Detecting general road weather conditions
The technology relates to determining general weather conditions affecting the roadway around a vehicle, and how such conditions may impact driving and route planning for the vehicle when operating in an autonomous mode. For instance, the on-board sensor system may detect whether the road is generally icy as opposed to a small ice patch on a specific portion of the road surface. The system may also evaluate specific driving actions taken by the vehicle and/or other nearby vehicles. Based on such information, the vehicle's control system is able to use the resultant information to select an appropriate braking level or braking strategy. As a result, the system can detect and respond to different levels of adverse weather conditions. The on-board computer system may share road condition information with nearby vehicles and with remote assistance, so that it may be employed with broader fleet planning operations.
1 . A method comprising:
causing, by one or more processors associated with a vehicle operating in an autonomous driving mode, upon determining that a condition has been met in order to perform a testing operation, a subsystem of the vehicle to actuate one or more components of the subsystem during operation in the autonomous driving mode to perform the testing operation;
evaluating, by the one or more processors, detected information along a portion of a roadway during actuation of the one or more components with expected information along the portion of the roadway based on a planned trajectory for traversing the portion of the roadway;
determining, by the one or more processors, a type of road weather condition along the roadway based on the evaluating the detected information with the expected information; and
in response to the determining, the one or more processors causing the vehicle to take a selected action according to the type of road weather condition.
2 . The method of claim 1 , wherein the condition in order to perform the testing operation is whether there are no passengers in the vehicle.
3 . The method of claim 1 , wherein the condition in order to perform the testing operation whether there are no surrounding vehicles within a predetermined distance of the vehicle operating in the autonomous driving mode.
4 . The method of claim 1 , wherein the condition in order to perform the testing operation is that there is a minimum amount of headway with a trailing vehicle along the portion of the roadway before causing the subsystem to perform a braking operation.
5 . The method of claim 1 , wherein the condition in order to perform the testing operation is that there is a minimum amount of headway with a leading vehicle along the portion of the roadway before causing the subsystem to perform an acceleration operation.
6 . The method of claim 1 , wherein causing the subsystem to actuate the one or more components includes causing a braking operation to be performed until information from the subsystem indicates that one or more wheels of the vehicle are starting to lose traction.
7 . The method of claim 6 , wherein the information from the subsystem includes information from an anti-lock braking system (ABS) of a deceleration subsystem.
8 . The method of claim 1 , wherein causing the subsystem of the vehicle to actuate one or more components of the subsystem includes selecting an amount of acceleration from a standstill.
9 . The method of claim 1 , wherein the testing operation is based on how one or more other vehicles have operated along the portion of the roadway.
10 . The method of claim 1 , wherein the road weather condition is one of a wet condition, an icy condition, or a snowy condition.
11 . The method of claim 1 , wherein the selected action includes a route re-planning action or an in-lane steering adjustment action.
12 . The method of claim 1 , wherein the detected information indicates which wheels experienced slipping along the portion of the roadway.
13 . The method of claim 12 , further comprising mapping a slippery area along the portion of the roadway.
14 . The method of claim 1 , wherein causing the vehicle to take the selected action includes causing the vehicle to make a driving operation based on an upcoming roadway configuration.
15 . The method of claim 1 , wherein the condition in order to perform the testing operation is whether the vehicle is at a stop sign or a stop light.
16 . The method of claim 1 , wherein the condition in order to perform the testing operation is whether the portion of the roadway is along a curve.
17 . The method of claim 1 , further comprising:
in response to the determining, causing the vehicle to send information about the type of road weather condition to another vehicle operating in an autonomous driving mode in a vicinity of the portion of the roadway.
18 . The method of claim 1 , further comprising:
in response to the determining, causing the vehicle to send the information about the type of road weather condition to a remote vehicle fleet management system.
19 . A processing system comprising one or more processors configured to:
cause, upon determining that a condition has been met in order to perform a testing operation by a vehicle operating in an autonomous driving mode, a subsystem of the vehicle to actuate one or more components of the subsystem during operation in the autonomous driving mode to perform the testing operation;
evaluate detected information along a portion of a roadway during actuation of the one or more components with expected information along the portion of the roadway based on a planned trajectory for traversing the portion of the roadway;
determine a type of road weather condition along the roadway based on the evaluating the detected information with the expected information; and
in response to the determination, cause the vehicle to take a selected action according to the type of road weather condition.
20 . A vehicle comprising:
a processing system comprising one or more processors configured to:
cause, upon determining that a condition has been met in order to perform a testing operation by a vehicle operating in an autonomous driving mode, a subsystem of the vehicle to actuate one or more components of the subsystem during operation in the autonomous driving mode to perform the testing operation;
evaluate detected information along a portion of a roadway during actuation of the one or more components with expected information along the portion of the roadway based on a planned trajectory for traversing the portion of the roadway;
determine a type of road weather condition along the roadway based on the evaluating the detected information with the expected information; and
in response to the determination, cause the vehicle to take a selected action according to the type of road weather condition; and
a perception system having one or more sensors operatively coupled to the processing system, the perception system being configured to detect the information along the portion of the roadway during actuation of the one or more components.
21 . The vehicle of claim 20 , wherein cause the subsystem to actuate the one or more components includes cause a braking operation to be performed until information from the subsystem indicates that one or more wheels of the vehicle are starting to lose traction.
22 . The vehicle of claim 20 , wherein cause the subsystem of the vehicle to actuate one or more components of the subsystem includes selection of an amount of acceleration from a standstill.