US 12,258,023 B2
Methods and systems for autonomous path planning triggered by freeway rubbernecking
Baik Hoh, Mountain View, CA (US); Seyhan Ucar, Mountain View, CA (US); Kentaro Oguchi, Mountain View, CA (US); and Hao Yang, Hamilton (CA)
Assigned to TOYOTA MOTOR ENGINEERING & MANUFACTURING NORTH AMERICA, INC., Plano, TX (US); and MCMASTER UNIVERSITY, Hamilton (CA)
Filed by Toyota Motor Engineering & Manufacturing North America, Inc., Plano, TX (US); and McMaster University, Hamilton (CA)
Filed on Mar. 24, 2021, as Appl. No. 17/210,798.
Prior Publication US 2022/0306122 A1, Sep. 29, 2022
Int. Cl. B60W 40/08 (2012.01); B60W 30/14 (2006.01); B60W 30/18 (2012.01); B60W 40/09 (2012.01); B60W 60/00 (2020.01); G05D 1/00 (2024.01); G06V 20/59 (2022.01); G08G 1/052 (2006.01); G08G 1/16 (2006.01)
CPC B60W 40/08 (2013.01) [B60W 30/143 (2013.01); B60W 30/18163 (2013.01); B60W 40/09 (2013.01); B60W 60/005 (2020.02); G05D 1/0287 (2013.01); G05D 1/0293 (2013.01); G06V 20/59 (2022.01); G06V 20/597 (2022.01); G08G 1/052 (2013.01); G08G 1/16 (2013.01); B60W 2420/403 (2013.01); B60W 2520/10 (2013.01); B60W 2540/225 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A method for controlling vehicle traffic, the method comprising:
obtaining gaze directions of drivers of a plurality of connected vehicles in a region of a road;
determining whether an average speed of the plurality of connected vehicles in the region is less than a predetermined speed;
expanding the region in response to determining that the average speed of the plurality of connected vehicles is less than the predetermined speed;
transmitting one or more commands that includes a lifespan timer whose time period is dynamic and based on an estimated duration of traffic congestion, the one or more commands including controlling mobility of one or more of the plurality of connected vehicles in response to determining that the gaze directions of one or more drivers of the plurality of connected vehicles deviate from a moving direction of the plurality of connected vehicles and determining that the average speed of the plurality of connected vehicles is less than the predetermined speed;
determining whether a time period of controlling mobility of one or more of the plurality of connected vehicles has passed a predetermined time period, wherein the predetermined time period starts at beginning of controlling the mobility of one or more of the plurality of connected vehicles;
keep controlling the mobility of one or more of the plurality of connected vehicles in response to determining that the predetermined time period of controlling mobility of one or more of the plurality of connected vehicles has not passed the predetermined time period; and
determining whether the average speed of the plurality of connected vehicles in the region has been restored to the predetermined speed in response to determining that the predetermined time period of controlling the mobility of one or more of the plurality of connected vehicles has passed the predetermined time period,
wherein controlling the mobility of the one or more of the plurality of connected vehicles comprises activating autonomous driving capabilities, automatic cruise control or cooperative automatic cruise control, or lane change capabilities of the one or more of the plurality of connected vehicles, and
wherein upon expiration of the lifespan timer, a second of the plurality of connected vehicles re-evaluates traffic conditions for the traffic congestion.