Dynamic access and egress of railroad right of way
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for allowing vehicles access or egress from a dedicated roadway. In some implementations, a system includes a server, an interface, and sensors. The interface receives data from a railroad system that manages a railroad running parallel to a first roadway. The sensors are positioned in a location relative to the first and second roadway. Each sensor can detect vehicles on the second roadway. For each detected vehicle, each sensor can generate first sensor data based on the detected vehicle and the data received at the interface. Second sensor data can be generated based on activities on the first roadway. Observational data can be generated based on the first and second sensor data. An instruction can be determined to allow the detected vehicle access to the first roadway. The instruction can be transmitted to the detected vehicle.
1 . A computer-implemented method comprising:
detecting, by a sensor device positioned in a location relative to a roadway, a vehicle in a first field of view on the roadway, the roadway being a dedicated lane proximate to another roadway;
transmitting, to one or more sensor devices monitoring the other roadway, a request to generate sensor data that comprises observational data at one or more portions of the other roadway;
receiving, from the one or more sensor devices, data indicative of an absence of activities on the other roadway at the one or more portions;
determining to allow the detected vehicle to access the other roadway based on the received data; and
transmitting an instruction to the detected vehicle to navigate from the roadway to the other roadway while the detected vehicle traverses the roadway.
2 . The computer-implemented method of claim 1 , wherein the detected vehicle comprises an autonomous truck.
3 . The computer-implemented method of claim 1 , further comprising:
in response to detecting the vehicle in the first field of view on the roadway, selecting, by the sensor device, the one or more sensor devices from a plurality of sensor devices monitoring the other roadway to generate the sensor data, the one or more sensor devices being selected based on a first location of the detected vehicle and a second location of the one or more sensor devices, wherein the second location of the one or more sensor devices is after the first location of the detected vehicle along a direction of travel on the roadway.
4 . The computer-implemented method of claim 1 , wherein determining to allow the detected vehicle to access the other roadway based on the received data comprises determining to allow the detected vehicle to access the other roadway in response to determining the received data does not indicate a presence of activities on the other roadway.
5 . The computer-implemented method of claim 1 , wherein determining to allow the detected vehicle to access the other roadway based on the received data further comprises:
generating, by the sensor device, sensor data indicative of train activities from a railroad that traverses in parallel to the other roadway;
determining, by the sensor device, whether the sensor data indicative of the train activities reflects one or more trains traversing the railroad; and
in response to determining the sensor data reflects an absence of the one or more trains traversing the railroad, determining to allow the detected vehicle to access the other roadway.
6 . The computer-implemented method of claim 1 , further comprising:
receiving, from the one or more sensor devices, data indicative of a presence of activities on the other roadway at the one or more portions;
determining to not allow the detected vehicle to access the other roadway in response to receiving data indicative of the presence of activities on the other roadway;
generating another instruction for the detected vehicle that indicates the detected vehicle is not allowed to access the other roadway; and
transmit the other instruction to the detected vehicle to avoid navigating from the roadway to the other roadway.
7 . The computer-implemented method of claim 6 , wherein determining to not allow the detected vehicle to access the other roadway further comprises:
generating, by the sensor device, sensor data indicative of train activities from a railroad that traverses in parallel to the other roadway;
determining, by the sensor device, whether the sensor data indicative of the train activities reflects one or more trains traversing the railroad; and
in response to determining the sensor data reflects a presence of the one or more trains traversing the railroad, determining to not allow the detected vehicle to access the other roadway.
8 . The computer-implemented method of claim 1 , wherein determining to allow the detected vehicle to access the other roadway based on the received data comprises:
determining the observational data indicative of the absence of activities at the one or more portions of the other roadway comprises one or more activities that do not impede with a flow of traffic; and
in response to determining the one or more activities do not impede with the flow of traffic, determining to allow the detected vehicle to access the other roadway.
9 . One or more non-transitory machine-readable media storing instructions that, when executed by one or more processing devices, cause the one or more processing devices to perform operations comprising:
detecting, by a sensor device positioned in a location relative to a roadway, a vehicle in a first field of view on the roadway, the roadway being proximate to another roadway;
transmitting, to one or more sensor devices monitoring the other roadway, a request to generate sensor data that comprises observational data at one or more portions of the other roadway;
receiving, from the one or more sensor devices, data indicative of an absence of activities on the other roadway at the one or more portions;
determining to allow the detected vehicle to access the other roadway based on the received data; and
transmitting an instruction to the detected vehicle to navigate from the roadway to the other roadway while the detected vehicle traverses the roadway.
10 . The one or more non-transitory machine-readable media of claim 9 , wherein the detected vehicle comprises an autonomous truck.
11 . The one or more non-transitory machine-readable media of claim 9 , further comprising:
in response to detecting the vehicle in the first field of view on the roadway, selecting, by the sensor device, the one or more sensor devices from a plurality of sensor devices monitoring the other roadway to generate the sensor data, the one or more sensor devices being selected based on a first location of the detected vehicle and a second location of the one or more sensor devices, wherein the second location of the one or more sensor devices is after the first location of the detected vehicle along a direction of travel on the roadway.
12 . The one or more non-transitory machine-readable media of claim 9 , wherein determining to allow the detected vehicle to access the other roadway based on the received data comprises determining to allow the detected vehicle to access the other roadway in response to determining the received data does not indicate the presence of activities on the other roadway.
13 . The one or more non-transitory machine-readable media of claim 9 , wherein determining to allow the detected vehicle to access the other roadway based on the received data further comprises:
generating, by the sensor device, sensor data indicative of train activities from a railroad that traverses in parallel to the other roadway;
determining, by the sensor device, whether the sensor data indicative of the train activities reflects one or more trains traversing the railroad; and
in response to determining the sensor data reflects an absence of the one or more trains traversing the railroad, determining to allow the detected vehicle to access the other roadway.
14 . The one or more non-transitory machine-readable media of claim 9 , further comprising:
receiving, from the one or more sensor devices, data indicative of a presence of activities on the other roadway at the one or more portions;
determining to not allow the detected vehicle to access the other roadway in response to receiving data indicative of the presence of activities on the other roadway;
generating another instruction for the detected vehicle that indicates the detected vehicle is not allowed to access the other roadway; and
transmit the other instruction to the detected vehicle to avoid navigating from the roadway to the other roadway.
15 . The one or more non-transitory machine-readable media of claim 14 , wherein determining to not allow the detected vehicle to access the other roadway further comprises:
generating, by the sensor device, sensor data indicative of train activities from a railroad that traverses in parallel to the other roadway;
determining, by the sensor device, whether the sensor data indicative of the train activities reflects one or more trains traversing the railroad; and
in response to determining the sensor data reflects a presence of the one or more trains traversing the railroad, determining to not allow the detected vehicle to access the other roadway.
16 . The one or more non-transitory machine-readable media of claim 9 , wherein determining to allow the detected vehicle to access the other roadway based on the received data comprises:
determining the observational data indicative of the absence of activities at the one or more portions of the other roadway comprises one or more activities that do not impede with a flow of traffic; and
in response to determining the one or more activities do not impede with the flow of traffic, determining to allow the detected vehicle to access the other roadway.
17 . A system comprising:
one or more computer processors; and
one or more non-transitory machine-readable media storing instructions that, when executed by the one or more computer processors, cause the one or more computer processors to perform operations comprising:
detecting, by a sensor device positioned in a location relative to a roadway, a vehicle in a first field of view on the roadway, the roadway being a dedicated lane proximate to another roadway;
transmitting, to one or more sensor devices monitoring the other roadway, a request to generate sensor data that comprises observational data at one or more portions of the other roadway;
receiving, from the one or more sensor devices, data indicative of an absence of activities on the other roadway at the one or more portions;
determining to allow the detected vehicle to access the other roadway based on the received data; and
transmitting an instruction to the detected vehicle to navigate from the roadway to the other roadway while the detected vehicle traverses the roadway.
18 . The system of claim 17 , wherein the detected vehicle comprises an autonomous truck.
19 . The system of claim 17 , comprising:
in response to detecting the vehicle in the first field of view on the roadway, selecting, by the sensor device, the one or more sensor devices from a plurality of sensor devices monitoring the other roadway to generate the sensor data, the one or more sensor devices being selected based on a first location of the detected vehicle and a second location of the one or more sensor devices, wherein the second location of the one or more sensor devices is after the first location of the detected vehicle along a direction of travel on the roadway.
20 . The system of claim 17 , wherein determining to allow the detected vehicle to access the other roadway based on the received data comprises determining to allow the detected vehicle to access the other roadway in response to determining the received data does not indicate the presence of activities on the other roadway.