Cargo inspection, monitoring and securement in self-driving trucks

Patent metadata

Field	Value
Publication number	US-11580484-B2
Application number	US-202016895271-A
Country	US
Kind code	B2
Filing date	Jun 8, 2020
Priority date	Jun 8, 2020
Publication date	Feb 14, 2023
Grant date	Feb 14, 2023

Abstract

The technology relates to cargo vehicles. National, regional and/or local regulations set requirements for operating cargo vehicles, including how to distribute and secure cargo, and how often the cargo should be inspected during a trip. However, such regulations have been focused on traditional human-driven vehicles. Aspects of the technology address various issues involved with securement and inspection of cargo before a trip, as well as monitoring during the trip so that corrective action may be taken as warranted. For instance, imagery and other sensor information may be used to enable proper securement of cargo before starting a trip. Onboard sensors along the vehicle monitor the cargo and securement devices/systems during the trip to identify issues as they arise. Such information is used by the onboard autonomous driving system (or a human driver) to take corrective action depending on the nature of the issue.

First claim

The invention claimed is:

1. A method of performing cargo evaluation for an autonomous vehicle, the method comprising:
receiving sensor information regarding at least one of cargo arrangement or cargo securement of cargo on the autonomous vehicle, the received sensor information including imagery of at least one of the cargo or a securement mechanism;
evaluating, by one or more processors, the received sensor information to determine whether the cargo arrangement or the cargo securement falls within a target threshold, wherein evaluating the received sensor information includes generating a confidence value that the cargo is properly secured and sending the imagery for a second-tier review when the confidence value is below a given threshold although the target threshold is satisfied; and
in response to the cargo arrangement or the cargo securement falling within the target threshold, generating, by the one or more processors, a baseline cargo profile based on the received sensor information;
wherein the baseline cargo profile is configured to be stored in memory of the autonomous vehicle for in-trip evaluation against real time data.

2. The method of claim 1 , further comprising, when the cargo arrangement or the cargo securement does not fall within the target threshold, causing adjustment to the securement mechanism.

3. The method of claim 1 , wherein the imagery includes still or video imagery.

4. The method of claim 1 , wherein the imagery is captured using infrared (IR) illumination when the cargo is loaded into a closed container.

5. The method of claim 1 , wherein evaluating the received sensor information includes comparing the imagery against a database of other images.

6. The method of claim 1 , further comprising causing adjustment to at least one of a driving mode or a route of the vehicle prior to commencing delivery of the cargo.

7. A method of performing cargo monitoring for a vehicle configured to operate in an autonomous driving mode, the method comprising:
obtaining, by one or more processors of the vehicle, a baseline cargo securement profile for cargo stored in a cargo section of the vehicle;
receiving, by the one or more processors during driving of the vehicle, sensor information regarding at least one of a cargo arrangement or a cargo securement along the cargo section of the vehicle, the received sensor information including imagery of at least one of the cargo or a securement mechanism;
correlating the received sensor information with one or more vehicle signals, the one or more vehicle signals including at least one of a change in vehicle dynamics, a change in a suspension mechanism, a change in tire pressure, or a change in pose of a portion of the vehicle;
determining by the one or more processors, based on the correlating, whether at least a portion of the cargo has changed position and is no longer secured according to a threshold securement requirement; and
upon determining that the threshold securement requirement is exceeded, the one or more processors causing the vehicle to take a corrective action.

8. The method of claim 7 , wherein the baseline cargo securement profile is obtained prior to departure of the vehicle on a trip.

9. The method of claim 8 , wherein the baseline cargo securement profile is obtained from a loading depot at which the cargo was loaded.

10. The method of claim 7 , wherein the corrective action includes one or more of (i) modifying driving behavior of the vehicle, (ii) re-routing to a nearest location where the cargo can be re-secured, (iii) pulling the vehicle over, or (iv) contacting a remote assistance service.

11. The method of claim 7 , wherein the vehicle is operating in an autonomous driving mode and the corrective action is a driving action taken in the autonomous driving mode.

12. The method of claim 7 , wherein determining that the threshold securement requirement is exceeded includes determining that the portion of the cargo has either shifted forward, rearward, laterally or has tipped.

13. The method of claim 7 , wherein the sensor information further includes weight distribution or pressure distribution information.

14. The method of claim 7 , wherein the sensor information includes strain or tension information for one or more securement devices securing the cargo.

15. The method of claim 14 , wherein the strain or tension information includes a change in color or shape of the one or more securement devices.

16. A vehicle configured to operate in an autonomous driving mode, comprising:
a driving system including a steering subsystem, an acceleration subsystem and a deceleration subsystem to control driving of the vehicle in the autonomous driving mode;
a perception system including a plurality of sensors, each of the plurality of sensors being positioned along the vehicle; and
a control system operatively connected to the driving system and the perception system, the control system having one or more computer processors configured to:
obtain a baseline cargo securement profile for cargo stored in a cargo section of the vehicle;
receive, during driving of the vehicle, sensor information regarding at, least one of a cargo arrangement or a cargo securement along the cargo section of the vehicle, the received sensor information include imagery of at, least one of the cargo or a securement mechanism;
correlate the received sensor information with one or more vehicle signals, the one or more vehicle signals including at least one of a change in vehicle dynamics, a change in a suspension mechanism, a change in tire pressure, or a change in pose of a portion of the vehicle;
determine, based on the correlation, whether at least a portion of the cargo has changed position and is no longer secured according to a threshold securement requirement; and
upon determination that the threshold securement requirement is exceeded, cause the vehicle to take a corrective action.

17. The vehicle of claim 16 , wherein the baseline cargo securement profile is obtained prior to departure of the vehicle on a trip.

18. The vehicle of claim 16 , wherein the corrective action includes one or more of (i) modifying driving behavior of the vehicle, (ii) re-routing to a nearest location where the cargo can, be re-secured, (iii) pulling the vehicle over, or (iv) contacting a remote assistance service.

19. The vehicle of claim 16 , wherein when the vehicle is operating in an autonomous driving mode the corrective action is a driving action taken in the autonomous driving mode.

20. The vehicle of claim 16 , wherein the determination that the threshold securement requirement is exceeded includes a determination that the portion of the cargo has either shifted forward, rearward, laterally or has tipped.

Assignees

• Waymo Llc

Inventors

• Patnaik Vijaysai
• Grossman William
• Strohm Peter

Classifications

• G06T2207/30268

  Vehicle interior · CPC title

• G06T2207/10048

  Infrared image · CPC title

• B60R1/29

  for viewing an area inside the vehicle, e.g. for viewing passengers or cargo · CPC title

• B60P7/06

  Securing of load (vehicle retainers B60P3/073) · CPC title

• G06T7/74

  involving reference images or patches · CPC title