US 12,366,867 B2
Vehicle control schemes for autonomous vehicle system
Patrick Kessler, San Francisco, CA (US)
Assigned to Glydways Inc., South San Francisco, CA (US)
Filed by GLYDWAYS INC., South San Francisco, CA (US)
Filed on May 23, 2024, as Appl. No. 18/673,239.
Application 18/673,239 is a continuation of application No. 17/206,432, filed on Mar. 19, 2021, granted, now 12,019,454.
Claims priority of provisional application 62/992,739, filed on Mar. 20, 2020.
Prior Publication US 2024/0310859 A1, Sep. 19, 2024
Int. Cl. G05D 1/695 (2024.01); G05D 1/227 (2024.01); G05D 1/81 (2024.01)
CPC G05D 1/695 (2024.01) [G05D 1/227 (2024.01); G05D 1/81 (2024.01)] 20 Claims
OG exemplary drawing
 
1. A method of navigating a plurality of vehicles along a roadway, comprising:
at a vehicle:
navigating along a first segment of a roadway according to a first vehicle control scheme; and
in response to crossing a boundary between the first segment of the roadway and a second segment of the roadway, transitioning from navigating according to the first vehicle control scheme to navigating according to a second vehicle control scheme different from the first vehicle control scheme, the second vehicle control scheme corresponding to a moving position-target vehicle control scheme, wherein
transitioning from navigating according to the first vehicle control scheme to navigating according to the second vehicle control scheme comprises:
selecting, from a plurality of candidate tracking functions, a tracking function that is associated with a time at which the vehicle will enter the second segment of the roadway; and
in response to crossing the boundary, causing the vehicle to follow a moving position-target defined by the selected tracking function.
 
15. A method of navigating a plurality of vehicles along a roadway, comprising:
at a transportation system controller:
detecting that a vehicle is approaching a boundary between a first segment of a roadway that is associated with a first vehicle control scheme and a second segment of the roadway that is associated with a second vehicle control scheme different from the first vehicle control scheme, the second vehicle control scheme corresponding to a moving position-target vehicle control scheme;
in response to detecting that the vehicle is approaching the boundary, selecting, from a plurality of candidate tracking functions, a tracking function that is associated with a time at which the vehicle will enter the second segment of the roadway; and
sending the tracking function to the vehicle, wherein the vehicle is configured to follow a moving-position target defined by the selected tracking function when the vehicle enters the second segment of the roadway.