Autonomous Vehicle Stop Precedence Logic for Multi-Way Intersections
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Solution Overview
Problem
Autonomous vehicles often wait too long at multi-way stop intersections due to cautious programming, leading to inconvenience and potential getting stuck, especially when other road users are not paying attention or ready to proceed.
Innovation Solution
Implementing multi-way stop intersection precedence logic in autonomous vehicles, where processors determine when to wait and assert precedence based on arrival times and visibility of other road users, allowing the vehicle to proceed safely while avoiding unnecessary delays.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If autonomous vehicles are programmed to drive more cautiously at multi-way stop intersections, then safety for the vehicle and other road users is improved, but the vehicle waits too long to proceed and may get stuck or inconvenience other road users
Solution Approach 1:
The system dynamically adjusts the waiting behavior based on real-time detection of other road users. The autonomous vehicle transitions from a static cautious waiting protocol to a dynamic decision-making process that considers the presence, behavior, and readiness of other road users, allowing the vehicle to adapt its waiting time to actual conditions rather than following a fixed cautious protocol
Solution Approach 2:
The system implements feedback by continuously monitoring other road users at the intersection and using this information to adjust the vehicle's proceeding decision. The feedback loop detects whether other road users are paying attention, ready to proceed, or blocked, and this information feeds back into the decision-making process to determine when it is safe and appropriate to proceed, resolving the contradiction between cautious waiting and avoiding unnecessary delays
2Reliability
If the autonomous vehicle waits for another road user with precedence to proceed, then safety is improved, but the vehicle may wait indefinitely if the other road user is not paying attention or ready to proceed
Solution Approach 1:
The system applies partial action by waiting only as long as necessary to yield to other road users with precedence, rather than waiting indefinitely. The autonomous vehicle performs the yielding action to the extent required by traffic rules and safety considerations, but stops before excessive waiting that would prevent progress. This allows the vehicle to maintain safety while avoiding getting stuck
Solution Approach 2:
The system enables the vehicle to skip the excessive waiting period once it determines that other road users are not ready or able to proceed. By detecting that the other road user is not paying attention or is blocked, the autonomous vehicle can proceed without waiting indefinitely, effectively skipping the unnecessary portion of the waiting time while still maintaining safety through proper detection and decision-making
Data Source
AI summary
Aspects of the disclosure relate to a method of controlling a vehicle having an autonomous driving mode at a multi-way stop intersection. For instance, that the vehicle has come to a stop at a multi-stop intersection may be determined. At least one road user at the intersection may be identified. Based on the determination that the vehicle has come to the stop, a period of time to wait for the at least one road user to proceed through the intersection may be determined. After waiting the determined period of time, that the at least one road user has not begun to proceed through the intersection may be determined. Based on the determination that the at least one user has not begun to proceed through the intersection, the vehicle may be controlled in the autonomous driving mode in order to proceed through the intersection.