SYSTEM AND METHOD FOR AUTOMATICALLY FOLLOWING A VEHICLE IN A VEHICLE'S AUTONOMOUS DRIVING MODE BASED ON RECEIVED INSTRUCTIONS
Systems and methods for implementing one or more autonomous features for autonomous and semi-autonomous control of one or more vehicles are provided. More specifically, image data may be obtained from an image acquisition device and processed utilizing one or more machine learning models to identify, track, and extract one or more features of the image utilized in decision making processes for providing steering angle and/or acceleration/deceleration input to one or more vehicle controllers. In some instances, techniques may be employed such that the autonomous and semi-autonomous control of a vehicle may change between vehicle follow and lane follow modes. In some instances, at least a portion of the machine learning model may be updated based on one or more conditions.
1 . A method comprising:
receiving an indication of a second vehicle to follow, by a first vehicle, while in an autonomous driving mode, wherein the indication provides identifying information associated with the second vehicle;
determining if the second vehicle is visible in an image from a sensor of the first vehicle;
if the second vehicle is visible in the image from a sensor of the first vehicle, automatically associating the first vehicle with the second vehicle to cause the first vehicle to follow the second vehicle automatically; and
if the second vehicle is not visible in the image from a sensor of the first vehicle, continuing to search for the second vehicle while autonomously driving in a different mode.
2 . The method of claim 1 , wherein the second vehicle is in a caravan with the first vehicle.
3 . The method of claim 2 , wherein the first vehicle determines if an object in the image is the second vehicle.
4 . The method of claim 3 , wherein determining if an object in the image is the second vehicle comprises identifying the second vehicle as part of the caravan.
5 . The method of claim 4 , wherein the second vehicle is identified by indicia on the second vehicle.
6 . The method of claim 5 , wherein a second position is determined by drawing a box over the second vehicle in the image.
7 . The method of claim 6 , wherein the box delineates extents of the second vehicle within the image, wherein a center of the box is determined, and wherein to follow the second vehicle, a position of the center of the box is maintained in subsequent images.
8 . The method of claim 7 , wherein when the second vehicle is not visible in the image from a sensor of the first vehicle, the second vehicle provides breadcrumbs to the first vehicle to follow.
9 . The method of claim 8 , wherein the breadcrumbs are Global Positioning Satellite (GPS) coordinates for the second vehicle at some moment in time.
10 . The method of claim 9 , wherein the first vehicle and the second vehicle maintain a communication link when in the caravan.
11 . A system comprising:
a memory;
a processor in communication with the memory, wherein the processor executes instructions stored in the memory, which cause the processor to execute a method, the method comprising:
determining if a second vehicle is visible in an image from a sensor of a first vehicle;
if the second vehicle is visible in the image from a sensor of the first vehicle, automatically associating the first vehicle with the second vehicle to cause the first vehicle to follow the second vehicle automatically; and
if the second vehicle is not visible in the image from a sensor of the first vehicle, continuing to search for the second vehicle while autonomously driving in a different mode.
12 . The system of claim 11 , wherein the second vehicle is in a caravan with the first vehicle, wherein the first vehicle determines if an object in the image is the second vehicle, wherein determining if the object in the image is the second vehicle comprises identifying the second vehicle as part of the caravan, and wherein the second vehicle is identified by indicia on the second vehicle.
13 . The system of claim 11 , wherein a second position is determined by drawing a box over the second vehicle in the image, wherein the box delineates extents of the second vehicle within the image, wherein a center of the box is determined, and wherein to follow the second vehicle, a position of the center of the box is maintained in subsequent images.
14 . The system of claim 11 , wherein when the second vehicle is not visible in the image from a sensor of the first vehicle, the second vehicle provides breadcrumbs to the first vehicle to follow, and wherein the breadcrumbs are Global Positioning Satellite (GPS) coordinates for the second vehicle at some moment in time.
15 . The system of claim 11 , wherein the first vehicle and the second vehicle maintain a communication link when in a caravan.
16 . A non-transitory computer readable medium having stored thereon instructions, which when executed by a processor cause the processor to execute a method, the method comprising:
determining if a second vehicle is visible in an image from a sensor of a first vehicle;
if the second vehicle is visible in the image from a sensor of the first vehicle, automatically associating the first vehicle with the second vehicle to cause the first vehicle to follow the second vehicle automatically; and
if the second vehicle is not visible in the image from a sensor of the first vehicle, continuing to search for the second vehicle while autonomously driving in a different mode.
17 . The non-transitory computer readable medium of claim 16 , wherein the second vehicle is in a caravan with the first vehicle, wherein the first vehicle determines if an object in the image is the second vehicle, wherein determining if an object in the image is the second vehicle comprises identifying the second vehicle as part of the caravan, and wherein the second vehicle is identified by indicia on the second vehicle.
18 . The non-transitory computer readable medium of claim 16 , wherein a second position is determined by drawing a box over the second vehicle in the image, wherein the box delineates extents of the second vehicle within the image, wherein a center of the box is determined, and wherein to follow the second vehicle, a position of the center of the box is maintained in subsequent images.
19 . The non-transitory computer readable medium of claim 16 , wherein when the second vehicle is not visible in the image from a sensor of the first vehicle, the second vehicle provides breadcrumbs to the first vehicle to follow, and wherein the breadcrumbs are Global Positioning Satellite (GPS) coordinates for the second vehicle at some moment in time.
20 . The non-transitory computer readable medium of claim 16 , wherein the first vehicle and the second vehicle maintain a communication link when in the caravan.