Detecting a road closure by a lead autonomous vehicle (AV) and updating routing plans for following AVs

Patent metadata

Field	Value
Publication number	US-11458993-B2
Application number	US-202017021991-A
Country	US
Kind code	B2
Filing date	Sep 15, 2020
Priority date	Sep 15, 2020
Publication date	Oct 4, 2022
Grant date	Oct 4, 2022

Abstract

A lead autonomous vehicle (AV) includes a sensor configured to observe a field of view in front of the lead AV. Following AVs are on the same road behind the lead AV. A processor of the lead AV is configured to detect a road closure. The processor overrides driving instructions of the lead AV, such that the lead AV is stopped at first location coordinates. The processor sends a first message to an operation server, indicating that the road closure is detected. The operation server update the first portion of the map data, reflecting the road closure. The operation server determines whether re-routing is possible for each AV. If re-routing is possible is possible for that AV, the operation server sends re-routing instructions to the AV. If re-routing is not possible is possible for that AV, the operation server sends pulling over instructions to the AV.

First claim

The invention claimed is:

1. A system, comprising:
a lead autonomous vehicle comprising at least one vehicle sensor located on the lead autonomous vehicle and configured to observe a first field-of-view comprising a region in front of the lead autonomous vehicle;
one or more following autonomous vehicles, different from the lead autonomous vehicle, wherein:
the lead autonomous vehicle is on a particular road heading toward a destination using a first routing plan and map data previously received from an operation server;
the one or more following autonomous vehicles are on the particular road behind the lead autonomous vehicle; and
the lead autonomous vehicle and the one or more following autonomous vehicles are communicatively coupled with the operation server;

a first control subsystem, associated with the lead autonomous vehicle, communicatively coupled with the lead autonomous vehicle, the one or more following autonomous vehicles, and the operation server, the first control subsystem comprising a first processor configured to:
receive sensor data from the at least one vehicle sensor of the lead autonomous vehicle, wherein the sensor data comprises location coordinates of any object on the particular road within the first field-of-view of the lead autonomous vehicle;
compare the sensor data with a first portion of the map data, wherein the first portion of the map data comprises location coordinates of expected objects on the particular road within the first field-of-view of the lead autonomous vehicle;
based at least in part upon comparing the sensor data with the first portion of the map data, determine whether the particular road is closed ahead by identifying objects in the sensor data that correspond to a road closure and that are not among the expected objects in the map data;
in response to a determination that the particular road is closed ahead:
determine particular location coordinates of the road closure;
override driving instructions of the lead autonomous vehicle, such that the lead autonomous vehicle is stopped at first location coordinates;
send a first message to the operation server, indicating that the particular road is closed at the particular location coordinates;

the operation server comprising a second processor configured to:
based at least in part upon the first message, update the first portion of the map data, reflecting that the particular road is temporarily closed at the particular location coordinates;
for each autonomous vehicle from the one or more following autonomous vehicles:
determine location coordinates of each autonomous vehicle;
based at least in part upon the location coordinates of each autonomous vehicle, determine whether re-routing is possible, wherein re-routing is possible if there is at least one road to a second routing plan to reach the destination between each autonomous vehicle and the road closure;
if it is determined that re-routing is possible, send updated map data and re-routing instructions to each autonomous vehicle, wherein the re-routing instructions comprise the second routing plan, and
if it is determined that re-routing is not possible, send the updated map data and road closure instructions to each autonomous vehicle, wherein the road closure instructions comprise pulling over each autonomous vehicle, wherein pulling over the autonomous vehicle comprises:
 searching for an obstacle-free region on a side of the particular road; and
 instructing the autonomous vehicle to pull over to the obstacle-free region; and

send the updated map data and delay departure instructions to each autonomous vehicle from among the one or more following autonomous vehicles which has not left an autonomous vehicle launch pad, wherein the delay departure instructions comprise delaying a departure of each autonomous vehicle until the particular road is opened.

2. The system of claim 1 , wherein the lead autonomous vehicle is pulled over at the first location coordinates and the first processor is further configured to:
notify a driver employee of an organization associated with the lead autonomous vehicle and the one or more following autonomous vehicles that the lead autonomous vehicle is pulled over at the first location coordinates; and
upon the driver employee manually driving the lead autonomous vehicle past the road closure and switching back to an autonomous mode, continue autonomously driving the lead autonomous vehicle towards the destination.

3. The system of claim 1 , wherein overriding the driving instructions of the lead autonomous vehicle comprises entering a safety mode by:
reducing a speed of the lead autonomous vehicle according to speeds of surrounding vehicles;
increasing distances from the surrounding vehicles; or
avoiding autonomous driving parallel to the surrounding vehicles.

4. The system of claim 1 , wherein determining that the particular road is closed comprises determining a presence of one or more of a traffic cone, a traffic barrier, a traffic barrel, or a traffic barricade tape used to close the particular road.

5. The system of claim 1 , further comprising:
a second control subsystem, associated with any of the one or more following autonomous vehicles, comprising a third processor configured to:
determine whether the particular road is opened; and
in response to a determination that the particular road is opened, send a second message to the operation server, indicating that the particular road is opened, wherein in response to receiving the second message, the operation server updates the first portion of the map data, indicating that the particular road is opened.

6. The system of claim 1 , wherein the at least one vehicle sensor comprises one or more of cameras, LiDAR sensors, motion sensors, and infrared sensors.

7. A method, comprising:
receiving sensor data from at least one vehicle sensor of a lead autonomous vehicle, wherein:
the sensor data comprises location coordinates of any object on a particular road within a first field-of-view of the lead autonomous vehicle;
the lead autonomous vehicle is on the particular road heading toward a destination using a routing plan and map data previously received from an operation server; and
one or more following autonomous vehicles, different from the lead autonomous vehicle, are on the particular road behind the lead autonomous vehicle;

comparing the sensor data with a first portion of the map data, wherein the first portion of the map data comprises location coordinates of expected objects on the particular road within the first field-of-view of the lead autonomous vehicle;
based at least in part upon comparing the sensor data with the first portion of the map data, determining whether the particular road is closed ahead by identifying objects in the sensor data that correspond to a road closure and that are not among the expected objects in the map data;
in response to determining that the particular road is closed ahead:
determining particular location coordinates of the road closure;
overriding driving instructions of the lead autonomous vehicle, such that the lead autonomous vehicle is stopped at first location coordinates;
sending a first message to the operation server, indicating that the particular road is closed at the particular location coordinates;

based at least in part upon the first message, updating, by a processor associated with the operation server, the first portion of the map data, reflecting that the particular road is temporarily closed at the particular location coordinates;
for each autonomous vehicle from the one or more following autonomous vehicles:
determining location coordinates of each autonomous vehicle;
based at least in part upon the location coordinates

Assignees

• Tusimple Inc

Inventors

• Brown Robert Patrick
• Foster Scott Douglas
• Tam Joyce

Classifications

• G01S2013/9323

  Alternative operation using light waves · CPC title

• G01C21/3859

  Differential updating map data · CPC title

• G01C21/30

  Map- or contour-matching · CPC title

• G01C21/3848

  Data obtained from both position sensors and additional sensors · CPC title

• B60W40/06

  Road conditions · CPC title