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - 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 - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - B60T: VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL (electrodynamic brake systems for vehicle, in general B60L; brakes per se, i.e. devices where braking effect occurs, including ultimate brake actuators, F16D); ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES - 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}) ## Abstract Described is a system for providing an autonomous driving control mechanism in response to a driving obstruction. The system includes a framework for providing a decision process that may learn from surrounding vehicles and traffic flow to determine a suitable responsive action. The system may observe other vehicles and determine a trajectory for the vehicle to follow. The system may rely on a specialized blocking detection and decision components that may provide a set of instructions or rules in order to maneuver around the obstruction. In addition, the system may compare the maneuver with a detour and determine the most suitable route for the vehicle based on an analysis of several factors. Accordingly, the system may continue to provide safe and efficient autonomous control even when encountering a driving obstruction. ## Claims ### Claim 1 A computer-implemented method for providing autonomous driving control for a vehicle, comprising: providing autonomous driving control for the vehicle using a first route plan based on a first set of driving rules, wherein the first set of driving rules include traffic rules providing guidance on traffic rules in jurisdictions, route rules providing guidance on preferences for routes, and ride comfort rules having preferences for speed or terrain; recognizing, using one or more sensors of the vehicle, an occurrence of a driving obstruction, wherein recognizing the occurrence of a driving obstruction includes perceiving objects indicative of a potential obstruction and determining whether one or more other vehicles are at standstill or crossing over a median line; in response to recognizing the driving obstruction, detecting a traffic flow pattern of the one or more other vehicles, including analyzing traffic flow pattern data by determining whether a number of vehicles within the one or more vehicles performing a maneuver exceeds a predetermined threshold related to the maneuver and converting a speed and direction of the one or more other vehicles within the detected traffic flow pattern into vectors; determining a second route plan based on the detected traffic flow pattern, including determining a trajectory for the vehicle to follow as the maneuver in response to the driving obstruction, wherein the determined trajectory is based on the speed and direction of the other vehicles, determining a detour for the vehicle to follow in response to the driving obstruction, comparing the detour to the maneuver based on one or more factors, and determining to perform the maneuver over the detour based on the comparison of factors, wherein comparing the detour to the maneuver includes determining a traffic flow speed factor of the other vehicles maneuvering in response to the driving obstruction, wherein the traffic flow speed factor is used to determine an estimated time for the vehicle to maneuver around the driving obstruction, and determining an estimated time factor for the vehicle to complete the detour based on real-time traffic information; and updating the first route plan with the second route plan utilizing the first set of driving rules to continue providing the autonomous driving control for the vehicle. ### Claim 2 (depends on 1) The method of claim 1, wherein detecting the traffic flow pattern includes detecting the one or more other vehicles maneuvering in response to the driving obstruction, and determining the speed and direction of the other vehicles within the detected traffic flow pattern. ### Claim 3 (depends on 1) The method of claim 1, wherein comparing the detour to the maneuver further includes determining a risk factor for performing at least one of the maneuver or the detour. ### Claim 4 (depends on 1) The method of claim 1, wherein recognizing the occurrence of a driving obstruction includes analyzing a speed and direction of one or more other vehicles, and determining the speed and direction of the other vehicles indicates a presence of a driving obstruction. ### Claim 5 (depends on 1) The method of claim 1, wherein updating the first route plan with the second route plan includes overriding the first set of driving rules with a second set of driving rules. ### Claim 6 (depends on 5) The method of claim 5, wherein the first set of driving rules includes one or more driving lane rules and the second set of driving rules overrides the one or more driving lane rules. ### Claim 7 A non-transitory machine-readable medium having instructions stored therein, which when executed by a processor, cause the processor to perform operations, the operations comprising: providing autonomous driving control for a vehicle using a first route plan based on a first set of driving rules, wherein the first set of driving rules include traffic rules providing guidance on traffic rules in jurisdictions, route rules providing guidance on preferences for routes, and ride comfort rules having preferences for speed or terrain; recognizing, using one or more sensors of the vehicle, an occurrence of a driving obstruction, wherein recognizing the occurrence of a driving obstruction includes perceiving objects indicative of a potential obstruction and determining whether one or more other vehicles are at standstill or crossing over a median line; in response to recognizing the driving obstruction, detecting a traffic flow pattern of the one or more other vehicles, including analyzing traffic flow pattern data by determining whether a number of vehicles within the one or more vehicles performing a maneuver exceeds a predetermined threshold related to the maneuver and converting a speed and direction of the one or more other vehicles within the detected traffic flow pattern into vectors; determining a second route plan based on the detected traffic flow pattern, wherein determining the second route plan includes determining a trajectory for the vehicle to follow as a maneuver in response to the driving obstruction, wherein the determined trajectory is based on the speed and direction of the other vehicles, including determining a trajectory for the vehicle to follow as the maneuver in response to the driving obstruction, wherein the determined trajectory is based on the speed and direction of the other vehicles, determining a detour for the vehicle to follow in response to the driving obstruction, comparing the detour to the maneuver based on one or more factors, and determining to perform the maneuver over the detour based on the comparison of factors, wherein comparing the detour to the maneuver includes determining a traffic flow speed factor of the other vehicles maneuvering in response to the driving obstruction, wherein the traffic flow speed factor is used to determine an estimated time for the vehicle to maneuver around the driving obstruction, and determining an estimated time factor for the vehicle to complete the detour based on real-time traffic information; and updating the first route plan with the second route plan utilizing the first set of rules to continue providing the autonomous driving control for the vehicle. ### Claim 8 (depends on 7) The medium of claim 7, wherein detecting the traffic flow pattern includes detecting the one or more other vehicles maneuvering in response to the driving obstruction, and determining the speed and direction of the other vehicles within the detected traffic flow pattern. ### Claim 9 (depends on 7) The medium of claim 7, wherein comparing the detour to the maneuver further includes determining a risk factor for performing at least one of the maneuver or the detour. ### Claim 10 (depends on 7) The medium of claim 7, wherein recognizing the occurrence of a driving obstruction includes analyzing a speed and direction of one or more other vehicles, and determining the speed and direction of the other vehicles indicates a presence of a driving obstruction. ### Claim 11 (depends on 7) The medium of claim 7, wherein updating the first route plan with the second route plan includes overriding the first set of driving rules with a second set of driving rules, wherein the first set of driving rules includes one or more driving lane rules and the second set of rules overrides the one or more driving lane rules. ### Claim 12 A data processing system for providing autonomous driving control for a vehicle, comprising: a processor; and a memory coupled to the processor to store instructions, which when executed by the processor, cause the processor to perform operations, the operations including providing autonomous driving control for the vehicle using a first route plan based on a first set of driving rules wherein the first set of driving rules include traffic rules providing guidance on traffic rules in jurisdictions, route rules providing guidance on preferences for routes, and ride comfort rules having preferences for speed or terrain; recognizing, using one or more sensors of the vehicle, an occurrence of a driving obstruction, wherein recognizing the occurrence of a driving obstruction includes perceiving objects indicative of a potential obstruction and determining whether one or more other vehicles are at standstill or crossing over a median line; in response to recognizing the driving obstruction, detecting a traffic flow pattern of the one or more other vehicles, including analyzing traffic flow pattern data by determining whether a number of vehicles within the one or more vehicles performing a maneuver exceeds a predetermined threshold related to the maneuver and converting a speed and direction of the one or more other vehicles within the detected traffic flow pattern into vectors; determining a second route plan based on the detected traffic flow pattern, wherein determining the second route plan includes determining a trajectory for the vehicle to follow as a maneuver in response to the driving obstruction, wherein the determined trajectory is based on the speed and direction of the other vehicles, including determining a trajectory for the vehicle to follow as the maneuver in response to the driving obstruction, wherein the determined trajectory is based on the speed and direction of the other vehicles, determining a detour for the vehicle to follow in response to the driving obstruction, comparing the detour to the maneuver based on one or more factors, and determining to perform the maneuver over the detour based on the comparison of factors, wherein comparing the detour to the maneuver includes determining a traffic flow speed factor of the other vehicles maneuvering in response to the driving obstruction, wherein the traffic flow speed factor is used to determine an estimated time for the vehicle to maneuver around the driving obstruction, and determining an estimated time factor for the vehicle to complete the detour based on real-time traffic information; and updating the first route plan with the second route plan utilizing the first set of rules to continue providing the autonomous driving control for the vehicle. ### Claim 13 (depends on 12) The system of claim 12, wherein recognizing the occurrence of a driving obstruction includes analyzing a speed and direction of one or more other vehicles, and determining the speed and direction of the other vehicles indicates a presence of a driving obstruction. ### Claim 14 (depends on 12) The system of claim 12, wherein updating the first route plan with the second route plan includes overriding the first set of driving rules with a second set of driving rules, wherein the first set of driving rules includes one or more driving lane rules and the second set of rules overrides the one or more driving lane rules. ### Claim 15 (depends on 12) The system of claim 12, wherein detecting the traffic flow pattern includes detecting the one or more other vehicles maneuvering in response to the driving obstruction, and determining the speed and direction of the other vehicles within the detected traffic flow pattern. ### Claim 16 (depends on 12) The system of claim 12, wherein comparing the detour to the maneuver further includes determining a risk factor for performing at least one of the maneuver or the detour.