Threat mitigation for vehicles

Abstract

A method for controlling a vehicle is disclosed. The method comprises determining whether one or more surrounding vehicles exhibit a threatening behavior, and controlling the vehicle to perform one or more threat-avoidance actions when it is determined that one or more surrounding vehicles exhibit a threatening behavior. Example threatening behaviors include a first surrounding vehicle directly in front of the vehicle decelerating without a traffic-related reason for deceleration, and, in combination with the former, a second surrounding vehicle in a lane adjacent to the vehicle decelerating in association with the first surrounding vehicle. Corresponding computer programs, computer program products, control units, devices, systems, and vehicles are also disclosed.

Description

Technical Field

[0001] This disclosure generally relates to the field of vehicle control. More specifically, this disclosure relates to vehicle control in threat scenarios. Background Technology

[0002] Threats involving vehicles may occur. An example is described in patent publication US 2018 / 0143642 A1, in which multiple people surround a vehicle to hijack or rob it. US2018 / 0143642A1 proposes providing an emergency escape mode for autonomous vehicles to handle such situations.

[0003] While providing a viable threat mitigation method, the emergency escape model proposed in US 2018 / 014364 2A1 is not always sufficiently effective or even ineffective. Therefore, additional or alternative threat mitigation solutions are needed. Summary of the Invention

[0004] It should be emphasized that, when used in this specification, the term "comprising / including..." (which may be replaced by "containing / including...") is used to specify the presence of the stated feature, integer, step, or composition, but does not exclude the presence or addition of one or more other features, integers, steps, compositions, or combinations thereof. As used herein, the singular forms "a", "an", and "the" are intended to also include the plural forms, unless the context clearly indicates otherwise.

[0005] Generally, when referring to an apparatus in this document, it should be understood as a physical product; for example, a device. A physical product may include one or more components, such as control circuitry in the form of one or more controllers, one or more processors, etc.

[0006] Some embodiments are intended to address, mitigate, or eliminate at least some of the above or other disadvantages.

[0007] The first aspect is a method for controlling a vehicle. This method includes determining whether one or more surrounding vehicles are exhibiting threatening behavior, and when it is determined that one or more surrounding vehicles are exhibiting threatening behavior, controlling the vehicle to perform one or more threat avoidance actions.

[0008] The advantage of this approach is that it provides a method to mitigate threatening behavior from surrounding vehicles.

[0009] In some embodiments, information about surrounding vehicles acquired by one or more external sensors mounted on the vehicle is used to determine whether one or more surrounding vehicles are exhibiting threatening behavior, and the information about the surrounding vehicles is interpreted to provide one or more threat determination metrics associated with one or more surrounding vehicles.

[0010] In some embodiments, the method further includes acquiring information about surrounding vehicles from one or more external sensors mounted on the vehicle, and interpreting the information about the surrounding vehicles to provide one or more threat determination metrics associated with one or more surrounding vehicles.

[0011] In some embodiments, one or more threat determination metrics associated with surrounding vehicles include the speed of surrounding vehicles, the speed vector of surrounding vehicles, the difference between the speed of surrounding vehicles and the speed of a vehicle, the difference between the speed vector of surrounding vehicles and the speed vector of a vehicle, the distance between surrounding vehicles and vehicles, and one or more of the distance trends between surrounding vehicles and vehicles.

[0012] An advantage of any of these embodiments is that the determination of threatening behavior can be achieved through appropriate metrics (one or more), thereby enabling accurate determination of whether surrounding vehicles are behaving threateningly.

[0013] In some embodiments, threatening behavior by one or more surrounding vehicles includes a first surrounding vehicle directly in front of the vehicle slowing down without any traffic-related reason for slowing down.

[0014] In some embodiments, threatening behavior by one or more surrounding vehicles also includes a second surrounding vehicle in the lane adjacent to the vehicle slowing down in association with the first surrounding vehicle.

[0015] The advantage of any of these embodiments is that it can accurately identify certain threat scenarios.

[0016] In some embodiments, controlling the vehicle to perform one or more threat avoidance actions includes controlling the vehicle to perform one or more of the following: activating visual deterrence, activating auditory deterrence, activating intrusion mitigation, disabling the collision avoidance system, taking an available escape route, initiating an emergency call, and initiating a call to a remote controller.

[0017] The advantage of any of these embodiments is that threat avoidance actions can be implemented in an appropriate manner, thereby providing effective and / or flexible threat mitigation.

[0018] The second aspect is a computer program, which includes program instructions. The computer program can be loaded into a data processing unit and configured to cause execution according to the method of the first aspect when the computer program is run by the data processing unit.

[0019] One advantage of this is that it provides a software implementation plan for the method, which can mitigate threatening behavior from surrounding vehicles.

[0020] The third aspect is a computer program product, which includes a computer-readable medium carrying a computer program comprising program instructions. The computer program may be loaded into a data processing unit and configured to cause execution according to the method of the first aspect when the computer program is run by the data processing unit.

[0021] The advantage of this is that it provides a platform for implementing software that can mitigate the threatening behavior of surrounding vehicles.

[0022] The fourth aspect is a control unit for controlling the vehicle. The control unit is configured to cause execution according to the method of the first aspect.

[0023] The advantage of this is that it provides a hardware implementation plan for methods that can mitigate threatening behavior from surrounding vehicles.

[0024] The fifth aspect is equipment for controlling a vehicle. The equipment includes control circuitry configured to determine whether one or more surrounding vehicles are exhibiting threatening behavior, and in response to determining that one or more surrounding vehicles are exhibiting threatening behavior, to control the vehicle to perform one or more threat avoidance actions.

[0025] The advantage in this regard is that it provides physical devices that can mitigate threatening behavior from surrounding vehicles.

[0026] In some embodiments, the control circuitry is further configured to acquire information about surrounding vehicles from one or more external sensors mounted on the vehicle, and to interpret the information about the surrounding vehicles to provide one or more threat determination metrics associated with one or more surrounding vehicles, wherein one or more surrounding vehicles are determined to exhibit threatening behavior based on the one or more threat determination metrics.

[0027] An advantage of any of these embodiments is that the determination of threatening behavior can be achieved through appropriate metrics (one or more), thereby enabling accurate determination of whether surrounding vehicles are behaving threateningly.

[0028] The sixth aspect is a system for controlling the vehicle. This system includes: one or more external sensors that may be mounted on the vehicle and configured to acquire information about one or more surrounding vehicles; and processing circuitry.

[0029] The processing circuitry is configured to: interpret information about surrounding vehicles to provide one or more threat determination metrics associated with one or more surrounding vehicles; determine, based on the threat determination metrics, whether one or more surrounding vehicles exhibit threatening behavior; and, in response to determining that one or more surrounding vehicles exhibit threatening behavior, issue one or more control signals to control the vehicle to perform one or more threat avoidance actions.

[0030] The advantage of this is that it provides a system that can mitigate threatening behavior from surrounding vehicles.

[0031] In some embodiments, one or more control signals for controlling the vehicle to perform one or more threat avoidance actions include one or more control signals for controlling the vehicle to perform one or more of the following actions: activating visual deterrence, activating auditory deterrence, activating intrusion mitigation, disabling the collision avoidance system, taking an available escape route, initiating an emergency call, and initiating a call to a remote controller.

[0032] In some embodiments, the system further includes one or more of a visual interface, an auditory interface, an intrusion mitigator, a collision avoidance system, a route planner, and a remote communication system.

[0033] The advantage of any of these embodiments is that threat avoidance actions can be performed in an appropriate manner, thereby providing effective and / or flexible threat mitigation.

[0034] The seventh aspect is the vehicle, which includes one or more of the control unit of the fourth aspect, the equipment of the fifth aspect, and the system of the sixth aspect.

[0035] The advantage in this regard is that it provides vehicles that can mitigate threatening behavior from surrounding vehicles.

[0036] In some embodiments, any of the foregoing aspects may additionally have the same or corresponding features as any of the various features interpreted above for any other aspect.

[0037] Various criteria can be used to define whether surrounding vehicles (one or more) are exhibiting threatening behavior. For example, surrounding vehicles (one or more) can be defined as exhibiting threatening behavior when the probability that they are likely to be part of an impending criminal activity (e.g., against a controlled vehicle and / or its occupants) exceeds a probability threshold. Such probabilities can be estimated, for example, based on statistics and / or machine learning. Examples of surrounding vehicles (one or more) exhibiting threatening behavior will be detailed below.

[0038] Various criteria can be used to define threat avoidance actions (i.e., threat mitigation actions). For example, a threat avoidance action can be defined as any behavior that reduces the likelihood of initiating and / or carrying out an impending or ongoing criminal activity (e.g., targeting a controlled vehicle and / or its occupants). Such a likelihood can be estimated, for example, based on statistics and / or machine learning. Examples of threat avoidance actions will be detailed below. The terms “threat avoidance” and “threat mitigation” will be used interchangeably throughout this document.

[0039] Typically, the controlled vehicle can be an autonomous vehicle or a manually operable vehicle.

[0040] The controlled vehicle is generally referred to as "a / the vehicle" in this document, but may alternatively be referred to as "a / the controlled vehicle" or "a / the main vehicle".

[0041] Similarly, any vehicle in the vicinity can typically be either an autonomous vehicle or a manually operable vehicle.

[0042] Furthermore, any methods described herein can generally be implemented entirely or partially by a computer.

[0043] A general advantage of some embodiments is that they provide threat mitigation solutions.

[0044] Some of the advantages of these embodiments are that they can improve threat mitigation (e.g., increase the likelihood of delaying an ongoing criminal act).

[0045] Typically, threat mitigation schemes according to some embodiments can be applied alone or in combination with other threat mitigation schemes (e.g., the emergency escape mode of US 2018 / 0143642 A1). Attached Figure Description

[0046] Other objects, features, and advantages will become apparent from the following detailed description of the embodiments with reference to the accompanying drawings. The drawings are not necessarily drawn to scale, but rather focus on illustrating exemplary embodiments.

[0047] Figure 1 This is a flowchart illustrating example method steps according to some embodiments;

[0048] Figure 2 This is a schematic diagram illustrating exemplary threat scenarios according to some embodiments;

[0049] Figure 3 This is a flowchart illustrating example method steps according to some embodiments;

[0050] Figure 4 This is a schematic block diagram illustrating an example apparatus according to some embodiments;

[0051] Figure 5 This is a schematic diagram illustrating an example vehicle according to some embodiments; and

[0052] Figure 6 This is a schematic diagram illustrating an example computer-readable medium according to some embodiments. Detailed Implementation

[0053] As mentioned above, it should be emphasized that, when used in this specification, the term "comprising / including..." (which can be replaced by "containing / including...") is used to specify the presence of the stated feature, integer, step, or composition, but does not exclude the presence or addition of one or more other features, integers, steps, compositions, or groups thereof. As used herein, the singular forms "a", "an", and "the" are intended to also include the plural forms unless the context clearly indicates otherwise.

[0054] Embodiments of this disclosure will be described and illustrated more fully below with reference to the accompanying drawings. However, the solutions disclosed herein can be implemented in many different forms and should not be construed as limited to the embodiments set forth herein.

[0055] The following describes embodiments for controlling vehicles to mitigate threatening situations involving one or more surrounding vehicles.

[0056] Figure 1 An example method 100 for controlling a vehicle according to some embodiments is shown.

[0057] The method includes determining whether one or more surrounding vehicles are exhibiting threatening behavior, as shown in step 130.

[0058] Determining whether one or more surrounding vehicles are exhibiting threatening behavior may include interpreting information about the surrounding vehicles acquired by one or more external sensors mounted on the vehicle. Example sensors include, but are not limited to, image sensors (such as cameras), RADAR sensors, and LIDAR sensors.

[0059] In some embodiments, the method includes acquiring information about surrounding vehicles from one or more external sensors mounted on the vehicle, as shown in optional step 110.

[0060] Alternatively or additionally, the method may include interpreting information about surrounding vehicles, as shown in optional step 120.

[0061] Examples of schemes that can be used in interpretation include, but are not limited to, image recognition, distance estimation, velocity estimation, and velocity vector estimation.

[0062] For example, interpretation can provide one or more threat determination metrics associated with one or more surrounding vehicles as a result. Thus, if the threat determination metrics(s) satisfy one or more threat behavior criteria, it can be determined that the surrounding vehicles exhibit threatening behavior. An example of a threat behavior criterion is when a threat determination metric falls on the first side of a metric threshold (e.g., above or below the metric threshold).

[0063] One or more threat determination metrics associated with surrounding vehicles may include, for example, the speed of surrounding vehicles, the speed vector of surrounding vehicles, the difference between the speed of surrounding vehicles and the speed of a vehicle (i.e., relative speed), the difference between the speed vector of surrounding vehicles and the speed vector of a vehicle (i.e., relative speed vector), the distance between surrounding vehicles and vehicles, and the trend (increasing / decreasing) of the distance between surrounding vehicles and vehicles.

[0064] Potentially threatening situations in which one or more surrounding vehicles exhibit threatening behavior include situations where the first surrounding vehicle directly in front of the vehicle slows down without a traffic-related reason for deceleration. Such situations include... Figure 2 As shown.

[0065] Therefore, appropriate threat identification metrics may include the speed trends (acceleration / deceleration) of first surrounding vehicles, and threat behavior criteria may be deceleration that is higher than a first threshold and can be combined with traffic-related information.

[0066] Examples of traffic-related deceleration reasons include other vehicles (one or more in front of the first surrounding vehicles) also decelerating, queue indications, speed limit changes (reduction of speed limits), approaching intersections or road curves, reduced visibility (e.g., due to fog, rain, or snow), obstacles in front of the first surrounding vehicles (e.g., animals or fallen trees), and so on. Traffic-related information can be obtained in any suitable manner, such as through image sensors, from navigation systems, from cloud services, and so on.

[0067] Potentially threatening situations in which one or more surrounding vehicles exhibit threatening behavior include a first surrounding vehicle directly in front of the vehicle slowing down without a traffic-related cause, and a second surrounding vehicle in the adjacent lane (typically the left-hand adjacent lane along the direction of travel) slowing down in association with the first surrounding vehicle (e.g., maintaining substantially the same speed as the first surrounding vehicle). For example, the second surrounding vehicle could be an autonomous vehicle configured to follow the first surrounding vehicle in the adjacent lane at a distance behind it (it could be autonomous or manually operated). Figure 2 This also illustrates the situation.

[0068] Therefore, appropriate threat identification metrics may include the speeds of the first and second surrounding vehicles, as well as the speed trend of the first surrounding vehicle. Threat behavior criteria may be that the deceleration of the first surrounding vehicle is higher than a first threshold, and the difference between the speeds of the first and second surrounding vehicles is lower than a second threshold, which may be combined with traffic-related information.

[0069] Other examples of potential threatening situations in which one or more surrounding vehicles exhibit threatening behavior include surrounding vehicles rapidly approaching from behind a vehicle, surrounding vehicles approaching from the side of a vehicle (potential collision), surrounding vehicles approaching from the opposite direction but in the same lane as the vehicle, and surrounding vehicles blocking the vehicle's alternative route without any traffic-related cause.

[0070] Examples of potential threat situations if the vehicle is stationary or traveling at a speed below the threshold include one or more doors of surrounding vehicles being open / open, one or more people approaching the vehicle, one or more people outside the vehicle wearing masks, one or more people outside the vehicle carrying weapons (such as guns, knives, knuckle dusters, or the like), etc.

[0071] Other examples can be combined with the examples above in any suitable manner to define potential threat situations. For example, a potential threat situation in which one or more surrounding vehicles exhibit threatening behavior could be identified includes a first surrounding vehicle directly in front of the vehicle slowing down without any traffic-related reason for deceleration, combined with a second surrounding vehicle in the adjacent lane slowing down in association with the first surrounding vehicle, and a third surrounding vehicle rapidly approaching from behind the vehicle.

[0072] When it is determined that one or more surrounding vehicles are exhibiting threatening behavior (Y path in step 140), the method includes controlling the vehicle to perform one or more threat avoidance actions, as shown in step 150. For example, step 150 may include generating one or more control signals and transmitting the generated signals to appropriate parts of the vehicle to induce the execution of one or more threat avoidance actions.

[0073] When it is determined that surrounding vehicles are not exhibiting threatening behavior (N path in step 140), the method may prevent the vehicle from performing any threat avoidance actions. Alternatively or additionally, when it is determined that surrounding vehicles are not exhibiting threatening behavior (N path in step 140), the method may continue to monitor for threatening behavior of surrounding vehicles, such as... Figure 1 The re-loop is shown in the diagram.

[0074] Typically, control step 150 may be an automated step performed directly in response to determining that one or more surrounding vehicles are exhibiting threatening behavior.

[0075] However, in some embodiments, determining that one or more surrounding vehicles are exhibiting threatening behavior can trigger an inquiry into the vehicle occupants, namely, whether one or more threat avoidance actions should be performed.

[0076] In this embodiment, a threat avoidance action may be performed in response to a continue instruction received via the user interface. Alternatively or additionally, in such an embodiment, a threat avoidance action may be performed in response to no instruction received via the user interface (e.g., during a specified duration starting at the time of the query). Still alternatively or additionally, the execution of a threat avoidance action may be canceled / aborted in response to a stop instruction received via the user interface.

[0077] According to some embodiments, determining that one or more surrounding vehicles are exhibiting threatening behavior can trigger the generation of a query to a remote controller, i.e., to inquire whether one or more threat avoidance actions should be performed.

[0078] In such embodiments, threat avoidance actions may be performed in response to a continuation instruction received from the remote controller. Alternatively or additionally, in such embodiments, threat avoidance actions may be performed in response to no instruction received from the remote controller (e.g., during a specified duration that begins when a query is issued). Still alternatively or additionally, the execution of threat avoidance actions may be canceled / aborted in response to a discontinuement instruction received from the remote controller.

[0079] The remote controller can be implemented entirely by a computer, or it can involve a human-controlled operator and a user interface that presents audio and / or images from the vehicle.

[0080] Similarly, the termination of one or more threat avoidance actions can be automatic (e.g., after a period of time, in response to a threat that is considered to have been eliminated) or dependent on instructions from vehicle occupants or remote controllers.

[0081] Some example threat avoidance actions include visual deterrence (e.g., illuminating or flashing some or all of a vehicle's lights), auditory deterrence (e.g., honking a vehicle horn), intrusion mitigation operations (e.g., locking all vehicle doors, raising all vehicle windows, activating vehicle protection systems (e.g., bulletproof vests), releasing sprays (e.g., pepper spray, tear gas, atomized spray, or DNA spray)), disabling collision avoidance systems (e.g., being able to strike surrounding vehicles), taking available escape routes (e.g., by reversing and / or turning; being able to leave the road), initiating an emergency call (which may include transmitting, presenting, and / or recording audio and / or images—still images or video), and initiating a call to a remote controller (which may include transmitting, presenting, and / or recording audio and / or images—still images or video). Threat avoidance actions may be performed individually or in any suitable combination.

[0082] Figure 2An example vehicle 200 in a threatening situation is illustrated schematically, wherein one or more surrounding vehicles 210, 220 may be identified as exhibiting threatening behavior.

[0083] In this scenario, the first surrounding vehicle 210 is directly in front of vehicle 200 (traveling in the same direction as vehicle 200). If the first surrounding vehicle 210 begins to slow down (decelerate; reduce speed 211) without any apparent reason (e.g., in the absence of a traffic-related reason for deceleration), this can be identified as a manifestation of threatening behavior according to some embodiments.

[0084] It is feasible that the aforementioned criteria for threatening behavior can be supplemented by the deceleration of a second surrounding vehicle 220 in the lane adjacent to the vehicle in association with the deceleration of the first surrounding vehicle 210 (e.g., speeds 211 and 221 are substantially equal).

[0085] The following detailed example will illustrate how method 100 can be implemented.

[0086] Vehicles identify when they are being forced to the side of the road by using external cameras (e.g., 360-degree cameras), radar systems, and / or vehicle-to-vehicle (V2V) communication. If a vehicle notices that a vehicle in front is slowing down, and another vehicle next to it is also slowing down in the same way, and there are no other vehicles in front of either of them, this can be identified as a threatening behavior. Vehicles can also be configured to identify whether the doors of other vehicles are open / are open and / or whether people are approaching the forced vehicle.

[0087] When a threatening behavior is identified, the proposed system can automatically connect to a communication service where operators can remotely use cameras and / or other sensors to view what is happening on-site in real time.

[0088] If the operator determines that there is threatening behavior, the operator may activate one or more threat mitigation functions of the vehicle (e.g., flash all lights and / or sound the horn) and / or notify the authorities (e.g., via an emergency call) so that the police can intervene.

[0089] Alternatively or additionally, the vehicle's threat mitigation capabilities can be configured to activate automatically without interaction with a remote operator. For example, threat mitigation can be automatically activated when the vehicle lacks internet coverage.

[0090] Figure 3 An example method 300 according to some embodiments is shown. Method 300 can be considered as Figure 1 Example implementation of method 100.

[0091] In step 341, it is determined whether there is a (first) vehicle ahead traveling at a reduced speed. If so (Y path of step 341), the method continues to step 342. If not (N path of step 341), the method loops back to step 341 and continues monitoring.

[0092] In step 342, it is determined whether there are other vehicles traveling in front of the first vehicle, which are also slowing down, and / or whether there is another obstacle (e.g., an animal or a fallen tree) in front of the first vehicle. If yes (Y-path of step 342), the method loops back to step 341 and continues monitoring. If not (N-path of step 342), the method proceeds to step 351.

[0093] In step 351, it is determined whether there is any escape route that is not blocked by another (second) vehicle. If so (the Y-path of step 351), the method proceeds to step 352, where the escape route is determined. If not (the N-path of step 351), the method proceeds to step 353.

[0094] In step 353, it is determined whether the coverage area is available for contacting a remote operator. If yes (Y path in step 353), the method proceeds to step 354. If not (N path in step 353), the method proceeds to step 343.

[0095] In step 343, it is determined whether the door of the first or second vehicle is open. If yes (Y path of step 343), the method continues to step 344. If not (N path of step 343), the method loops back to step 343 and continues to monitor the door.

[0096] In step 344, it is determined whether a person is approaching a vehicle and / or whether image recognition reveals an unfriendly facial expression or a veiled face. If yes (Y path of step 344), the method proceeds to step 357. If not (N path of step 344), the method loops back to step 343 and continues monitoring.

[0097] In step 354, a remote operator is contacted, and in step 345, the remote operator determines whether there is an indication of threatening behavior. If yes (Y path of step 345), the method continues to step 355. If not (N path of step 345), the method continues to step 346, where the method terminates without further action.

[0098] In step 355, the remote operator selects one or more actions to take. If contacting the authorities is selected, the method proceeds to step 356, where an emergency call is initiated. If other actions are selected alternatively or additionally, the method proceeds to step 357.

[0099] In step 357, threat mitigation may be performed by the vehicle; for example, by flashing all headlights and / or honking the horn.

[0100] Steps 341-346 can be considered as an implementation method for determining whether one or more surrounding vehicles are exhibiting threatening behavior (see comparison). Figure 1 (130-140).

[0101] Steps 351-357 can be considered as an implementation method for controlling the vehicle to perform one or more threat avoidance actions (see comparison). Figure 1 (of 150).

[0102] Figure 4 An example device for controlling a vehicle according to some embodiments is schematically illustrated. This device may be a system suitable for installation in a vehicle. The device includes a controller (CNTR; e.g., control circuitry, processing circuitry, control module, or control unit) 400, which may be included in any suitable device.

[0103] For example, a system (e.g., controller 400) can be configured to perform (or cause to perform) as in combination Figure 1 and Figure 3 One or more method steps are described.

[0104] Specifically, the controller 400 is configured to determine whether one or more surrounding vehicles are exhibiting threatening behavior (as opposed to...). Figure 1 (130), and in response to determining that one or more surrounding vehicles exhibit threatening behavior (contrast) Figure 1 140), control the vehicle to perform one or more threat avoidance actions (contrast to 140). Figure 1 (of 150).

[0105] For this purpose, controller 400 may include one or more of the following or otherwise associated with (e.g., connected to or connectable to): a determiner (DET; e.g., a determiner circuit or determiner module) 402, and an avoidance action trigger (EVA; e.g., a trigger circuit or trigger module) 403. Determiner 402 may be configured to determine whether one or more surrounding vehicles are exhibiting threatening behavior. Avoidance action trigger 403 may be configured to control the vehicle to perform one or more threat avoidance actions in response to determining that one or more surrounding vehicles are exhibiting threatening behavior.

[0106] As previously mentioned, one or more threat avoidance actions may include one or more of the following: activating visual deterrence, activating auditory deterrence, activating intrusion mitigation, disabling collision avoidance systems, taking available escape routes, initiating emergency calls, and initiating calls to remote controllers.

[0107] For example, controller 400 (e.g., avoidance action trigger 403) may be configured to control the vehicle to perform one or more threat avoidance actions by issuing one or more control signals to one or more corresponding threat mitigators.

[0108] Examples of threat mitigators include, but are not limited to, visual interfaces (e.g., vehicle lights), auditory interfaces (e.g., vehicle horns), intrusion mitigators (e.g., locks, security systems, spray devices, etc.), collision avoidance system disablers, route planners, and remote communication systems (e.g., wireless communication systems for emergency calls and / or calls to remote controllers).

[0109] In some embodiments, the device further includes one or more intrusion mitigators; for example, a visual interface (VIS) 421, an auditory interface (AUD) 422, an intrusion mitigator (INTR) 423, a collision avoidance system (CAS) 424, a route planner (RP) 425, and a remote communication system (RCS) 426.

[0110] In some embodiments, the controller 400 is also configured to induce the acquisition of information about surrounding vehicles from one or more sensors (SENS) 410 (as opposed to...). Figure 1 (110). For example, the controller can be configured to acquire (e.g., receive) such information from a sensor.

[0111] According to some embodiments, sensor 410 may be included in the device. Furthermore, sensor 410 may be mounted on a vehicle (typically on the exterior of the vehicle). Example sensors have been described in detail above.

[0112] In some embodiments, the controller 400 is also configured to trigger the interpretation of information about surrounding vehicles (see figure). Figure 1 (120); for example, providing one or more threat determination metrics associated with one or more surrounding vehicles, which can be used to determine whether the surrounding vehicles exhibit threatening behavior.

[0113] For this purpose, controller 400 may include an interpreter (INT; for example, an interpreter circuit or interpreter module) 401, or otherwise associated with interpreter 401 (e.g., connected or connectable to). Interpreter 401 may be configured to interpret information about surrounding vehicles; for example, to provide one or more threat determination metrics associated with one or more surrounding vehicles. Example interpretation schemes have been described in detail above.

[0114] Figure 5 An example vehicle 590 (contrast) according to some embodiments is illustrated schematically. Figure 2 According to some embodiments, vehicle 590 includes means for controlling the vehicle (e.g., 200). Figure 4 (device).

[0115] The device includes a controller 500 (see reference). Figure 4 The 400 is configured to determine whether one or more surrounding vehicles are exhibiting threatening behavior, and in response to determining that one or more surrounding vehicles are exhibiting threatening behavior, to control vehicle 590 to perform one or more threat avoidance operations.

[0116] The vehicle also includes one or more sensors 510 (reference). Figure 4 410) and one or more intrusion mitigators 520 (contrast) Figure 4 (421-426).

[0117] In summary, some embodiments provide mitigation of threatening behaviors, such as preventing the harassment of autonomous vehicles to rob passengers or steal parts from the vehicle.

[0118] Threatened behavior scenarios are particularly relevant to autonomous vehicles because their behavior is relatively easy to predict. For example, a manually driven vehicle can easily cause an autonomous vehicle to stop on the side of the road (e.g., by driving slowly in front of an autonomous vehicle and then stopping, another autonomous or manually driven vehicle may simultaneously drive alongside the autonomous vehicle to prevent it from escaping).

[0119] The described embodiments and their equivalents can be implemented in software or hardware, or a combination thereof. These embodiments can be executed by general-purpose circuitry. Examples of general-purpose circuitry include digital signal processors (DSPs), central processing units (CPUs), coprocessor units, field-programmable gate arrays (FPGAs), and other programmable hardware. Alternatively or additionally, embodiments can be executed by special-purpose circuitry such as application-specific integrated circuits (ASICs). General-purpose and / or special-purpose circuitry can be associated with or included in devices such as vehicles.

[0120] Embodiments may appear within electronic devices (e.g., vehicle components / systems) that include means, circuits, and / or logic according to any embodiment described herein. Alternatively or additionally, electronic devices (e.g., vehicle components / systems) may be configured to perform methods according to any embodiment described herein.

[0121] According to some embodiments, the computer program product includes tangible or intangible computer-readable media, such as, for example, a Universal Serial Bus (USB) memory, a plug-in card, an embedded driver, or a read-only memory (ROM). Figure 6 An example computer-readable medium in the form of a CD-ROM 600 is shown. A computer program including program instructions is stored on the computer-readable medium. The computer program can be loaded into a data processor (PROC; e.g., data processing circuitry or data processing unit) 620, which may be included, for example, in a vehicle component / system 610. When loaded into the data processor, the computer program can be stored in memory (MEM) 630 associated with or included in the data processor. According to some embodiments, when the computer program is loaded into and run by the data processor, the computer program can cause execution according to, for example... Figure 1-2 Method steps of any method shown or described herein.

[0122] Generally, all terms used herein should be interpreted according to their common meaning in the relevant technical field, unless explicitly given and / or implied from the context in which they are used.

[0123] Various embodiments have been referenced herein. However, those skilled in the art will recognize that many variations of the described embodiments will still fall within the scope of the claims.

[0124] For example, the method embodiments described herein disclose example methods by means of steps performed in a specific order. However, it should be recognized that these sequences of events may occur in other orders without departing from the scope of the claims. Furthermore, some method steps may be performed in parallel, even if they have been described as being performed sequentially. Therefore, the steps of any method disclosed herein need not be performed in the exact disclosed order unless the steps are explicitly described as occurring after or before another step and / or imply that one step must occur after or before another step.

[0125] Similarly, it should be noted that the division of functional blocks into specific units in the description of the embodiments is by no means limiting. Rather, these divisions are merely examples. A functional block described herein as a single unit may be divided into two or more units. Furthermore, functional blocks described herein as implemented as two or more units may be merged into fewer (e.g., a single) units.

[0126] Any feature of any embodiment disclosed herein may be applied to any other embodiment, as appropriate. Similarly, any advantage of any embodiment may be applied to any other embodiment, and vice versa.

[0127] Therefore, it should be understood that the details of the described embodiments are merely examples for illustrative purposes, and all variations falling within the scope of the claims are intended to be included therein.

Claims

1. A method for controlling a vehicle (200, 590), the method comprising: a step (130) of determining that one or more surrounding vehicles (210, 220) exhibit threatening behavior by determining that a first surrounding vehicle (210) directly in front of the vehicle decelerates without a traffic-related reason for deceleration and determining that a second surrounding vehicle (220) in an adjacent lane decelerates in association with the first surrounding vehicle; and a step (150) of controlling the vehicle to perform one or more threat-avoidance actions, wherein a traffic-related reason comprises determining at least one of: other vehicles in front of the first surrounding vehicle (210) also decelerate, a queue indication, a speed limit change, an upcoming intersection or road bend, reduced visibility, an obstacle in front of the first surrounding vehicle (210), and wherein the traffic-related reason is determined based on traffic-related information acquired by at least one of a sensor, a navigation system, and a cloud service.

2. The method of claim 1, wherein, The step (130) of determining that one or more surrounding vehicles exhibit threatening behavior is based on: information about surrounding vehicles acquired in step (110) by one or more external sensors mounted on the vehicle; and interpreting the information about surrounding vehicles in step (120) to provide one or more threat-determination metrics associated with the one or more surrounding vehicles.

3. The method of claim 2, wherein, The one or more threat-determination metrics associated with a surrounding vehicle comprise one or more of: a speed (211, 221) of the surrounding vehicle, a speed vector of the surrounding vehicle, a difference between the speed of the surrounding vehicle and the speed of the vehicle, a difference between the speed vector of the surrounding vehicle and the speed vector of the vehicle, a distance between the surrounding vehicle and the vehicle, and a distance trend between the surrounding vehicle and the vehicle.

4. The method according to any one of claims 1 to 3, characterized in that, The step (150) of controlling the vehicle to perform one or more threat-avoidance actions comprises controlling the vehicle to perform one or more of: activating a visual deterrent means; activating an audible deterrent means; activating an intrusion mitigation means; disabling a collision avoidance system; taking an available escape route; initiating an emergency call; and initiating a call to a remote controller.

5. A computer program comprising program instructions, the computer program being loadable into a data processing unit and configured to cause the method according to any one of claims 1 to 4 to be performed when the computer program is run by the data processing unit.

6. A computer program product comprising a computer readable medium (600), the computer readable medium carrying a computer program comprising program instructions, the computer program being loadable into a data processing unit and configured to cause the method according to any one of claims 1 to 4 to be performed when the computer program is run by the data processing unit. ​ 7. A control unit (400, 500) for controlling a vehicle (200, 590), said control unit being configured to enable the method according to any one of claims 1 to 4 to be performed.

8. A device for controlling a vehicle (200, 590), said device comprising control circuitry (400, 500), said control circuitry being configured to cause: It is determined that a first surrounding vehicle (210) directly in front of the vehicle decelerates without any traffic-related cause, and a second surrounding vehicle (220) in an adjacent lane decelerates in association with the first surrounding vehicle. Control the vehicle to perform one or more threat avoidance actions. wherein, Traffic-related causes include identifying at least one of the following: other vehicles in front of the first surrounding vehicle (210) also slowing down, queue indications, speed limit changes, upcoming intersections or road curves, reduced visibility, obstacles in front of the first surrounding vehicle (210), and The traffic-related cause is determined based on traffic-related information obtained through at least one of sensors, navigation systems, and cloud services.

9. The apparatus of claim 8, wherein, The control circuit is also configured to cause: Acquire information about surrounding vehicles from one or more external sensors mounted on the vehicle; and Interpreting information about surrounding vehicles to provide one or more threat determination metrics associated with one or more surrounding vehicles, wherein one or more surrounding vehicles are determined to exhibit threatening behavior based on the one or more threat determination metrics.

10. The apparatus of claim 9, wherein, One or more threat determination metrics associated with surrounding vehicles include one or more of the following: the speed of the surrounding vehicles, the speed vector of the surrounding vehicles, the difference between the speed of the surrounding vehicles and the speed of the vehicle, the difference between the speed vector of the surrounding vehicles and the speed vector of the vehicle, the distance between the surrounding vehicles and the vehicle, and the distance trend between the surrounding vehicles and the vehicle.

11. A system for controlling vehicles (200, 590), the system comprising: One or more external sensors (410, 510) can be mounted on the vehicle and configured to acquire information about one or more surrounding vehicles; and Processing circuits (400, 500), said processing circuits being configured to: Interpreting information about surrounding vehicles to provide a threat determination metric associated with one or more surrounding vehicles, wherein the threat determination metric includes determining that a first surrounding vehicle (210) directly in front of the vehicle decelerates without a traffic-related cause for deceleration, and determining that a second surrounding vehicle (220) in an adjacent lane decelerates in association with the first surrounding vehicle. Based on threat determination metrics, it was determined that the first and second surrounding vehicles exhibited threatening behavior; and Issue one or more control signals to control the vehicle to perform one or more threat avoidance actions. Among these, traffic-related causes include identifying at least one of the following: other vehicles in front of the first surrounding vehicle (210) also slowing down, queue indications, speed limit changes, upcoming intersections or road curves, reduced visibility, obstacles in front of the first surrounding vehicle (210), and The traffic-related cause is determined based on traffic-related information obtained through at least one of sensors, navigation systems, and cloud services.

12. The system of claim 11, wherein, One or more control signals for controlling the vehicle to perform one or more threat avoidance actions include one or more control signals for controlling the vehicle to perform one or more of the following: Activate visual deterrence measures; Activate auditory deterrence; Activate intrusion mitigation measures; Disable the collision avoidance system; Take available escape routes; Initiate an emergency call; as well as Initiate a call to the remote controller.

13. A vehicle comprising one or more of the following: a control unit according to claim 7, a device according to any one of claims 8 to 10, and a system according to any one of claims 11 to 12.

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