Systems for implementing fallback behaviors for autonomous vehicles

Patent metadata

Field	Value
Publication number	US-10838417-B2
Application number	US-201816180267-A
Country	US
Kind code	B2
Filing date	Nov 5, 2018
Priority date	Nov 5, 2018
Publication date	Nov 17, 2020
Grant date	Nov 17, 2020

Abstract

Aspects of the disclosure relate to controlling a vehicle in an autonomous driving mode. The system includes a plurality of sensors configured to generate sensor data. The system also includes a first computing system configured to generate trajectories using the sensor data and send the generated trajectories to a second computing system. The second computing system is configured to cause the vehicle to follow a receive trajectory. The system also includes a third computing system configured to, when there is a failure of the first computer system, generate and send trajectories to the second computing system based on whether a vehicle is located on a highway or a surface street.

First claim

The invention claimed is:

1. A control system for controlling a vehicle in an autonomous driving mode, the control system comprising:
a plurality of sensors configured to generate sensor data;
a first computing system configured to:
differentiate between different types of road users in the sensor data,
generate trajectories using the sensor data, and
send the generated trajectories to a second computing system configured to cause

the vehicle to follow a received trajectory; and
a third computing system configured to, when there is a failure of the first computer system, generate and send trajectories to the second computing system based on a type of road on which the vehicle is currently traveling.

2. The control system of claim 1 , wherein the third computing system is further configured to generate and send the trajectories based on whether a vehicle is located on a highway or a surface street.

3. The control system of claim 1 , wherein the failure relates to one or more of the plurality of sensors, and the third computing system is configured to generate the trajectories further based on which of the plurality of sensors is functioning.

4. The control system of claim 1 , wherein the second computing system is not configured to differentiate between the different types of road users in the sensor data.

5. The control system of claim 1 , wherein the first computing system is further configured to generate different behavior predictions based on each of the different types of road users, and
wherein the third computing system is further configured to generate behavior predictions for all road users in the sensor data in a same way.

6. The control system of claim 5 , wherein the third computing system is further configured to generate behavior predictions corresponding to either following a current lane or changing lanes in response to a detection of any given road user on a highway.

7. The control system of claim 1 , wherein the first computing system is further configured to generate trajectories according to a first list of possible maneuvers, and
wherein the third computing system is further configured to generate trajectories according to a second list of possible maneuvers that is smaller than the first list of possible maneuvers.

8. The control system of claim 7 , wherein the third computing system is further configured to determine the second list of possible maneuvers based on whether the vehicle is located on a highway or a surface street.

9. The control system of claim 7 , wherein the third computing system is further configured to determine the second list of possible maneuvers based on which of the plurality of sensors is functioning.

10. The control system of claim 7 , wherein the third computing system is further configured to determine the second list of possible maneuvers based on available sensor functionality for the plurality of sensors.

11. The control system of claim 1 , wherein the third computing system is further configured to prevent the vehicle from making certain types of maneuvers which are allowed by the first computing system.

12. The control system of claim 11 , wherein the certain types of maneuvers includes turns of a certain curvature.

13. The control system of claim 1 , wherein the third computing system is further configured to determine that the vehicle is located on a highway or a surface street by referring to pre-stored map information, and
wherein the third computing system is further configured to generate and send the trajectories further based on the determination that the vehicle is located on a highway or surface street.

14. The control system of claim 13 , wherein the first computing system is further configured to detect traffic lights using traffic light detection functionality and when the vehicle is determined to be located on a highway, and
wherein the third computing system is further configured to generate trajectories without using the traffic light detection functionality.

15. The control system of claim 13 , wherein the first computing system is further configured to detect traffic lights using traffic light detection functionality, and
wherein, when the vehicle is determined to be located on a surface street, the third computing system is further configured to generate trajectories using the traffic light detection functionality.

16. The control system of claim 13 , wherein the third computing system is further configured to generate trajectories in order to control the vehicle to travel at a predetermined speed when the vehicle is determined to be located on a surface street, the predetermined speed providing for time to detect and respond to objects in an environment of the vehicle.

17. The control system of claim 13 , wherein when the vehicle is determined to be located on a highway, the third computing system is further configured to generate trajectories in order to control the vehicle to exit the highway and reach a surface street.

18. The control system of claim 17 , wherein the third computing system is further configured to search for an exit proximate to a surface street with certain characteristics, and to generate trajectories in order to control the vehicle to exit the highway at the exit and reach a surface street.

19. A vehicle comprising:
a plurality of sensors configured to generate sensor data;
a first computing system configured to differentiate between different types of road users in the sensor data, and generate trajectories using the sensor data;
a second computing system configured to receive the generated trajectories from the first computing system to cause the vehicle to follow a received trajectory; and
a third computing system configured to, when there is a failure of the first computer system, generate and send trajectories to the second computing system based on a type of road on which the vehicle is currently traveling.

20. A control system for controlling a vehicle in an autonomous driving mode, the control system comprising:
a plurality of sensors configured to generate sensor data;
a first computing system configured to differentiate between different types of road users in the sensor data, and generate trajectories using the sensor data;
a second computing system configured to receive the generated trajectories from the first computing system to cause the vehicle to follow a received trajectory; and
a third computing system configured to, when there is a failure of the first computer system, generate and send trajectories to the second computing system based on a type of road on which the vehicle is currently traveling.

Assignees

• Waymo Llc

Inventors

• Chi Emily
• Andrade Ryan Joseph
• James Michael
• Sucan Ioan-Alexandru
• Ludwick Christopher Kennedy
• Herbach Joshua Seth
• Balakhno Misha
• Barton-Sweeney Andrew

Classifications

• B60W2050/0292

  Fail-safe or redundant systems, e.g. limp-home or backup systems · CPC title

• B60W2050/0215

  Sensor drifts or sensor failures · CPC title

• B60W50/023 Primary

  Avoiding failures by using redundant parts · CPC title

• B60W60/00186

  related to the vehicle · CPC title

• B60W2552/05

  Type of road, e.g. motorways, local streets, paved or unpaved roads · CPC title