Systems and methods for self-driving vehicle traffic management

1. A method for self-driving vehicle traffic management, comprising:

moving a self-driving vehicle along a path at a first speed;

detecting a neighbor vehicle with the self-driving vehicle;

using at least one processor of the self-driving vehicle to:

determine a current position and an intent position associated with the neighbor vehicle;

determine a current position and an intent position associated with the self-driving vehicle;

determine an intent spacing based on the intent position of the neighbor vehicle and the intent position of the self-driving vehicle;

compare the intent spacing to a distance threshold; and

based on determining that the intent spacing is less than (or equal to) the distance threshold, associate a right-of-way status with one of the self-driving vehicle and the neighbor vehicle, and assigning a yield status to the other of the self-driving vehicle and the neighbor vehicle;

such that, when the self-driving vehicle is associated with the yield status, the self-driving vehicle is moved along the path at a second speed that is slower than the first speed in response to being associated with the yield status.

2. The method of claim 1 , further comprising using the at least one processor to:

determine a current spacing based on the current position of the self-driving vehicle and the current position of the neighbor vehicle;

determine a relative spacing of the self-driving vehicle based on the intent position of the self-driving vehicle and the current position of the neighbor vehicle;

determine a relative spacing of the neighbor vehicle based on the current position of the self-driving vehicle and the intent position of the neighbor vehicle; and

determine the right-of-way status and the yield status based on at least one of the current spacing, the relative spacing of the self-driving vehicle, and the relative spacing of the neighbor vehicle.

3. The method of claim 2 , further comprising using the at least one processor to:

compare the relative spacing of the self-driving vehicle to the current spacing and determine that the relative spacing of the self-driving vehicle is greater than the current spacing; and

compare the relative spacing of the neighbor vehicle to the current spacing and determine that the relative spacing of the neighbor vehicle is less than (or equal to) the current spacing;

wherein using the at least on processor to assign the right-of-way status and the yield status comprises assigning the right-of-way status to the self-driving vehicle and assigning the yield status to the neighbor vehicle.

4. The method of claim 2 , further comprising using the at least one processor to:

compare the relative spacing of the self-driving vehicle to the current spacing and determine that the relative spacing of the self-driving vehicle is less than (or equal to) the current spacing; and

compare the relative spacing of the neighbor vehicle to the current spacing and determine that the relative spacing of the neighbor vehicle is greater than the current spacing;

wherein using the at least on processor to assign the right-of-way status and the yield status comprises assigning the yield status to the self-driving vehicle and assigning the right-of-way status to the neighbor vehicle.

5. The method of claim 2 , further comprising using the at least one processor to:

compare the relative spacing of the self-driving vehicle to the current spacing and determine that the relative spacing of the self-driving vehicle is less than (or equal to) the current spacing;

compare the relative spacing of the neighbor vehicle to the current spacing and determine that the relative spacing of the neighbor vehicle is less than (or equal to) the current spacing;

determine a convergence angle of self-driving vehicle based on the current position of the self-driving vehicle, the intent position of the self-driving vehicle, and the current position of the neighbor vehicle; and

determine a convergence angle of the neighbor vehicle based on the current position of the self-driving vehicle, the current position of the neighbor vehicle, and the intent position of the neighbor vehicle;

wherein using the at least on processor to assign the right-of-way status and the yield status is based on at least one of the convergence angle of the self-driving vehicle and the convergence angle of the neighbor vehicle.

6. The method of claim 5 , further comprising using the at least one processor to:

compare the convergence angle of the self-driving vehicle to a clearance threshold and determine that the convergence angle of the self-driving vehicle is greater than the clearance threshold; and

compare the convergence angle of the neighbor vehicle to the clearance angle threshold and determine that the convergence angle of the neighbor vehicle is less than (or equal to) the clearance threshold;

wherein using the at least on processor to assign the right-of-way status and the yield status comprises assigning the right-of-way status to the self-driving vehicle and assigning the yield status to the neighbor vehicle.

7. The method of claim 5 , further comprising using the at least one processor to:

compare the convergence angle of the self-driving vehicle to a clearance threshold and determine that the convergence angle of the self-driving vehicle is less than (or equal to) the clearance threshold; and

compare the convergence angle of the neighbor vehicle to the clearance angle threshold and determine that the convergence angle of the neighbor vehicle is greater than the clearance threshold;

wherein using the at least on processor to assign the right-of-way status and the yield status comprises assigning the yield status to the self-driving vehicle and assigning the right-of-way status to the neighbor vehicle.

8. The method of claim 5 , further comprising using the at least one processor to:

compare the convergence angle of the self-driving vehicle to a clearance threshold and determine that the convergence angle of the self-driving vehicle is greater than the clearance threshold;

compare the convergence angle of the neighbor vehicle to the clearance angle threshold and determine that the convergence angle of the neighbor vehicle is greater than the clearance threshold;

compare a difference between the convergence angle of the self-driving vehicle and the convergence angle of the neighbor vehicle to a symmetry threshold and determine that the difference is less than (or equal to) the symmetry threshold;

determine that the self-driving vehicle is approaching the neighbor vehicle from a left position based on the current position of the self-driving vehicle and the current position of the neighbor vehicle; and

wherein using the at least on processor to assign the right-of-way status and the yield status comprises assigning the right-of-way status to the self-driving vehicle and assigning the yield status to the neighbor vehicle.

9. The method of claim 5 , further comprising using the at least one processor to:

compare the convergence angle of the self-driving vehicle to a clearance threshold and determine that the convergence angle of the self-driving vehicle is greater than the clearance threshold;

compare the convergence angle of the neighbor vehicle to the clearance angle threshold and determine that the convergence angle of the neighbor vehicle is greater than the clearance threshold;

compare a difference between the convergence angle of the self-driving vehicle and the convergence angle of the neighbor vehicle to a symmetry threshold and determine that the difference is less than (or equal to) the symmetry threshold;

determine that the self-driving vehicle is approaching the neighbor vehicle from a right position based on the current position of the self-driving vehicle and the current position of the neighbor vehicle; and

wherein using the at least on processor to assign the right-of-way status and the yield status comprises assigning the yield status to the self-driving vehicle and assigning the right-of-way status to the neighbor vehicle.

10. The method of claim 5 , further comprising using the at least one processor to:

compare the convergence angle of the self-driving vehicle to a clearance threshold and determine that the convergence angle of the self-driving vehicle is greater than the clearance threshold;

compare the convergence angle of the neighbor vehicle to the clearance angle threshold and determine that the convergence angle of the neighbor vehicle is greater than the clearance threshold;

compare a difference between the convergence angle of the self-driving vehicle and the convergence angle of the neighbor vehicle to a symmetry threshold and determine that the difference is less than (or equal to) the symmetry threshold;

determine that the self-driving vehicle is approaching the neighbor vehicle from a left position based on the current position of the self-driving vehicle and the current position of the neighbor vehicle; and

wherein using the at least on processor to assign the right-of-way status and the yield status comprises assigning the yield status to the self-driving vehicle and assigning the right-of-way status to the neighbor vehicle.

11. The method of claim 5 , further comprising using the at least one processor to:

compare the convergence angle of the self-driving vehicle to a clearance threshold and determine that the convergence angle of the self-driving vehicle is greater than the clearance threshold;

compare the convergence angle of the neighbor vehicle to the clearance angle threshold and determine that the convergence angle of the neighbor vehicle is greater than the clearance threshold;

compare a difference between the convergence angle of the self-driving vehicle and the convergence angle of the neighbor vehicle to a symmetry threshold and determine that the difference is less than (or equal to) the symmetry threshold;

determine that the self-driving vehicle is approaching the neighbor vehicle from a right position based on the current position of the self-driving vehicle and the current position of the neighbor vehicle; and

wherein using the at least on processor to assign the right-of-way status and the yield status comprises assigning the right-of-way status to the self-driving vehicle and assigning the yield status to the neighbor vehicle.

12. The method of claim 5 , further comprising using the at least one processor to:

compare the convergence angle of the self-driving vehicle to a clearance threshold and determine that the convergence angle of the self-driving vehicle is greater than the clearance threshold;

compare the convergence angle of the neighbor vehicle to the clearance angle threshold and determine that the convergence angle of the neighbor vehicle is greater than the clearance threshold;

compare a difference between the convergence angle of the self-driving vehicle and the convergence angle of the neighbor vehicle to a symmetry threshold and determine that the difference is greater than the symmetry threshold;

determine that the self-driving vehicle is approaching the neighbor vehicle from a position above a position of the neighbor vehicle based on the current position of the self-driving vehicle and the current position of the neighbor vehicle; and

wherein using the at least on processor to assign the right-of-way status and the yield status comprises assigning the right-of-way status to the self-driving vehicle and assigning the yield status to the neighbor vehicle.

13. The method of claim 5 , further comprising using the at least one processor to:

compare the convergence angle of the self-driving vehicle to a clearance threshold and determine that the convergence angle of the self-driving vehicle is greater than the clearance threshold;

compare the convergence angle of the neighbor vehicle to the clearance angle threshold and determine that the convergence angle of the neighbor vehicle is greater than the clearance threshold;

compare a difference between the convergence angle of the self-driving vehicle and the convergence angle of the neighbor vehicle to a symmetry threshold and determine that the difference is greater than the symmetry threshold;

determine that the self-driving vehicle is approaching the neighbor vehicle from a position below a position of the neighbor vehicle based on the current position of the self-driving vehicle and the current position of the neighbor vehicle; and

wherein using the at least on processor to assign the right-of-way status and the yield status comprises assigning the yield status to the self-driving vehicle and assigning the right-of-way status to the neighbor vehicle.

14. The method of claim 5 , further comprising using the at least one processor to:

compare the convergence angle of the self-driving vehicle to a clearance threshold and determine that the convergence angle of the self-driving vehicle is greater than the clearance threshold;

compare the convergence angle of the neighbor vehicle to the clearance angle threshold and determine that the convergence angle of the neighbor vehicle is greater than the clearance threshold;

compare a difference between the convergence angle of the self-driving vehicle and the convergence angle of the neighbor vehicle to a symmetry threshold and determine that the difference is greater than the symmetry threshold;

determine that the self-driving vehicle is approaching the neighbor vehicle from a position below a position of the neighbor vehicle based on the current position of the self-driving vehicle and the current position of the neighbor vehicle; and

wherein using the at least on processor to assign the right-of-way status and the yield status comprises assigning the right-of-way status to the self-driving vehicle and assigning the yield status to the neighbor vehicle.

15. The method of claim 5 , further comprising using the at least one processor to:

compare the convergence angle of the self-driving vehicle to a clearance threshold and determine that the convergence angle of the self-driving vehicle is greater than the clearance threshold;

compare the convergence angle of the neighbor vehicle to the clearance angle threshold and determine that the convergence angle of the neighbor vehicle is greater than the clearance threshold;

compare a difference between the convergence angle of the self-driving vehicle and the convergence angle of the neighbor vehicle to a symmetry threshold and determine that the difference is greater than the symmetry threshold;

determine that the self-driving vehicle is approaching the neighbor vehicle from a position above a position of the neighbor vehicle based on the current position of the self-driving vehicle and the current position of the neighbor vehicle; and

wherein using the at least on processor to assign the right-of-way status and the yield status comprises assigning the yield status to the self-driving vehicle and assigning the right-of-way status to the neighbor vehicle.

16. The method of claim 1 , wherein detecting the neighbor vehicle with the self-driving vehicle comprises using one or more sensors of the self-driving vehicle to obtain a first position of the neighbor vehicle at a first time and a second position of the neighbor vehicle at a second time;

wherein using the at least one processor of the self-driving vehicle to determine the current position and the intent position associated with the neighbor vehicle is based on the first position and the second position.

17. The method of claim 1 , wherein detecting the neighbor vehicle with the self-driving vehicle comprises receiving, using the self-driving vehicle, position data and velocity intent data associated with the neighbor vehicle;

wherein using the at least one processor of the self-driving vehicle to determine the current position and the intent position associated with the neighbor vehicle is based on the position data and velocity intent data associated with the neighbor vehicle.

18. A system for self-driving vehicle traffic management, comprising

a self-driving vehicle having a sensor system, a control system, and a drive system;

the control system configured to:

determine a current position and an intent position associated with the self-driving vehicle;

receive a current position and an intent position associated with a neighbor vehicle;

determine a current spacing based on the current position of the self-driving vehicle and the current position of the neighbor vehicle;

determine a relative spacing of the self-driving vehicle based on the intent position of the self-driving vehicle and the current position of the neighbor vehicle;

determine a relative spacing of the neighbor vehicle based on the current position of the self-driving vehicle and the intent position of the neighbor vehicle; and

generate a yield signal based on at least one of the current position of the self-driving vehicle, the intent position of the self-driving vehicle, the current position of the neighbor vehicle, the intent position of the neighbor vehicle, the current spacing, the relative spacing of the self-driving vehicle, and the relative spacing of the neighbor vehicle; and

the drive system configured to receive the yield signal and vary a speed of the self-driving vehicle in response to the yield signal.

19. The system of claim 18 , further comprising:

a communication network for facilitating communications between the self-driving vehicle and the neighbor vehicle;

wherein the control system of the self-driving vehicle configured to receive the current position and the intent position associated with the neighbor vehicle comprises the control system configured to receive position and velocity data transmitted by the neighbor vehicle via the communication network.

20. The system of claim 19 , further comprising:

a fleet management system in communication with the communication network and each of the self-driving vehicle and the neighbor vehicle;

wherein the control system configured to receive position and velocity data transmitted by the neighbor vehicle via the communication network comprises the control system configured to receive position and velocity transmitted by the neighbor vehicle via the fleet management system.