Method and system for navigating vehicle to pickup / drop-off zone
This document describes methods by which a system determines a pickup/drop-off zone (PDZ) to which a vehicle will navigate to perform a ride service request. The system will define a PDZ that is a geometric interval that is within a lane of a road at the requested destination of the ride service request by: (i) accessing map data that includes the geometric interval; (ii) using the vehicle's length and the road's speed limit at the destination to calculate a minimum allowable length for the PDZ; (iii) setting, start point and end point boundaries for the PDZ having an intervening distance that is equal to or greater than the minimum allowable length; and (iv) positioning the PDZ in the lane at or within a threshold distance from the requested destination. The system will then generate a path to guide the vehicle to the PDZ.
1. A method for determining a pickup/drop-off zone (PDZ) for a vehicle, the method comprising:
by a processor:
receiving a ride service request that includes a requested destination for a vehicle,
defining a PDZ that is a geometric interval that is within a lane of a road at the requested destination by:
accessing a set of map data that includes the geometric interval,
using a length of the vehicle and a speed limit of the road at the requested destination to calculate a minimum allowable length for the PDZ by identifying a speed limit factor that is a function of the speed limit of the road and multiplying the length of the vehicle by the speed limit factor,
setting, as boundaries of the PDZ, a start point and an end point having an intervening distance that is equal to or greater than the minimum allowable length, and
positioning the PDZ in the lane at a location that includes or is within a threshold distance from the requested destination; and
generating a path to guide the vehicle to the PDZ, and
by a motion control system of the vehicle, moving the vehicle along the path to the PDZ.
2. The method of claim 1 , further comprising, by an electronic device within the vehicle, outputting the path, the PDZ or both via a display, a speaker or both.
3. The method of claim 1 , further comprising, by the processor:
receiving traffic data for the road at the requested destination, and
using the traffic data to calculate the minimum allowable length for the PDZ.
4. The method of claim 3 , further comprising, by the processor,
using the traffic data to generate a traffic label for the road at the requested destination;
identifying a traffic factor that is a function the traffic label; and
when using the length of the vehicle to calculate the minimum allowable length, multiplying the length by the traffic factor.
5. The method of claim 1 , further comprising, by the processor:
receiving environmental data for the road at the requested destination;
using the environmental data to generate an environmental factor; and
when calculating the minimum allowable length for the PDZ, using the environmental factor to calculate the minimum allowable length for the PDZ.
6. The method of claim 5 , further comprising, by a perception system, generating the environmental data by one or more of the following:
using a temperature sensor of the vehicle to measure ambient temperature around the vehicle;
using a rain sensor of the vehicle to measure a precipitation level around the vehicle; or
using a light sensor of the vehicle to measure a luminance level of ambient light around the vehicle.
7. The method of claim 1 , wherein positioning the PDZ in the lane at a location that includes or is within a threshold distance from the requested destination comprises requiring that the location satisfy one or more the following criteria:
a start boundary of the PDZ must be located at least a threshold distance after a first intersection along the path to the PDZ;
an end boundary of the PDZ must be located at least a threshold distance before a second intersection along the path after the PDZ;
the lane must be of a specified type of lane; or
the lane must not be of a restricted class of lane.
8. The method of claim 1 , further comprising displaying the PDZ as an overlay on the lane in a map on an in-vehicle display for an operator to view.
9. The method of claim 1 , further comprising:
by a perception system of the vehicle when the vehicle approaches or reaches the PDZ, identifying an object that is occluding at least a portion of the PDZ;
by a motion planning system of the vehicle, using data captured by the perception system to identify a stopping location that does not include the portion of the PDZ that is occluded; and
by a motion control system of the vehicle, causing the vehicle to move into the stopping location.
10. A system for determining a pickup/drop-off zone (PDZ) for a vehicle, the system comprising:
a processor, and a computer-readable medium containing programming instructions that are configured to cause the processor to, upon receiving a ride service request that includes a requested destination for a vehicle:
define a PDZ that is a geometric interval that is within a lane of a road at the requested destination by:
accessing a set of map data that includes the geometric interval,
using a length of the vehicle and a speed limit of the road at the requested destination to calculate a minimum allowable length for the PDZ by identifying a speed limit factor that is a function of the speed limit of the road and multiplying the length of the vehicle by the speed limit factor,
setting, as boundaries of the PDZ, a start point and an end point having an intervening distance that is equal to or greater than the minimum allowable length,
setting, as boundaries of the PDZ, a start point and an end point having an intervening distance that is equal to or greater than the minimum allowable length, and
positioning the PDZ in the lane at a location that includes or is within a threshold distance from the requested destination; and
generate a path to guide the vehicle to the PDZ; and
a motion control system configured to move the vehicle along the path to the PDZ.
11. The system of claim 10 , further comprising additional programming instructions that are configured to cause an electronic device within the vehicle to output the path, the PDZ or both via a display, a speaker or both.
12. The system of claim 10 , further comprising additional programming instructions to, when calculating the minimum allowable length for the PDZ, also using traffic data for the road at the requested destination to calculate the minimum allowable length for the PDZ.
13. The system of claim 10 , further comprising additional programming instructions to:
use the environmental data for the road at the requested destination to generate an environmental factor; and
when calculating the minimum allowable length for the PDZ, use the environmental factor to calculate the minimum allowable length for the PDZ.
14. The system of claim 10 , wherein the programming instructions to position the PDZ in the lane at a location that includes or is within a threshold distance from the requested destination comprise instructions to select a location that satisfies one or more the following criteria:
a start boundary of the PDZ must be located at least a threshold distance after a first intersection along the path to the PDZ;
an end boundary of the PDZ must be located at least a threshold distance before a second intersection along the path after the PDZ;
the lane must be of a specified type of lane; or
the lane must not be of a restricted class of lane.
15. The system of claim 10 , further comprising additional programming instructions that are configured to cause the processor to, in response to a perception system of the vehicle identifying an object that is occluding at least a portion of the PDZ when the vehicle approaches or reaches the PDZ;
use data captured by the perception system to identify a stopping location that does not include the portion of the PDZ that is occluded; and
generate an alternate path to guide the vehicle to the stopping location.
16. A non-transitory computer program product for determining a pickup/drop-off zone (PDZ) for a vehicle, the product comprising programming instructions that are configured to cause a processor to, upon receiving a ride service request that includes a requested destination for a vehicle:
define a PDZ that is a geometric interval that is within a lane of a road at the requested destination by:
accessing a set of map data that includes the geometric interval,
using a length of the vehicle and a speed limit of the road at the requested destination to calculate a minimum allowable length for the PDZ by identifying a speed limit factor that is a function of the speed limit of the road and multiplying the length of the vehicle by the speed limit factor, and
setting, as boundaries of the PDZ, a start point and an end point having an intervening distance that is equal to or greater than the minimum allowable length, and
positioning the PDZ in the lane at a location that includes or is within a threshold distance from the requested destination; and
generate a path to guide the vehicle to the PDZ, wherein the path comprises instructions that are configured to direct a motion control system of the vehicle to move the vehicle along the path to the PDZ.
17. The computer program product of claim 16 , further comprising additional programming instructions that are configured to cause an electronic device within the vehicle to output the path, the PDZ or both via a display, a speaker or both.