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Selectively controlling a self-driving vehicle's access to a roadway — International Business Machines Corporation (US10109195B2)

International Business Machines Corporation · Google Patents

Google Patents · Patents · License: Open Access

internationalbusinessmachinescorporation

patent, google patents, intellectual property, US10109195B2, International Business Machines Corporation, Michael S. Gordon, en, 2018

ABSTRACT

Abstract

A processor-implemented method and/or computer program product selectively blocks a self-driving vehicle's access to a roadway. A vehicle interrogation hardware device receives an autonomous capability signal from an approaching self-driving vehicle. One or more processors compare the predefined roadway conditions to current roadway conditions of the access-controlled roadway. In response to the predefined roadway conditions matching the current roadway conditions of the access-controlled roadway within a predetermined range, the processor(s) determine whether the level of autonomous capability of the approaching self-driving vehicle is adequate to safely maneuver the approaching self-driving vehicle through the current roadway conditions of the access-controlled roadway. In response determining that the level of autonomous capability of the self-driving vehicle is not adequate to safely maneuver the approaching self-driving vehicle through the current roadway conditions of the access-controlled roadway, an automatic barricade controlling device positions an automatic barricade to block the approaching self-driving vehicle from accessing the access-controlled roadway.

Description

BACKGROUND

The present disclosure relates to the field of vehicles, and specifically to the field of self-driving vehicles. Still more specifically, the present disclosure relates to the field of selectively controlling a self-driving vehicle's access to a particular roadway based on the autonomous capabilities of the self-driving vehicle.

Self-driving vehicles (SDVs) are vehicles that are able to autonomously drive themselves through private and/or public spaces. Using a system of sensors that detect the location and/or surroundings of the SDV, logic within or associated with the SDV controls the speed, propulsion, braking, and steering of the SDV based on the sensor-detected location and surroundings of the SDV.

SUMMARY

In an embodiment of the present invention, a processor-implemented method and/or computer program product selectively blocks a self-driving vehicle's access to a roadway. A vehicle interrogation hardware device receives an autonomous capability signal from an approaching self-driving vehicle, which is approaching an access-controlled roadway. The autonomous capability signal describes a level of autonomous capability of the approaching self-driving vehicle for maneuvering through predefined roadway conditions. One or more processors compare the predefined roadway conditions to current roadway conditions of the access-controlled roadway. In response to the predefined roadway conditions matching the current roadway conditions of the access-controlled roadway within a predetermined range, the processor(s) determine whether the level of autonomous capability of the approaching self-driving vehicle is adequate to safely maneuver the approaching self-driving vehicle through the current roadway conditions of the access-controlled roadway. In response determining that the level of autonomous capability of the self-driving vehicle is not adequate to safely maneuver the approaching self-driving vehicle through the current roadway conditions of the access-controlled roadway, an automatic barricade controlling device positions an automatic barricade to block the approaching self-driving vehicle from accessing the access-controlled roadway.

In an embodiment of the present invention, a roadway access-controlling station includes a supervisory computer, a vehicle interrogation hardware device, and an automatic barricade controlling device. The vehicle interrogation hardware device receives an autonomous capability signal from an approaching self-driving vehicle that is approaching an access-controlled roadway. The autonomous capability signal describes a level of autonomous capability of the approaching self-driving vehicle for maneuvering through predefined roadway conditions. The supervisory computer compares the predefined roadway conditions to current roadway conditions of the access-controlled roadway. In response to the predefined roadway conditions matching the current roadway conditions of the access-controlled roadway within a predetermined range, the supervisory computer determines whether the level of autonomous capability of the approaching self-driving vehicle is adequate to safely maneuver the approaching self-driving vehicle through the current roadway conditions of the access-controlled roadway. The automatic barricade controlling device, in response the supervisory computer determining that the level of autonomous capability of the self-driving vehicle is not adequate to safely maneuver the approaching self-driving vehicle through the current roadway conditions of the access-controlled roadway, positions an automatic barricade to block the approaching self-driving vehicle from accessing the access-controlled roadway.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 depicts an exemplary system and network in which the present disclosure may be implemented;

FIG. 2 illustrates an exemplary self-driving vehicle (SDV) approaching a roadway access-controlling station that physically controls access to an access-controlled roadway;

FIG. 3 depicts additional detail of hardware within an SDV;

FIG. 4 is a high-level flow chart of one or more steps performed by one or more processors and/or other hardware devices to control a self-driving vehicle's access to a roadway;

FIG. 5 depicts a cloud computing node according to an embodiment of the present disclosure;

FIG. 6 depicts a cloud computing environment according to an embodiment of the present disclosure; and

FIG. 7 depicts abstraction model layers according to an embodiment of the present disclosure.

DETAILED DESCRIPTION

The present invention may be a system, a method, and/or a computer program product. The computer program product may include a computer readable storage medium (or media) having computer readable program instructions thereon for causing a processor to carry out aspects of the present invention.

The computer readable storage medium can be a tangible device that can retain and store instructions for use by an instruction execution device. The computer readable storage medium may be, for example, but is not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. A non-exhaustive list of more specific examples of the computer readable storage medium includes the following: a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanically encoded device such as punch-cards or raised structures in a groove having instructions recorded thereon, and any suitable combination of the foregoing. A computer readable storage medium, as used herein, is not to be construed as being transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission media (e.g., light pulses passing through a fiber-optic cable), or electrical signals transmitted through a wire.

Computer readable program instructions described herein can be downloaded to respective computing/processing devices from a computer readable storage medium or to an external computer or external storage device via a network, for example, the Internet, a local area network, a wide area network and/or a wireless network. The network may comprise copper transmission cables, optical transmission fibers, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. A network adapter card or network interface in each computing/processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium within the respective computing/processing device.

Computer readable program instructions for carrying out operations of the present invention may be assembler instructions, instruction-set-architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, or either source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like, and conventional procedural programming languages, such as the âCâ programming language or similar programming languages. The computer readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet Service Provider). In some embodiments, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate arrays (FPGA), or programmable logic arrays (PLA) may execute the computer readable program instructions by utilizing state information of the computer readable program instructions to personalize the electronic circuitry, in order to perform aspects of the present invention.

Aspects of the present invention are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer readable program instructions.

These computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer readable program instructions may also be stored in a computer readable storage medium that can direct a computer, a programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer readable storage medium having instructions stored therein comprises an article of manufacture including instructions which implement aspects of the function/act specified in the flowchart and/or block diagram block or blocks.

The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process, such that the instructions which execute on the computer, other programmable apparatus, or other device implement the functions/acts specified in the flowchart and/or block diagram block or blocks.

The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts or carry out combinations of special purpose hardware and computer instructions.

Disclosed herein is a system and method that regulates entry to an âSDV-only roadâ by a barricade (e.g. a gate arm), which is removed (or lifted) only when an SDV authenticates its mode and/or abilities to a controller of the barricade. Further disclosed is the lowering of the barricade whenever a human-operated vehicle and/or an inadequate SDV attempts to enter the SDV-only road.

The pervasiveness of SDVs may lead some political/governmental entities (which are in charge of transportation infrastructures) to design roads that require superhuman (i.e., autonomous) driving abilities. That is, such roads may be devoid of guardrails, traffic lights, have very narrow lanes, etc., thus making them cheaper. While it would be unsafe for a driver of ordinary skill to drive on such a road, a properly set up SDV could safely drive on such a road and/or at speeds that would be unsafe for human drivers. In order to keep unqualified SDVs and/or human drivers off such roadways, barricades would be needed to block access for non-qualified SDVs (i.e., SDVs that do not have the autonomous capabilities to handle the roadway conditions or human drivers that are not qualified to drive on the roadway).

Disclosed herein is a method and a system that utilizes/comprises a road barricade (e.g., an electronic gate arm) and a receiver for receipt of an SDV mode signal from an SDV. In response to receiving a signal describing whether or not the vehicle is in an (adequate) autonomous mode, the barricade deploys or undeploys.

The SDV may be in manual mode or self-driving mode. A standard car (i.e., a vehicle that is not able to drive in a fully autonomous mode) would not, for example, transmit an SDV signal to a control system, and thus will be denied access to roads or special lanes that are appropriate for certain SDVs, which would be better able to handle roads that are narrower or that have other attributes that make them too difficult to handle by human drivers (but that are relatively safe for SDVs). The barrier, barricade, or gate arm may control access to not only a roadway, but also special lane on a roadway, a tunnel, a ferry access lane, a parking spot, a car-wash lane, a service bay in a garage, etc. If desired, the gate or barrier may provide information to drivers (e.g., in the form of an electronic message displayed on a visual display next to the vehicle or inside the cabin of the vehicle) advising the drivers of why they are being denied access. Examples of such an electronic message when trying to access an SDV-only roadway may be âYou are not driving an SDVâ or âYou are not in SDV (automatic/autonomous) mode.â

The road barricade system presented herein may take into account additional factors, such as current or forecast road conditions, weather, daylight levels (in which a driver can or cannot see well), road maintenance, fog level, falling rocks, traffic volume, etc., and then compute a risk level R that is used to determine gate raising and lowering for SDVs and standard vehicles.

The road barricade system may learn about particular cars, classes of cars, car features (e.g., snow tires), particular drivers, particular road conditions, a history of accidents, etc., and then use this information/learning in the decision to raise or lower a gate arm. For example, research has shown that a tight road curve radii will increase the related risk rate, particularly when the vehicle is being manually driven. Thus, the system will be adamant that only SDVs are allowed to enter roadways having tightly-curved sections.

BACKGROUND

SUMMARY

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 depicts an exemplary system and network in which the present disclosure may be implemented;

FIG. 2 illustrates an exemplary self-driving vehicle (SDV) approaching a roadway access-controlling station that physically controls access to an access-controlled roadway;

FIG. 3 depicts additional detail of hardware within an SDV;

FIG. 4 is a high-level flow chart of one or more steps performed by one or more processors and/or other hardware devices to control a self-driving vehicle's access to a roadway;

FIG. 5 depicts a cloud computing node according to an embodiment of the present disclosure;

FIG. 6 depicts a cloud computing environment according to an embodiment of the present disclosure; and

FIG. 7 depicts abstraction model layers according to an embodiment of the present disclosure.

DETAILED DESCRIPTION

The road barricade system may take into account SDV features (e.g., software version, sensors, processor speed, communication abilities and current signal strength to access artificial intelligence (AI) features in the cloud, superhuman ability levels, etc.) when deciding whether or not to allow an SDV access to a roadway. The system will match the SDV features to current real-time roadway conditions, thus matching a particular SDV to a particular roadway. That is, in one or more embodiments of the present invention, the road barricade system will take into account SDV software version and software patches. In other words, the barricade system (e.g., part of and/or under the control of the roadway access controlling station 206 shown in FIG. 2 ) interrogates the particular SDV to determine what version/level of software (e.g., that controls components shown in FIG. 3 related to braking or other decision-making) is currently installed on that particular SDV. If the currently installed software (which controls the SDV's braking, steering, etc.) is obsolete (e.g., has been replaced with a newer version and/or is more than, for example, one year old), then that SDV will not be allowed to travel on a particular access-controlled roadway (e.g., access-controlled roadway 208 shown in FIG. 2 ).

The road barricade system may take into account the presence of pedestrians and/or animals near a road or forecast to be near a road in making the decision as to whether or not to allow a certain SDV or a manual vehicle to enter the roadway. For example, if there are numerous pedestrians and/or animals near (or even on) the roadway, then only properly-enabled SDVs may be allowed to drive on that roadway.

The road barricade system may take into account the presence of distracting road noise or other distractions such as road work crews in making the decision as to whether or not to allow a certain SDV or a manual vehicle to enter the roadway. Thus, if there are high levels of distracting road noise (e.g., from work crews, sirens, etc.) that would create a problem for a human driver (but not an autonomous SDV), then autonomous SDVs would be allowed access to the noisy roadway, but vehicles being controlled by humans would not.

The road barricade system may take into account the increased speed with which SDVs might travel on a particular stretch of roadway, therefore limiting travel only to SDVs.

The road barricade system may take into account the terrain for an off-road trail, a dirt road (particularly when wet), and/or a gravel road and determine that it is too difficult for a driver with ordinary skill to travel on it, and thus permit only SDVs to travel on such off-road trails, dirt roads, and/or gravel roads.

The barricade system may manage multiple barricades at a given time, and open appropriate barricades in order to guide the SDV or human operated vehicle to the correct route and/or lane based on the car condition and other factors (e.g., current roadway conditions).

Thus, one or more embodiments of the present invention present a method and system that includes a road barricade (e.g., an electronic gate arm) and a system to receive an SDV mode signal from an SDV such that, based on receiving the SDV mode signal, the barricade deploys or undeploys.

In one or more embodiments of the present invention, the road barricade system takes into account the current level of traffic and types of traffic control devices. For example, if the traffic on a roadway is heavy and/or there are no traffic control lights at intersections, then manually driven cars would not being able to handle such traffic and intersections safely, and are not be permitted to travel on that roadway. However, properly set up SDVs can handle such conditions, and are allowed to travel on that roadway.

In one or more embodiments of the present invention, the road barricade system takes into account the current level of traffic on multilane highways or roadways and may control access to the entrances and exits (i.e., on-ramps and off-ramps) of a highway if the density of traffic is determined to be too high. Thus, traffic flow can be improved, and traffic jams avoided, in situations of traffic congestion due to high density of traffic, collisions, or the presence of emergency vehicles. For example, if an SDV is determined to be capable of quickly merging into the remaining available lanes when a traffic lane is closed, it may be allowed access to the highway on-ramp. Similarly, if an SDV is determined to be able to appropriately accelerate past emergency vehicles without hesitation (i.e., without ârubberneckingâ or engaging in other counterproductive or dangerous driving behavior) it may be allowed access to a roadway on-ramp, since the SDV will not obstruct the flow of traffic already on the roadway.

In one or more embodiments of the present invention, the road barricade system may take into account the presence of an SDV when allowing access to or exit from a toll road. For example, if multiple vehicles attempt to use a particular exit on a toll road, thus creating a bottleneck when the multiple vehicles merge into fewer lanes near the particular exit, the barricade system may allow only an approaching SDV that is capable of exiting per predetermined criteria (i.e., at a certain speed, within a certain proximity of other vehicles, etc.), to use the particular toll road exit. Alternatively, only SDVs that match the predetermined exiting criteria may be allowed to enter/access the toll road in the first place, thus altogether eliminating congestion due to hesitation, poor lane-changing skills, etc.

In one or more embodiments of the present invention, the road barricade system will take into account whether a given human driven car is a member of a particular cohort of car types in determining whether or not it should be allowed on the SDV-only section. That is, even if manually driven, if a highly-skilled driver (according to the driver's profile) is driving a high performance vehicle (e.g., a highly responsive sports car), then that driver/vehicle may be allowed on the SDV-only roadway, while slower and/or less responsive vehicles (e.g., semi tractor-trailer rigs) are not.

With reference now to the figures, and in particular to FIG. 1 , there is depicted a block diagram of an exemplary system and network that may be utilized by and/or in the implementation of the present invention. Some or all of the exemplary architecture, including both depicted hardware and software, shown for and within computer 101 may be utilized by software deploying server 149 and/or other systems 155 (e.g., SDVs) shown in FIG. 1 , and/or supervisory computer 201 , vehicle interrogation hardware device 208 , and or automatic barricade controlling device 210 shown in FIG. 2 , and/or a self-driving vehicle (SDV) on- board computer 301 shown in FIG. 3 .

Exemplary computer 101 includes a processor 103 that is coupled to a system bus 105 . Processor 103 may utilize one or more processors, each of which has one or more processor cores. A video adapter 107 , which drives/supports a display 109 , is also coupled to system bus 105 . System bus 105 is coupled via a bus bridge 111 to an input/output (I/O) bus 113 . An I/ O interface 115 is coupled to I/ O bus 113 . I/ O interface 115 affords communication with various I/O devices, including a keyboard 117 , a mouse 119 , a media tray 121 (which may include storage devices such as CD-ROM drives, multi-media interfaces, etc.), a transceiver 123 (capable of transmitting and/or receiving electronic communication signals), and external USB port(s) 125 . While the format of the ports connected to I/ O interface 115 may be any known to those skilled in the art of computer architecture, in one embodiment some or all of these ports are universal serial bus (USB) ports.

As depicted, computer 101 is able to communicate with a software deploying server 149 and/or other systems 155 (e.g., establish communication with SDV 202 and/or roadway access-controlling station 206 shown in FIG. 2 ) using a network interface 129 . Network interface 129 is a hardware network interface, such as a network interface card (NIC), etc. Network 127 may be an external network such as the Internet, or an internal network such as an Ethernet or a virtual private network (VPN). In one or more embodiments, network 127 is a wireless network, such as a Wi-Fi network, a cellular network, a dedicated radio-frequency (RF) network, a near-field communication (NFC) channel, etc.

A hard drive interface 131 is also coupled to system bus 105 . Hard drive interface 131 interfaces with a hard drive 133 . In one embodiment, hard drive 133 populates a system memory 135 , which is also coupled to system bus 105 . System memory is defined as a lowest level of volatile memory in computer 101 . This volatile memory includes additional higher levels of volatile memory (not shown), including, but not limited to, cache memory, registers and buffers. Data that populates system memory 135 includes computer 101 's operating system (OS) 137 and application programs 143 .

OS 137 includes a shell 139 , for providing transparent user access to resources such as application programs 143 . Generally, shell 139 is a program that provides an interpreter and an interface between the user and the operating system. More specifically, shell 139 executes commands that are entered into a command line user interface or from a file. Thus, shell 139 , also called a command processor, is generally the highest level of the operating system software hierarchy and serves as a command interpreter. The shell provides a system prompt, interprets commands entered by keyboard, mouse, or other user input media, and sends the interpreted command(s) to the appropriate lower levels of the operating system (e.g., a kernel 141 ) for processing. While shell 139 is a text-based, line-oriented user interface, the present invention will equally well support other user interface modes, such as graphical, voice, gestural, etc.

As depicted, OS 137 also includes kernel 141 , which includes lower levels of functionality for OS 137 , including providing essential services required by other parts of OS 137 and application programs 143 , including memory management, process and task management, disk management, and mouse and keyboard management.

Application programs 143 include a renderer, shown in exemplary manner as a browser 145 . Browser 145 includes program modules and instructions enabling a world wide web (WWW) client (i.e., computer 101 ) to send and receive network messages to the Internet using hypertext transfer protocol (HTTP) messaging, thus enabling communication with software deploying server 149 and other systems.

Application programs 143 in computer 101 's system memory (as well as software deploying server 149 's system memory) also include Roadway Access Control Logic (RACL) 147 . RACL 147 includes code for implementing the processes described below, including those described in FIGS. 2-4 . In one embodiment, computer 101 is able to download RACL 147 from software deploying server 149 , including in an on-demand basis, wherein the code in RACL 147 is not downloaded until needed for execution. In one embodiment of the present invention, software deploying server 149 performs all of the functions associated with the present invention (including execution of RACL 147 ), thus freeing computer 101 from having to use its own internal computing resources to execute RACL 147 .

Also within computer 101 is a positioning system 151 , which determines a real-time current location of computer 101 (particularly when part of an SDV as described herein). Positioning system 151 may be a combination of accelerometers, speedometers, etc., or it may be a global positioning system (GPS) that utilizes space-based satellites to provide triangulated signals used to determine two-dimensional or three-dimensional locations.

Also associated with computer 101 are sensors 153 , which detect an environment of the computer 101 , including when incorporated into a vehicle. More specifically, sensors 153 are able to detect other vehicles, road obstructions, pavement, etc. For example, if computer 101 is on board a self-driving vehicle (SDV), then sensors 153 may be cameras, radar transceivers, etc. that allow the SDV to detect the environment (e.g., other vehicles, road obstructions, pavement, etc.) of that SDV, thus enabling it to be autonomously self-driven. Similarly, sensors 153 may be cameras, thermometers, moisture detectors, etc. that detect ambient weather conditions and other environmental conditions of a roadway upon which the SDV is traveling.

The hardware elements depicted in computer 101 are not intended to be exhaustive, but rather are representative to highlight essential components required by the present invention. For instance, computer 101 may include alternate memory storage devices such as magnetic cassettes, digital versatile disks (DVDs), Bernoulli cartridges, and the like. These and other variations are intended to be within the spirit and scope of the present invention.

With reference now to FIG. 2 , an exemplary self-driving vehicle (SDV) 202 , depicted traveling along a roadway 204 , is approaching a roadway access-controlling station 206 . Roadway access-controlling station 206 controls which vehicles are allowed to travel on an access-controlled roadway 208 (i.e., a roadway that is restricted to use by SDVs that meet certain performance requirements) and which vehicles must travel on an uncontrolled roadway 210 (e.g., for use by any vehicle, including manually-controlled vehicles, SDVs that do not meet the requirements to travel along access-controlled roadway 208 , etc.).

While access-controlled roadway 208 is depicted as a highway, it is to be understood that in various embodiments of the present invention access-controlled roadway 208 may be any type of roadway surface capable of supporting the weight of a vehicle, such as a parking lot, a particular space in a parking lot, a tunnel, a particular lane in a roadway, a garage, a particular service bay in a maintenance garage, a bridge, an unpaved (off-road) pathway, etc.

As the SDV 202 approaches the roadway access-controlling station 206 , a vehicle interrogation hardware device 212 interrogates an on-board computer (e.g., SDV on- board computer 301 described below in FIG. 3 ) on the SDV 202 . This interrogation results in a signal from the SDV 202 that describes the level of ability of SDV 202 to operate in an autonomous mode. If this ability is sufficient to safely travel on the access-controlled roadway 208 , then the supervisory computer 201 (analogous to computer 101 shown in FIG. 1 ) sends a signal to the automatic barricade controlling device 214 to raise (or otherwise move) the automatic barricade 216 , thus allowing the SDV 202 to enter the access-controlled roadway 208 . This decision may be based on current conditions of the access-controlled roadway 208 .

Current conditions of the access-controlled roadway 208 , including weather conditions, traffic conditions, construction events, mishap events, etc., can be determined and transmitted by roadway sensor(s) 218 and/or other SDVs to the supervisory computer 201 and/or directly to SDVs (e.g., SDV 202 ) themselves. That is, supervisory computer 201 is able to receive sensor readings from other SDVs, such as SDV 220 , and/or roadway sensor(s) 218 in order to determine current roadway conditions of access-controlled roadway 208 . Thus, various on-board sensors on SDV 220 (see exemplary sensors shown in FIG. 3 for SDV 202 ) and/or roadway sensor(s) 208 are mechanical, visual, and/or electrical sensors that are able to detect the number and speed of vehicles traveling on the access-controlled roadway 208 , the amount and/or type of precipitation on the access-controlled roadway 208 , the temperature of the access-controlled roadway 208 and/or ambient air around the access-controlled roadway 208 , the movement of vehicles traveling along access-controlled roadway 208 , etc.), as well as information received from sensors and/or on-board computers within SDV 202 and/or SDV 220 , and/or from information received by an information service (e.g., a weather station). In one or more embodiments, these roadway conditions are utilized not only in the decision as to whether or not to allow a particular SDV to access the access-controlled roadway 208 , but also are utilized in the decision regarding into which operational/driving mode the SDV 202 should be placed.

In accordance with one or more embodiments of the present invention, SDV 202 may be driven in âmanual modeâ or âautonomous modeâ, each of which are referred to herein as an operational mode or a driving mode, where the terms âoperational modeâ and âdriving modeâ are synonymous and interchangeable.

As used and described herein, âmanual modeâ is defined as an SDV being at least partially under the input control of a human driver. That is, if SDV 202 is being steered by a human driver but has cruise control activated, then it is in manual mode, since SDV 202 is partially under the input control (steering) of the human driver. Thus, while in manual mode, even SDV 202 can operate as a traditional motor vehicle, in which a human driver controls the engine throttle, engine on/off switch, steering mechanism, braking system, horn, signals, etc. found on a motor vehicle. These vehicle mechanisms may be operated in a âdrive-by-wireâ manner, in which inputs to an SDV control processor 303 (shown in FIG. 3 ) by the driver result in output signals that control the SDV vehicular physical control mechanisms 305 (e.g., the engine throttle, steering mechanisms, braking systems, turn signals, etc.).

As used and described herein, âautonomous modeâ is defined as an SDV being totally controlled by hardware/software logic (e.g., SDV on- board computer 301 and/or driving mode device 307 and/or SDV control processor 303 shown in FIG. 3 ) without inputs from the human driver under roadway and/or SDV conditions that have been predetermined to be normal (i.e., ânominalâ). That is, if steering, braking, throttle control, obstacle/vehicle avoidance, etc. are all under the control of hardware/software logic such as the SDV on- board computer 301 shown in FIG. 3 , then SDV 202 is in an autonomous mode.

Thus, if the sensors provide data that indicates that SDV 202 can be driven safely in manual mode while traveling on access-controlled roadway 208 , then the roadway access-controlling station 206 will/may direct the SDV on- board computer 301 and/or driving mode device 307 and/or SDV control processor 303 shown in FIG. 3 to place the SDV in manual mode. However, if (and more likely) the sensors provide data that indicates that SDV 202 cannot be driven safely in manual mode while traveling on access-controlled roadway 208 , then the roadway access-controlling station 206 will/may direct the SDV on- board computer 301 and/or driving mode device 307 and/or SDV control processor 303 shown in FIG. 3 to place the SDV in autonomous mode before entering the access-controlled roadway 208 .

Referring now to FIG. 3 , additional details of one or more embodiments of the SDV 202 are presented. The features shown in FIG. 3 may also be implemented in SDV 202 as well as SDV 220 .

As shown in FIG. 3 , SDV 202 has an SDV on- board computer 301 that controls operations of the SDV 202 . According to directives from a driving mode device 307 , the SDV 202 can be selectively operated in manual mode or autonomous mode. In a pref

CLAIMS

Claims ( 20 )

What is claimed is:

1. A processor-implemented method of selectively blocking a self-driving vehicle's access to a roadway, the processor-implemented method comprising:

receiving, by a vehicle interrogation hardware device, an autonomous capability signal from an approaching self-driving vehicle, wherein the approaching self-driving vehicle is approaching an access-controlled roadway, and wherein the autonomous capability signal describes a level of autonomous capability of the approaching self-driving vehicle for maneuvering through predefined roadway conditions;

comparing, by one or more processors, the predefined roadway conditions to current roadway conditions of the access-controlled roadway;

in response to the predefined roadway conditions matching the current roadway conditions of the access-controlled roadway within a predetermined range, determining, by one or more processors, whether the level of autonomous capability of the approaching self-driving vehicle is adequate to safely maneuver the approaching self-driving vehicle through the current roadway conditions of the access-controlled roadway; and

in response determining that the level of autonomous capability of the self-driving vehicle is not adequate to safely maneuver the approaching self-driving vehicle through the current roadway conditions of the access-controlled roadway, positioning, by an automatic barricade controlling device, an automatic barricade to block the approaching self-driving vehicle from accessing the access-controlled roadway.

2. The processor-implemented method of claim 1 , further comprising:

determining, by the vehicle interrogation hardware device, that another approaching vehicle is operating in manual mode; and

in response to determining that said another approaching vehicle is operating in manual mode, positioning, by the automatic barricade controlling device, the automatic barricade to block said another approaching vehicle from accessing the access-controlled roadway.

3. The processor-implemented method of claim 1 , wherein the access-controlled roadway is a vehicular surface from a group consisting of street, a tunnel, a ferry, a parking spot, and a service bay.

4. The processor-implemented method of claim 1 , further comprising:

receiving, by one or more processors, sensor readings from sensors that monitor the access-controlled roadway, wherein the sensor readings describe a current real-time condition of the access-controlled roadway; and

determining, by one or more processors, the current roadway conditions based on the received sensor readings.

5. The processor-implemented method of claim 1 , further comprising:

receiving, by the vehicle interrogation hardware device, a description of a physical state of the approaching self-driving vehicle;

retrieving, by one or more processors, an accident history of other vehicles that have a same physical state as that of the approaching self-driving vehicle while traveling on the access-controlled roadway;

determining, by one or more processors, whether the accident history of the other vehicles traveling on the access-controlled roadway exceeds a predetermined limit; and

in response to the one or more processors determining that the accident history of the other vehicles exceeds the predetermine limit while traveling on the access-controlled roadway, positioning, by the automatic barricade controlling device, the automatic barricade to block the approaching self-driving vehicle from accessing the access-controlled roadway.

6. The processor-implemented method of claim 1 , wherein the current roadway conditions of the access-controlled roadway comprise a curve radius of a curve in the access-controlled roadway being less than a predefined value.

7. The processor-implemented method of claim 1 , wherein the current roadway conditions of the access-controlled roadway comprise an absence of guardrails on one or more sections of the access-controlled roadway.

8. A computer program product for selectively controlling a self-driving vehicle's access to a roadway, the computer program product comprising a non-transitory computer readable storage medium having program code embodied therewith, the program code readable and executable by a processor to perform a method comprising:

receiving an autonomous capability signal from an approaching self-driving vehicle, wherein the approaching self-driving vehicle is approaching an access-controlled roadway, and wherein the autonomous capability signal describes a level of autonomous capability of the approaching self-driving vehicle for maneuvering through predefined roadway conditions;

comparing the predefined roadway conditions to current roadway conditions of the access-controlled roadway;

in response to the predefined roadway conditions matching the current roadway conditions of the access-controlled roadway within a predetermined range, determining whether the level of autonomous capability of the approaching self-driving vehicle is adequate to safely maneuver the approaching self-driving vehicle through the current roadway conditions of the access-controlled roadway; and

9. The computer program product of claim 8 , wherein the method further comprises:

determining that another approaching vehicle is operating in manual mode; and

in response to determining that said another approaching vehicle is operating in manual mode, positioning, via the automatic barricade controlling device, the automatic barricade to block said another approaching vehicle from accessing the access-controlled roadway.

10. The computer program product of claim 8 , wherein the access-controlled roadway is a vehicular surface from a group consisting of a ferry, a parking spot, and a service bay.

11. The computer program product of claim 8 , wherein the method further comprises:

receiving sensor readings from sensors that monitor the access-controlled roadway, wherein the sensor readings describe a current real-time condition of the access-controlled roadway; and

determining the current roadway conditions based on the received sensor readings.

12. The computer program product of claim 8 , wherein the method further comprises:

receiving a description of a physical state of the approaching self-driving vehicle;

retrieving an accident history of other vehicles that have a same physical state as that of the approaching self-driving vehicle while traveling on the access-controlled roadway;

determining whether the accident history of the other vehicles traveling on the access-controlled roadway exceeds a predetermined limit; and

in response to determining that the accident history of the other vehicles exceeds the predetermine limit while traveling on the access-controlled roadway, positioning, via the automatic barricade controlling device, the automatic barricade to block the approaching self-driving vehicle from accessing the access-controlled roadway.

13. The computer program product of claim 8 , wherein the current roadway conditions of the access-controlled roadway comprise a curve radius of a curve in the access-controlled roadway being less than a predefined value.

14. The computer program product of claim 8 , wherein the current roadway conditions of the access-controlled roadway comprise an absence of guardrails on one or more sections of the access-controlled roadway.

15. A roadway access-controlling station comprising:

a supervisory computer;

a vehicle interrogation hardware device; and

an automatic barricade controlling device, wherein the vehicle interrogation hardware device receives an autonomous capability signal from an approaching self-driving vehicle, wherein the approaching self-driving vehicle is approaching an access-controlled roadway, and wherein the autonomous capability signal describes a level of autonomous capability of the approaching self-driving vehicle for maneuvering through predefined roadway conditions;

wherein the supervisory computer compares the predefined roadway conditions to current roadway conditions of the access-controlled roadway;

wherein the supervisory computer, in response to the predefined roadway conditions matching the current roadway conditions of the access-controlled roadway within a predetermined range, determines whether the level of autonomous capability of the approaching self-driving vehicle is adequate to safely maneuver the approaching self-driving vehicle through the current roadway conditions of the access-controlled roadway; and

wherein the automatic barricade controlling device, in response the supervisory computer determining that the level of autonomous capability of the self-driving vehicle is not adequate to safely maneuver the approaching self-driving vehicle through the current roadway conditions of the access-controlled roadway, positions an automatic barricade to block the approaching self-driving vehicle from accessing the access-controlled roadway.

16. The roadway access-controlling station of claim 15 , wherein:

the vehicle interrogation hardware device determines that another approaching vehicle is operating in manual mode; and wherein

in response to the vehicle interrogation hardware device determining that said another approaching vehicle is operating in manual mode, the automatic barricade controlling device positions the automatic barricade to block said another approaching vehicle from accessing the access-controlled roadway.

17. The roadway access-controlling station of claim 15 , wherein the access-controlled roadway is a vehicular surface from a group consisting of a tunnel, a ferry, and a parking spot.

18. The roadway access-controlling station of claim 15 , wherein:

the supervisory computer receives sensor readings from sensors that monitor the access-controlled roadway, wherein the sensor readings describe a current real-time condition of the access-controlled roadway; and wherein

the supervisory computer determines the current roadway conditions based on the received sensor readings.

19. The roadway access-controlling station of claim 15 , wherein the current roadway conditions of the access-controlled roadway comprise a curve radius of a curve in the access-controlled roadway being less than a predefined value.

20. The roadway access-controlling station of claim 15 , wherein the current roadway conditions of the access-controlled roadway comprise an absence of guardrails on one or more sections of the access-controlled roadway.

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Selectively controlling a self-driving vehicle's access to a roadway

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