Autonomous vehicle with independent auxiliary control units

Patent metadata

Field	Value
Publication number	US-11294371-B2
Application number	US-201816031188-A
Country	US
Kind code	B2
Filing date	Jul 10, 2018
Priority date	Sep 28, 2015
Publication date	Apr 5, 2022
Grant date	Apr 5, 2022

Abstract

An autonomous vehicle which includes multiple independent control systems that provide redundancy as to specific and critical safety situations which may be encountered when the autonomous vehicle is in operation.

First claim

What is claimed is:

1. An autonomous vehicle comprising:
a first set of vehicle sensors that monitor an environment outside the autonomous vehicle;
a second set of vehicle sensors, separate from the first set of vehicle sensors, that monitor the environment outside the autonomous vehicle;
a primary control system to control the autonomous vehicle, including to (i) receive a first sensor input from the first set of vehicle sensors, (ii) determine, from the first sensor input, a state of the environment, (iii) determine, based on the state of the environment, trajectory data representing a planned future trajectory of the autonomous vehicle that comprises one or more future locations for the autonomous vehicle and is generated for autonomously controlling a motion of the autonomous vehicle, and (iv) generate, based on the trajectory data, one or more control parameters for controlling the autonomous vehicle; and
an auxiliary control unit operating to (i) receive a second sensor input from the second set of vehicle sensors, (ii) receive the trajectory data from the primary control system for the planned future trajectory of the autonomous vehicle, (iii) detect a predefined condition or event from the second sensor input, and (iv) in response to detecting the predefined condition or event, generate a vehicle response output based at least in part on the second sensor input and the trajectory data, wherein the vehicle response output is associated with a verification of the trajectory data based at least in part on the second sensor input.

2. The autonomous vehicle of claim 1 , wherein the auxiliary control unit communicates the vehicle response output to the primary control system.

3. The autonomous vehicle of claim 2 , wherein the primary control system uses the vehicle response output to verify the planned future trajectory of the autonomous vehicle.

4. The autonomous vehicle of claim 1 , wherein the auxiliary control unit generates the vehicle response output to specify one or more vehicle actions to one or more vehicle interfaces of the autonomous vehicle.

5. The autonomous vehicle of claim 4 , wherein the auxiliary control unit communicates the vehicle response output to a preselected vehicle interface of the autonomous vehicle to cause the autonomous vehicle to perform a predetermined vehicle action or achieve a predetermined vehicle state.

6. The autonomous vehicle of claim 5 , wherein the predetermined vehicle action includes one of (i) bringing the autonomous vehicle to a stop, (ii) bringing the autonomous vehicle to a particular velocity, (iii) maintaining the autonomous vehicle to move within a lane, (iv) steering the autonomous vehicle to a roadside stop, (v) performing a lane change action.

7. The autonomous vehicle of claim 5 , wherein the preselected vehicle interface is configured to implement the predetermined vehicle action as a bypass to command input received from the primary control system.

8. The autonomous vehicle of claim 1 , wherein the auxiliary control unit generates the vehicle response output to implement one or more predetermined actions by the autonomous vehicle in response to detecting the predefined condition or event.

9. The autonomous vehicle of claim 8 , wherein the auxiliary control unit generates the vehicle response output to signal a brake interface of the autonomous vehicle to perform an emergency stop, and wherein the brake interface actuates a braking mechanism of the autonomous vehicle to come to a stop.

10. The autonomous vehicle of claim 9 , wherein the auxiliary control unit generates the vehicle response output to cause a multistep action to be performed by multiple control devices of the autonomous vehicle.

11. The autonomous vehicle of claim 10 , wherein the multiple control devices of the autonomous vehicle include (i) the brake interface for a braking system of the autonomous vehicle, (ii) a steering interface for a steering system of the autonomous vehicle, (iii) an accelerator interface for an acceleration mechanism of the autonomous vehicle, (iv) a shift interface for a shift operator of the autonomous vehicle, (v) a light signal interface for a vehicle light, and/or (vi) an interface for a wireless communication port of the autonomous vehicle.

12. A method for operating an autonomous vehicle, the method comprising:
autonomously controlling the autonomous vehicle in operation using a primary control system coupled to a first set of vehicle sensors that monitor an environment outside the autonomous vehicle;
determining, from a first sensor input from the first set of vehicle sensors, a state of the environment;
determining, based on the state of the environment, trajectory data representing a planned future trajectory of the autonomous vehicle, the planned future trajectory comprising one or more future locations for the autonomous vehicle and for autonomously controlling a motion of the autonomous vehicle;
operating an auxiliary control unit, coupled to a second set of vehicle sensors, separate from the first set of vehicle sensors, that monitor the environment outside the autonomous vehicle, to detect a predefined condition or event;
receiving, by the auxiliary control unit, the trajectory data representing the planned future trajectory of the autonomous vehicle from the primary control system; and
generating, using the auxiliary control unit, a vehicle response output based on the detected predefined condition or event, a second sensor input from the second set of vehicle sensors, and the trajectory data, wherein the vehicle response output is associated with a verification of the trajectory data based at least in part on the second sensor input.

13. The method of claim 12 , further comprising:
communicating, by the auxiliary control unit, the vehicle response output to the primary control system.

14. The method of claim 13 , wherein the auxiliary control unit repeatedly communicates the vehicle response output to the primary control system while monitoring for the predefined condition or event.

15. The method of claim 13 , further comprising:
verifying the planned future trajectory based on the vehicle response output of the auxiliary control unit.

16. The method of claim 13 , further comprising:
communicating, by the auxiliary control unit, the vehicle response output to one or more control devices of the autonomous vehicle, to cause the one or more control devices to implement a vehicle action or vehicle state that is determined by the auxiliary control unit.

17. The method of claim 16 , wherein the auxiliary control unit causes the one or more control devices of the autonomous vehicle to bypass the primary control system in order to perform the vehicle action determined by the auxiliary control unit.

18. A control system for an autonomous vehicle, the control system comprising:
a primary control system to control the autonomous vehicle, including to (i) receive a first sensor input from a first set of vehicle sensors that monitor an environment outside the autonomous vehicle, (ii) determine, from the first sensor input, a state of the environment, (iii) determine, based on the state of the environment, trajectory data representing a planned future trajectory of the autonomous vehicle that comprises one or more future locations for the autonomous vehicle and is generated for autonomously controlling a motion of the autonomous vehicle, and (iv) generate, based on the trajectory data, one or more control parameters for controlling the autonomous vehicle; and
an auxiliary control unit operating to (i)

Assignees

• Uatc Llc

Inventors

• Letwin Nicholas
• Kelly Sean

Classifications

• B60Y2302/05

  Leading to automatic stopping of the vehicle · CPC title

• B60T8/17558

  specially adapted for collision avoidance or collision mitigation (road vehicle drive control systems for collision avoidance otherwise than by controlling a particular sub-unit B60W30/09) · CPC title

• B60T2270/406

  Test-mode; Self-diagnosis · CPC title

• B60W2050/0215

  Sensor drifts or sensor failures · CPC title

• B60W30/08

  Active safety systems} predicting or avoiding probable or impending collision {or attempting to minimise its consequences · CPC title