| CPC B60W 30/0956 (2013.01) [B60W 50/14 (2013.01); B60W 2050/146 (2013.01); B60W 2420/403 (2013.01); B60W 2420/54 (2013.01); B60W 2554/402 (2020.02); B60W 2555/60 (2020.02); B60W 2556/40 (2020.02)] | 18 Claims |
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1. A method comprising:
obtaining sensor data pertaining to a roadway in which a host vehicle and an emergencyvehicle are both travelling;
generating, using map data pertaining to the roadway, a grid of a plurality of potential cells along the roadway for the host vehicle to pull over to yield right of way to the emergencyvehicle;
prioritizing, via a processor of the host vehicle, the plurality of potential cells based on a plurality of different criteria as to conditions of the host vehicle and the roadway;
selecting, via the processor, one of the plurality of potential cells as an optimal pull over location for the host vehicle along the roadway, based on the prioritizing of the plurality of cells; and
taking a vehicle action for the host vehicle, in accordance with instructions provided by the processor, with respect to the optimal pull over location;
wherein the steps of prioritizing the plurality of potential cells and selecting the optimal pull over location are both performed via the processor by calculating an arithmetic sum of different respective probabilities, each comprising different respective normalized probabilities between zero and one in value, for each potential cell as to each of the following:
whether the host vehicle can successfully reach the potential cell while following road rules for the roadway;
whether the host vehicle can successfully reach the potential cell while following traffic in front of the host vehicle;
whether the host vehicle can successfully reach the potential cell while given vehicle dynamic constraints, wherein the probability of whether the host vehicle can successfully reach the potential cell while given vehicle dynamic constraints is determined, by the processor, based on a wheel base of the vehicle, radius of road required, a heading of road on the which the vehicle is travelling, a length of segments of the road, a number of segments on the road, and a minimum feasible distance for travel on the road;
whether the host vehicle can successfully reach the potential cell without contacting any other vehicles on the roadway; and
whether the host vehicle can successfully reach the potential cell without the emergency vehicle being in the potential cell.
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