Driver-In-The-Loop Lateral Proximity Risk Mitigation
OwnerQizhan Tam, Sachin Hagaribommanahalli Yeriyappa +1inventors
InventorsQizhan Tam, Sachin Hagaribommanahalli Yeriyappa, Christopher Ostafew
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Abstract
A system and method for driver-in-the-loop lateral proximity risk mitigation for an autonomous vehicle that is following a system-determined path and is adhering to a system-determined speed profile. The method includes modifying a speed of the speed profile when a driver takes control of steering and causes the vehicle to violate a lateral constraint applied to an object along the vehicle's trajectory. The lateral constraint of an object is based on a type of hazard identified for the object, which is in turn based on a classification of the object.
Claims20
A method, comprising:
- determining that a vehicle is in a manual steering mode or a manual steering override state;
- receiving information indicating a classified object near the vehicle;
- receiving a planned path, and a corresponding speed profile, for navigating the vehicle while avoiding the classified object;
- determining a hazard for the classified object;
- determining a lateral constraint for the hazard;
- determining a modified path, based on the planned path, that respects the lateral constraint applied to the classified object;
- determining that the vehicle has deviated sufficiently from the modified path to cause a current or future violation of the lateral constraint by the vehicle;
- and
- determining a modified speed profile, based on the speed profile, that comprises a reduction in a speed of the speed profile.
A non-transitory computer-readable medium storing instructions operable to cause one or more processors to perform operations comprising:
- determining that a vehicle is in a manual steering mode or a manual steering override state;
- receiving information indicating a classified object near the vehicle;
- receiving a planned path, and a corresponding speed profile, for navigating the vehicle while avoiding the classified object;
- determining a hazard for the classified object;
- determining a lateral constraint for the hazard;
- determining a modified path, based on the planned path, that respects the lateral constraint applied to the classified object;
- determining that the vehicle has deviated sufficiently from the modified path to cause a current or future violation of the lateral constraint by the vehicle;
- and
- determining a modified speed profile, based on the speed profile, that comprises a reduction in a speed of the speed profile.
A system, comprising:
- one or more memories;
- and
- one or more processors configured to execute instructions stored in the one or more memories to:
- determine that a vehicle is in a manual steering mode or a manual steering override state;
- receive information indicating a classified object near the vehicle;
- receive a planned path, and a corresponding speed profile, for navigating the vehicle while avoiding the classified object;
- determine a hazard for the classified object;
- determine a lateral constraint for the hazard;
- determine a modified path, based on the planned path, that respects the lateral constraint applied to the classified object;
- determine that the vehicle has deviated sufficiently from the modified path to cause a current or future violation of the lateral constraint by the vehicle;
- and
- determine a modified speed profile, based on the speed profile, that comprises a reduction in a speed of the speed profile.
Dependencies are inferred from the claim text.