Methods and systems for autonomous path planning triggered by freeway rubbernecking
A method for autonomous path planning triggered by freeway rubbernecking includes obtaining gaze directions of drivers of a plurality of connected vehicles in a region of a road. The method also includes determining whether an average speed of the plurality of connected vehicles in the region is less than a predetermined speed. The method further includes controlling mobility of one or more of the plurality of connected vehicles in response to determining that the gaze directions of one or more drivers of the plurality of connected vehicles deviate from the moving direction of the connected vehicles and determining that the average speed of the connected vehicles is less than the predetermined speed.
1. A method for controlling vehicle traffic, the method comprising:
obtaining gaze directions of drivers of a plurality of connected vehicles in a region of a road;
determining whether an average speed of the plurality of connected vehicles in the region is less than a predetermined speed;
expanding the region in response to determining that the average speed of the plurality of connected vehicles is less than the predetermined speed;
transmitting one or more commands that includes a lifespan timer whose time period is dynamic and based on an estimated duration of traffic congestion, the one or more commands including controlling mobility of one or more of the plurality of connected vehicles in response to determining that the gaze directions of one or more drivers of the plurality of connected vehicles deviate from a moving direction of the plurality of connected vehicles and determining that the average speed of the plurality of connected vehicles is less than the predetermined speed;
determining whether a time period of controlling mobility of one or more of the plurality of connected vehicles has passed a predetermined time period, wherein the predetermined time period starts at beginning of controlling the mobility of one or more of the plurality of connected vehicles;
keep controlling the mobility of one or more of the plurality of connected vehicles in response to determining that the predetermined time period of controlling mobility of one or more of the plurality of connected vehicles has not passed the predetermined time period; and
determining whether the average speed of the plurality of connected vehicles in the region has been restored to the predetermined speed in response to determining that the predetermined time period of controlling the mobility of one or more of the plurality of connected vehicles has passed the predetermined time period,
wherein controlling the mobility of the one or more of the plurality of connected vehicles comprises activating autonomous driving capabilities, automatic cruise control or cooperative automatic cruise control, or lane change capabilities of the one or more of the plurality of connected vehicles, and
wherein upon expiration of the lifespan timer, a second of the plurality of connected vehicles re-evaluates traffic conditions for the traffic congestion.
2. The method of claim 1 , further comprising:
controlling mobility of one or more connected vehicles approaching the region in response to determining that the gaze directions of one or more drivers of the plurality of connected vehicles deviate from the moving direction of the plurality of connected vehicles and determining that the average speed of the plurality of connected vehicles is less than the predetermined speed.
3. The method of claim 1 , wherein controlling mobility of the one or more of the plurality of connected vehicles comprises instructing the one or more of the plurality of connected vehicles to change lanes.
4. The method of claim 1 , wherein controlling mobility of the one or more of the plurality of connected vehicles comprises adjusting a level of autonomy of the one or more of the plurality of connected vehicles.
5. The method of claim 1 , wherein controlling mobility of the one or more of the plurality of connected vehicles comprises adjusting speed or acceleration of the one or more of the plurality of connected vehicles.
6. The method of claim 1 , further comprising:
determining whether the gaze directions of the one or more drivers of the plurality of connected vehicles are toward a location of an incident.
7. The method of claim 1 , further comprising:
identifying a number of drivers whose gaze directions deviate from the moving direction of the plurality of connected vehicles; and
controlling mobility of one or more of the plurality of connected vehicles in response to determining that the number of drivers whose gaze directions deviate from the moving direction of the plurality of connected vehicles is greater than a predetermined value and determining that the average speed of the plurality of connected vehicles is less than the predetermined speed.
8. The method of claim 1 , further comprising:
receiving a location of an incident; and
controlling mobility of one or more of the plurality of connected vehicles in response to determining that the gaze directions of one or more drivers of the plurality of connected vehicles are toward the location of the incident and determining that the average speed of the plurality of connected vehicles is less than the predetermined speed.
9. The method of claim 1 , further comprising:
determining a size of the region based on the average speed of the plurality of connected vehicles in the region.
10. The method of claim 1 , wherein obtaining the gaze directions of drivers of the plurality of connected vehicles in the region of the road comprises:
capturing images of the drivers of the plurality of connected vehicles in the region of the road; and
processing the images of the drivers to determine the gaze directions of the drivers of the plurality of connected vehicles.
11. A system comprising:
a controller programmed to:
obtain gaze directions of drivers of a plurality of connected vehicles in a region of a road;
determine whether an average speed of the plurality of connected vehicles in the region is less than a predetermined speed;
expand the region in response to determining that the average speed of the plurality of connected vehicles is less than the predetermined speed;
transmit one or more commands that includes a lifespan timer whose time period is dynamic and based on an estimated duration of traffic congestion, the one or more commands including activating autonomous driving capabilities, automatic cruise control or cooperative automatic cruise control, or lane change capabilities of one or more of the plurality of connected vehicles in response to determining that the gaze directions of one or more drivers of the plurality of connected vehicles deviate from a moving direction of the plurality of connected vehicles and determining that the average speed of the plurality of connected vehicles is less than the predetermined speed;
determine whether a time period of activating autonomous driving capabilities, automatic cruise control or cooperative automatic cruise control, or lane change capabilities of one or more of the plurality of connected vehicles has passed a predetermined time period, wherein the predetermined time period starts at beginning of activating the autonomous driving capabilities, the automatic cruise control or the cooperative automatic cruise control, or the lane change capabilities of one or more of the plurality of connected vehicles;
keep activating mobility of one or more of the plurality of connected vehicles in response to determining that the predetermined time period of activating autonomous driving capabilities, automatic cruise control or cooperative automatic cruise control, or lane change capabilities of one or more of the plurality of connected vehicles has not passed the predetermined time period; and
determine whether the average speed of the plurality of connected vehicles in the region has been restored to the predetermined speed in response to determining that the predetermined time period of activating autonomous driving capabilities, automatic cruise control or cooperative automatic cruise control, or lane change capabilities of one or more of the plurality of connected vehicles has passed the predetermined time period, wherein
upon expiration of the lifespan timer, a second of the plurality of connected vehicles re-evaluates traffic conditions for the traffic congestion.
12. The system of claim 11 , wherein the controller is further programmed to:
identify a number of drivers whose gaze directions deviate from the moving direction of the plurality of connected vehicles; and
control mobility of one or more of the plurality of connected vehicles in response to determining that the number of drivers whose gaze directions deviate from the moving direction of the plurality of connected vehicles is greater than a predetermined value and determining that the average speed of the plurality of connected vehicles is less than the predetermined speed.
13. The system of claim 11 , wherein the controller is further programmed to:
receive a location of an incident; and
control mobility of one or more of the plurality of connected vehicles in response to determining that the gaze directions of one or more drivers of the plurality of connected vehicles are toward the location of the incident and determining that the average speed of the plurality of connected vehicles is less than the predetermined speed.
14. The system of claim 11 , wherein the controller is further programmed to:
determine a size of the region based on the average speed of the plurality of connected vehicles in the region.
15. The system of claim 11 , wherein obtaining the gaze directions of drivers of the plurality of connected vehicles in the region of the road comprises:
capturing images of the drivers of the plurality of connected vehicles in the region of the road; and
processing the images of the drivers to determine the gaze directions of the drivers of the plurality of connected vehicles.
16. A non-transitory computer readable medium comprising machine readable instructions that cause a controller to perform at least the following when executed:
obtain gaze directions of drivers of a plurality of connected vehicles in a region of a road;
determine whether an average speed of the plurality of connected vehicles in the region is less than a predetermined speed;
expand the region in response to determining that the average speed of the plurality of connected vehicles is less than the predetermined speed;
transmit one or more commands that includes a lifespan timer whose time period is dynamic and based on an estimated duration of traffic congestion, the one or more commands including activating autonomous driving capabilities, automatic cruise control or cooperative automatic cruise control, or lane change capabilities of one or more of the plurality of connected vehicles in response to determining that the gaze directions of one or more drivers of the plurality of connected vehicles deviate from a moving direction of the plurality of connected vehicles and determining that the average speed of the plurality of connected vehicles is less than the predetermined speed;
determine whether a time period of activating autonomous driving capabilities, automatic cruise control or cooperative automatic cruise control, or lane change capabilities of one or more of the plurality of connected vehicles has passed a predetermined time period, wherein the predetermined time period starts at beginning of activating the autonomous driving capabilities, the automatic cruise control or the cooperative automatic cruise control, or the lane change capabilities of one or more of the plurality of connected vehicles;
keep activating mobility of one or more of the plurality of connected vehicles in response to determining that the predetermined time period of activating autonomous driving capabilities, automatic cruise control or cooperative automatic cruise control, or lane change capabilities of one or more of the plurality of connected vehicles has not passed the predetermined time period; and
determine whether the average speed of the plurality of connected vehicles in the region has been restored to the predetermined speed in response to determining that the predetermined time period of activating the autonomous driving capabilities, the automatic cruise control or the cooperative automatic cruise control, or the lane change capabilities of one or more of the plurality of connected vehicles has passed the predetermined time period, wherein
upon expiration of the lifespan timer, a second of the plurality of connected vehicles re-evaluates traffic conditions for the traffic congestion.
17. The non-transitory computer readable medium of claim 16 , wherein the machine readable instructions further cause the controller to:
identify a number of drivers whose gaze directions deviate from the moving direction of the plurality of connected vehicles; and
control mobility of one or more of the plurality of connected vehicles in response to determining that the number of drivers whose gaze directions deviate from the moving direction of the plurality of connected vehicles is greater than a predetermined value and determining that the average speed of the plurality of connected vehicles is less than the predetermined speed.
18. The non-transitory computer readable medium of claim 16 , wherein the machine readable instructions further cause the controller to:
receive a location of an incident; and
control mobility of one or more of the plurality of connected vehicles in response to determining that the gaze directions of one or more drivers of the plurality of connected vehicles are toward the location of the incident and determining that the average speed of the plurality of connected vehicles is less than the predetermined speed.
19. The non-transitory computer readable medium of claim 16 , wherein the machine readable instructions further cause the controller to:
determine a size of the region based on the average speed of the plurality of connected vehicles in the region.
20. The method of claim 1 , further comprising:
determining whether the average speed of the plurality of connected vehicles has been restored to the predetermined speed or faster; and
deactivating the mobility in response to determining that the average speed of the plurality of connected vehicles has been restored to the predetermined speed or faster.