	US 12,258,039 B2
	Method of determining a continuous driving path in the absence of a navigational route for autonomous vehicles
Ryan D. Martini, Wolverine Lake, MI (US); Constandi John Shami, Ann Arbor, MI (US); Benjamin L. Williams, Milford, MI (US); Crystal J. Nassouri, Waterford, MI (US); Nolan Foster, Berkley, MI (US); and Morgan Douglas Dykshorn, Oak Park, MI (US)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed on Jul. 5, 2022, as Appl. No. 17/810,764.
Prior Publication US 2024/0010230 A1, Jan. 11, 2024
Int. Cl. B60W 60/00 (2020.01); B60W 40/08 (2012.01); B60W 50/00 (2006.01)

CPC B60W 60/0011 (2020.02) [B60W 40/08 (2013.01); B60W 50/0098 (2013.01); B60W 60/0053 (2020.02); B60W 60/0057 (2020.02); B60W 2050/0005 (2013.01); B60W 2050/0083 (2013.01); B60W 2540/215 (2020.02); B60W 2556/40 (2020.02)]

15 Claims

1. A method for determining a continuous driving path for a vehicle, the method comprising:

automatically controlling movement of the vehicle along a path in accordance with instructions provided via a processor;

obtaining data comprising location information as to a location of the vehicle and map information pertaining to the location as the vehicle is travelling autonomously in accordance with instructions provided by the processor;

determining, via the processor, when the vehicle has encountered an indeterminate route decision with respect to further travel of the vehicle, based on the location information and the map information, specifically, when the vehicle is approaching an intersection or when a current lane of travel of the vehicle is splitting into multiple lanes or is ending;

determining, via the processor, a confidence level associated with a solution to the decision, wherein the solution comprises a particular path or maneuver for the vehicle;

when the confidence level is met, determining the continuous driving path without input from a driver and automatically controlling the vehicle to automatically implement the continuous driving path by movement of the vehicle along the continuous driving path and perform the solution in accordance with instructions provided by the processor to a powertrain, a braking system, and a steering system of the vehicle; and

when the confidence level is not met:

determining via the processor whether the driver has provided pre-emptive input for the solution;

when the driver has provided pre-emptive input, then automatically controlling the vehicle to automatically implement the continuous driving path by movement of the vehicle along the continuous driving path and perform the solution based on the pre-emptive input accordance with instructions provided by the processor to the powertrain, the braking system, and the steering system of the vehicle;

when the driver has not provided pre-emptive input, determining whether driver notification is required based on whether the vehicle is less than a predetermined time or distance from the intersection, the current lane of travel splitting into multiple lanes, or the current lane of travel ending;

when it is determined that the driver notification is required, requesting, via instructions provided by the processor, driver responsive input as to a driver request made by the driver for movement of the vehicle with regard to the decision;

receiving, via one or more sensors, the driver responsive input including the driver request; and

when the driver responsive input is received within a predetermined amount of time, then determining, via the processor, the continuous driving path based on the driver responsive input, and automatically controlling the vehicle to automatically implement the continuous driving path by movement of the vehicle along the continuous driving path and perform the solution based on the driver responsive input accordance with instructions provided by the processor to the powertrain, the braking system, and the steering system of the vehicle; and

when the driver responsive input is not received with the predetermined amount of time, then returning control of the vehicle to the driver of the vehicle.