Autonomous vehicle detection of and response to intersection priority

摘要

An automated driving system and methods are disclosed. The automated driving system includes a perception system disposed on an autonomous vehicle. The automated driving system can detect, using the perception system, a neighboring vehicle proximate to an intersection, identify two or more potential paths through the intersection for the neighboring vehicle, determine a path priority for each of the two or more potential paths, and determine a path priority for a planned path through the intersection for the autonomous vehicle. If the path priority of at least one of the potential paths is higher than the path priority of the planned path, the automated driving system can send a command to one or more vehicle systems configured to allow the neighboring vehicle to proceed through the intersection before the autonomous vehicle.

主权项

1. An automated driving system, comprising:
a perception system disposed on an autonomous vehicle; and a computing device in communication with the perception system, the computing device being disposed on an autonomous vehicle, the computing device comprising:
one or more processors for controlling operations of the computing device; anda memory for storing data and program instructions used by the one or more processors, wherein the one or more processors are configured to execute instructions stored in the memory to:
detect, using the perception system, a neighboring vehicle proximate to an intersection;identify two or more potential paths through the intersection for the detected neighboring vehicle;determine a path priority for each of the identified two or more potential paths for the detected neighboring vehicle based on at least one of a position and an orientation of the detected neighboring vehicle, the path priority being independent of information sent by the detected neighboring vehicle;determine a path priority for a planned path through the intersection for the autonomous vehicle, the planned path through the intersection for the autonomous vehicle conflicting with at least one of the identified two or more potential paths through the intersection for the detected neighboring vehicle; andif the determined path priority of at least one of the identified two or more potential paths for the detected neighboring vehicle is higher than the determined path priority of the planned path for the autonomous vehicle, send a command to one or more vehicle systems of the autonomous vehicle, the command being to allow the neighboring vehicle to proceed through the intersection before the autonomous vehicle.