State-based operation for autonomous vehicles
A system for operating a vehicle is disclosed. The vehicle is operated in a first driving state corresponding to a first set of logic for operating the vehicle, the first set of logic including logic for performing a first action at the vehicle in response to a determination that a first condition exists in the surroundings of the vehicle. That state change criteria for transitioning from the first driving state to a second driving state are satisfied is determined. In response to the determination, the vehicle is operated in the second driving state corresponding to a second set of logic, different from the first set of logic, for operating the vehicle, the second set of logic including logic for performing a second action, different from the first action, at the vehicle in response to a determination that the first condition exists in the surroundings of the vehicle.
1. A system comprising:
one or more processors; and
a memory including instructions, which when executed by the one or more processors, cause the one or more processors to perform a method comprising:
operating a vehicle in a first driving state, the first driving state corresponding to a first set of logic for operating the vehicle, the first set of logic including logic for performing a first action at the vehicle in response to a determination that a first condition exists in the surroundings of the vehicle;
while operating the vehicle in the first driving state, determining that state change criteria for transitioning from the first driving state to a second driving state are satisfied;
in response to the determination, operating the vehicle in the second driving state, the second driving state corresponding to a second set of logic, different from the first set of logic, for operating the vehicle, the second set of logic including logic for performing a second action, different from the first action, at the vehicle in response to a determination that the first condition exists in the surroundings of the vehicle;
the first driving state corresponds to a relaxed driving style,
the second driving state corresponds to a hurried driving style, and
determining that the state change criteria for transitioning from the first driving state to the second driving state are satisfied comprises determining, by the vehicle, that the vehicle will not reach a current destination of the vehicle within a given period of time while operating in the first driving state.
2. The system of claim 1 , wherein the method further comprises:
while operating the vehicle in the second driving state, determining that respective state change criteria for transitioning from the second driving state to a respective driving state are satisfied; and
in response to the determination:
in accordance with a determination that the respective state change criteria comprise state change criteria for transitioning from the second driving state to a third driving state, operating the vehicle in the third driving state, different from the first and second driving states; and
in accordance with a determination that the respective state change criteria comprise state change criteria for transitioning from the second driving state to the first driving state, operating the vehicle in the first driving state.
3. The system of claim 1 , wherein determining that the state change criteria for transitioning from the first driving state to the second driving state are satisfied is based on traffic characteristics in the vehicle's surroundings.
4. The system of claim 3 , wherein the traffic characteristics are detected by one or more sensors on the vehicle.
5. The system of claim 1 , wherein determining that the state change criteria for transitioning from the first driving state to the second driving state are satisfied is based on characteristics of objects detected in the vehicle's surroundings.
6. The system of claim 1 , wherein determining that the state change criteria for transitioning from the first driving state to the second driving state are satisfied is independent of user input to the vehicle.
7. The system of claim 1 , wherein operating the vehicle in the first driving state occurs while the vehicle is following a predetermined route from a first location to a second location, and operating the vehicle in the second driving state comprises operating the vehicle in the second driving state while continuing to follow the predetermined route from the first location to the second location.
8. The system of claim 1 , wherein operating the vehicle in the first driving state occurs while the vehicle is following a predetermined route from a first location to a second location, and operating the vehicle in the second driving state comprises:
adjusting the predetermined route to create an updated route from the first location to the second location; and
operating the vehicle to follow the updated route from the first location to the second location.
9. The system of claim 1 , wherein the method further comprises:
determining, at a first time, that a second condition exists in the vehicle's surroundings, and that the second condition does not correspond to an existing driving state; and
in response to determining that the second condition exists in the vehicle's surroundings, and that the second condition does not correspond to an existing driving state:
operating the vehicle in a default driving state, not corresponding to the second condition;
while operating the vehicle in the default driving state, monitoring a reaction of the vehicle to the existence of the second condition in the vehicle's surroundings; and
creating a new driving state corresponding to the second condition in the vehicle's surroundings, and based on the reaction of the vehicle to the existence of the second condition in the vehicle's surroundings.
10. The system of claim 9 , wherein the method further comprises:
determining, at a second time, after the first time, that the second condition exists in the vehicle's surroundings; and
in response to determining that the second condition exists in the vehicle's surroundings, operating the vehicle in the new driving state corresponding to the second condition in the vehicle's surroundings.
11. The system of claim 1 , wherein:
operating the vehicle in the first driving state comprises driving the vehicle in a first lane on a road,
the state change criteria include a criterion that is satisfied when traffic in the first lane slows down, and traffic in a second lane is faster than the traffic in the first lane, and
operating the vehicle in the second driving state comprises changing the vehicle from driving in the first lane to driving in the second lane.
12. The system of claim 1 , wherein:
operating the vehicle in the first driving state comprises driving the vehicle on a road,
the state change criteria include a criterion that is satisfied when an emergency vehicle is detected on the road in the surroundings of the vehicle, and
operating the vehicle in the second driving state comprises moving the vehicle to a side of the road until the emergency vehicle passes the vehicle.
13. The system of claim 1 , wherein:
operating the vehicle in the first driving state comprises driving the vehicle on a road, and determining a curvature of the road based on input from a first sensor indicative of characteristics of the road and input from a second sensor indicative of movement of a second vehicle in front of the vehicle, the input from the first sensor having a first confidence factor and the input from the second sensor having a second confidence factor, less than the first confidence factor, and
operating the vehicle in the second driving state comprises driving the vehicle on the road, and determining the curvature of the road based on the input from the first sensor and the input from the second sensor, the input from the first sensor having a third confidence factor and the input from the second sensor having a fourth confidence factor, greater than the third confidence factor.
14. The system of claim 1 , wherein:
operating the vehicle in the first driving state comprises driving the vehicle on a road at a first speed on a first predefined path based on input from a first sensor indicative of characteristics of objects in front of the vehicle,
the state change criteria include a criterion that is satisfied when an object enters the first predefined path within a threshold distance of the vehicle, and
operating the vehicle in the second driving state comprises reducing a speed of the vehicle from the first speed based on input from the first sensor indicative of the characteristics of the objects in front of the vehicle and a second sensor indicative of characteristics of objects behind the vehicle.
15. The system of claim 1 , wherein determining that state change criteria for transitioning from the first driving state to the second driving state are satisfied is independent of driver input.
16. The system of claim 1 , wherein the given period of time is input by a driver of the vehicle.
17. The system of claim 1 , wherein the given period of time is automatically determined by the vehicle based on an estimated arrival time at the current destination of the vehicle while operating in the first driving state.
18. The system of claim 1 , further comprising:
while operating the vehicle in the second driving state, determining that state change criteria for transitioning from the second driving state to the first driving state are satisfied, wherein determining that the state change criteria for transitioning from the first driving state to the second driving state are satisfied comprises determining, by the vehicle, that the given period of time has been extended; and
in response to the determination, operating the vehicle in the first driving state.