COORDINATED CONTROL OF SELF-DRIVING VEHICLES UNDER EMERGENCY SITUATIONS
A system included and a computer-implemented method performed in one of a plurality of self-driving vehicles that are connected through a network are described. The system performs: processing image data of one or more scene images received by said one of the plurality of self-driving vehicles, to detect one or more objects included in the one or more scene images; determining a target object from the one or more detected objects at least based on the processed image data; predicting movement of the target object at least based on a current position and a current movement state of the target object; and performing a self-driving operation to drive said one of the plurality of self-driving vehicles based on the predicted movement of the target object.
1 . A system included in a self-driving vehicle of a plurality of self-driving vehicles connected through a network, comprising:
one or more processors; and
a memory storing instructions that, when executed by the one or more processors, cause the system to perform:
processing image data of one or more scene images received by the self-driving vehicle to detect one or more objects included in the one or more scene images;
determining a target object from the one or more detected objects at least based on the processed image data;
predicting movement of the target object at least based on a current position and a current movement state of the target object;
performing a self-driving operation to drive the self-driving vehicle based on the predicted movement of the target object; and
determining a behavior of the self-driving vehicle based on a probability of capturing the target object by another of the self-driving vehicles.
2 . The system of claim 1 , wherein the determining the behavior of the self-driving vehicle is further based on a probability of capturing the target object by the self-driving vehicle.
3 . The system of claim 1 , wherein the determining the behavior of the self-driving vehicle is further based on a level of danger to a passenger in the target object.
4 . The system of claim 1 , wherein the determining the behavior of the self-driving vehicle comprises determining whether to sacrifice the self-driving vehicle.
5 . The system of claim 1 , wherein the determining the behavior of the self-driving vehicle is further based on an instruction of another of the self-driving vehicles pointing to the target object.
6 . The system of claim 1 , wherein the predicting the movement of the target object is further based on a route of the self-driving vehicles and a position of the self-driving vehicles, in response to the target object recognizing the self-driving vehicles.
7 . The system of claim 4 , wherein, the instructions further cause the system to perform:
in response to determining to sacrifice the self-driving vehicle, proceeding ahead of a non-self-driving emergency vehicle system to protect passengers in the non-self-driving emergency vehicle system from danger.
8 . The system of claim 4 , wherein, the instructions further cause the system to perform:
in response to determining not to sacrifice the self-driving vehicle, following the target object while keeping a predetermined distance from the target object.
9 . The system of claim 4 , wherein, the instructions further cause the system to perform:
in response to determining to sacrifice the self-driving vehicle, attacking the target object at a time and place likely to cause a minimum injury to one or more passengers in the target object.
10 . The system of claim 1 , wherein, the instructions further cause the system to perform:
sending a current location and a route of the self-driving vehicle to a traffic signal system to turn traffic signals along the route to be green.
11 . The system of claim 1 , wherein, the instructions further cause the system to perform:
sending an instruction to a traffic signal system to direct the target object to a dead end.
12 . The system of claim 1 , wherein, the instructions further cause the system to perform:
accepting information, from a server, of a crime history, appearance, clothing, weapons, or hostages of the target object.
13 . A computer-implemented method performed in one of a plurality of self-driving vehicles that are connected through a network, the method comprising:
processing image data of one or more scene images received by said one of the plurality of self-driving vehicles, to detect one or more objects included in the one or more scene images;
determining a target object from the one or more detected objects at least based on the processed image data;
predicting movement of the target object at least based on a current position and a current movement state of the target object; and
performing a self-driving operation to drive said one of the plurality of self-driving vehicles based on the predicted movement of the target object; and
determining a behavior of the self-driving vehicle based on a probability of capturing the target object by another of the self-driving vehicles.
14 . The computer-implemented method of claim 13 , wherein the determining the behavior of the self-driving vehicle is further based on a probability of capturing the target object by the self-driving vehicle.
15 . The computer-implemented method of claim 13 , wherein the determining the behavior of the self-driving vehicle comprises determining whether to sacrifice the self-driving vehicle.
16 . The computer-implemented method of claim 13 , wherein the predicting the movement of the target object is further based on a route of the self-driving vehicles and a position of the self-driving vehicles, in response to the target object recognizing the self-driving vehicles.
17 . The computer-implemented method of claim 15 , further comprising:
in response to determining to sacrifice the self-driving vehicle, proceeding ahead of a non-self-driving emergency vehicle system to protect passengers in the non-self-driving emergency vehicle system from danger.
18 . The computer-implemented method of claim 15 , further comprising:
in response to determining not to sacrifice the self-driving vehicle, following the target object while keeping a predetermined distance from the target object.
19 . The computer-implemented method of claim 13 , further comprising:
sending a current location and a route of the self-driving vehicle to a traffic signal system to turn traffic signals along the route to be green.
20 . The computer-implemented method of claim 13 , further comprising:
sending an instruction to a traffic signal system to direct the target object to a dead end.