Control systems, control methods and controllers for an autonomous vehicle

Patent metadata

Field	Value
Publication number	US-10955842-B2
Application number	US-201815988630-A
Country	US
Kind code	B2
Filing date	May 24, 2018
Priority date	May 24, 2018
Publication date	Mar 23, 2021
Grant date	Mar 23, 2021

Abstract

Systems and methods are provided for controlling an autonomous vehicle (AV). A scene understanding module of a high-level controller selects a particular combination of sensorimotor primitive modules to be enabled and executed for a particular driving scenario from a plurality of sensorimotor primitive modules. Each one of the particular combination of the sensorimotor primitive modules addresses a sub-task in a sequence of sub-tasks that address a particular driving scenario. A primitive processor module executes the particular combination of the sensorimotor primitive modules such that each generates a vehicle trajectory and speed profile. An arbitration module selects one of the vehicle trajectory and speed profiles having the highest priority ranking for execution, and a vehicle control module processes the selected one of vehicle trajectory and speed profiles to generate control signals used to execute one or more control actions to automatically control the AV.

First claim

What is claimed is:

1. A method for controlling an autonomous vehicle, the method comprising:
selecting, at a scene understanding module of a high-level controller, a particular combination of sensorimotor primitive modules to be enabled and executed for a particular driving scenario from a plurality of sensorimotor primitive modules, wherein each one of the particular combination of the sensorimotor primitive modules addresses a sub-task in a sequence of sub-tasks that address a particular driving scenario;
executing, at a primitive processor module, the particular combination of the sensorimotor primitive modules such that each generates a vehicle trajectory and a speed profile;
selecting, at an arbitration module, one of the vehicle trajectories and the speed profiles having a highest priority ranking for execution , wherein the highest priority ranking is based on a priority ranking associated with each type of sensorimotor primitive module; and
processing, at a vehicle control module, the selected one of the vehicle trajectories and the speed profiles to generate control signals used to execute one or more control actions to automatically control the autonomous vehicle.

2. The method for controlling the autonomous vehicle according to claim 1 , further comprising:
applying, at the arbitration module, priority logic rules to define a priority order of execution for each of the vehicle trajectories and the speed profiles;
wherein the selecting, at the arbitration module, the one of the vehicle trajectories and the speed profiles having the highest priority ranking for execution comprises:
selecting, at the arbitration module, one of the vehicle trajectory and speed profiles having the highest priority ranking for execution based on the priority order; and
wherein the processing, at the vehicle control module, the selected one of the vehicle trajectories and the speed profiles to generate the control signals comprises:
processing, at the vehicle control module, the selected one of the vehicle trajectories and the speed profiles by applying a neuromorphic control model to the selected one of the vehicle trajectories and the speed profiles to generate the control signals.

3. The method for controlling the autonomous vehicle according to claim 2 , wherein the processing, at the vehicle control module of the vehicle controller module, the selected one of the vehicle trajectories and the speed profiles, comprises:
generating, at an inverse dynamic mapping module of the vehicle control module, the control signals based on the selected one of the vehicle trajectories and the speed profiles from the arbitration module and a predicted vehicle trajectory and speed profile; and
generating, at a forward dynamic mapping module of the vehicle control module based on the control signals feedback from the inverse dynamic mapping module, the predicted vehicle trajectory and speed profile.

4. The method for controlling the autonomous vehicle according to claim 2 , wherein the priority logic rules define a relative priority for each vehicle trajectory and speed profile.

5. The method for controlling the autonomous vehicle according to claim 1 , further comprising:
prior to the selecting, at a scene understanding module of a high-level controller, the particular combination:
processing, at a map generator module of the high-level controller, sensor data from a sensor system to generate a world representation of a particular driving scenario as represented by the sensor data, navigation route data that indicates a route of the autonomous vehicle, and vehicle position information that indicates a location of the autonomous vehicle at a particular instant of time, wherein the world representation comprises a feature map; and
processing, at the scene understanding module, the navigation route data that indicates a route of the autonomous vehicle, the vehicle position information that indicates location of the autonomous vehicle and the feature map to define an autonomous driving task; and
decomposing, at the scene understanding module, the autonomous driving task into a sequence of sub-tasks that address the particular driving scenario;
after processing, at the vehicle control module, the selected one of the vehicle trajectories and the speed profiles:
processing, at a low-level controller, the control signals from the vehicle control module to generate commands that control one or more of actuators of the autonomous vehicle in accordance with the control signals to schedule and execute one or more control actions to be performed to automatically control the autonomous vehicle to automate the autonomous driving task encountered in the particular driving scenario and achieve the selected one of the vehicle trajectories and the speed profiles, wherein the actuators include one or more of a steering controller, a brake system, and a throttle system.

6. The method for controlling the autonomous vehicle according to claim 1 , wherein each sensorimotor primitive module is executable to generate the vehicle trajectory and the speed profile for automatically controlling the autonomous vehicle to cause the autonomous vehicle to perform a specific driving maneuver.

7. The method for controlling the autonomous vehicle according to claim 1 , wherein each sensorimotor primitive module maps information from a world representation to the vehicle trajectory and the speed profile, and
wherein each vehicle trajectory and speed profile maps to one or more control signals that cause one or more control actions that automatically control the autonomous vehicle to cause the autonomous vehicle to perform a specific driving maneuver that addresses the particular driving scenario encountered during the autonomous driving task and operation of the autonomous vehicle.

8. An autonomous vehicle control system, comprising:
a sensor system that is configured to provide sensor data;
a map generator module that is configured to process the sensor data to generate a world representation of the particular driving scenario as represented by the sensor data, navigation route data that indicates a route of an autonomous vehicle, and vehicle position information that indicates location of the autonomous vehicle at a particular instant of time, the word representation comprising a feature map;
a vehicle controller module comprising:
a memory configured to store a plurality of sensorimotor primitive modules;
a scene understanding module that is configured to select, based on the feature map, a particular combination of the sensorimotor primitive modules to be enabled and executed for a particular driving scenario, wherein each one of the particular combination of the sensorimotor primitive modules addresses a sub-task in a sequence of sub-tasks that address the particular driving scenario;
a primitive processor module configured to execute the particular combination of the sensorimotor primitive modules such that each generates a vehicle trajectory and a speed profile;
an arbitration module configured to select one of the vehicle trajectories and the speed profiles having a highest priority ranking for execution, wherein the highest priority ranking is based on a priority ranking associated with each type of sensorimotor primitive module; and
a vehicle control module configured to process the selected one of the vehicle trajectories and the speed profiles to generate control signals used to execute one or more control actions to automatically control an autonomous vehicle.

9. The autonomous vehicle control system according to claim 8 , wherein the arbitration module is further configured to: apply priority logic rules to define a priority order of execution for each of the v

Assignees

• Gm Global Tech Operations Llc

Inventors

• Zeng Shuqing
• Tong Wei
• Mudalige Upali P

Classifications

• B60W60/0015

  specially adapted for safety · CPC title

• B60W2420/403

  Image sensing, e.g. optical camera · CPC title

• B60W60/0027 Primary

  using trajectory prediction for other traffic participants · CPC title

• G06V10/82

  using neural networks · CPC title

• G06V20/56

  exterior to a vehicle by using sensors mounted on the vehicle · CPC title