Autonomous vehicle with independent auxiliary control units

Patent metadata

Field	Value
Publication number	US-11599112-B2
Application number	US-202217682133-A
Country	US
Kind code	B2
Filing date	Feb 28, 2022
Priority date	Sep 28, 2015
Publication date	Mar 7, 2023
Grant date	Mar 7, 2023

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 auxiliary control system for an autonomous vehicle, the auxiliary control system comprising:
one or more processors; and
one or more tangible, non-transitory, computer readable media that store instructions that, when executed by the one or more processors, cause the auxiliary control system to perform operations, the operations comprising:
receiving an auxiliary sensor input from one or more auxiliary vehicle sensors;
receiving, from a primary control system, trajectory data for a planned future trajectory of the autonomous vehicle;
analyzing the auxiliary sensor input and the trajectory data to detect a predefined condition or event associated with the planned future trajectory of the autonomous vehicle; and
generating a vehicle response output, wherein the vehicle response output is associated with a verification of the trajectory data based on the auxiliary sensor input.

2. The auxiliary control system of claim 1 , further comprising:
communicating the vehicle response output to the primary control system, wherein the primary control system uses the vehicle response output to verify the planned future trajectory of the autonomous vehicle.

3. The auxiliary control system of claim 1 , wherein generating the vehicle response output comprises:
in response to detecting the predefined condition or event, generating the vehicle response output to override a primary control parameter provided by the primary control system to initiate the planned future trajectory of the autonomous vehicle.

4. The auxiliary control system of claim 3 , wherein the vehicle response output comprises an auxiliary control parameter to initiate a response to the predefined condition or event.

5. The auxiliary control system of claim 4 , wherein the response comprises at least one predetermined vehicle action, where the at least one predetermined vehicle action comprises at least 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, or (v) performing a lane change action.

6. The auxiliary control system of claim 4 , wherein the operations further comprise:
communicating the auxiliary control parameter to the primary control system, wherein the auxiliary control parameter is prioritized over the primary control parameter.

7. The auxiliary control system of claim 4 , wherein the operations further comprise:
communicating the auxiliary control parameter to a vehicle control interface.

8. The auxiliary control system of claim 1 , wherein the trajectory data is generated by the primary control system based on a primary sensor input from one or more primary vehicle sensors, wherein the primary sensor input is different than the auxiliary sensor input.

9. The auxiliary control system of claim 8 , wherein the one or more primary vehicle sensors comprise one or more first camera sensors and one or more first remote detection sensors and the one or more auxiliary vehicle sensors comprise one or more second camera sensors and one or more second remote detection sensors different from the one or more first camera sensors and the one or more first remote detection sensors.

10. The auxiliary control system of claim 8 , wherein the primary sensor input and the auxiliary sensor input are captured at a concurrent time.

11. A method for operating an autonomous vehicle, the method comprising:
receiving an auxiliary sensor input from one or more auxiliary vehicle sensors;
receiving, from a primary control system, trajectory data for a planned future trajectory of the autonomous vehicle;
analyzing the auxiliary sensor input and the trajectory data to detect a predefined condition or event associated with the planned future trajectory of the autonomous vehicle; and
generating a vehicle response output, wherein the vehicle response output is associated with a verification of the trajectory data based on the auxiliary sensor input.

12. The method of claim 11 , wherein generating the vehicle response output comprises:
in response to detecting the predefined condition or event, generating the vehicle response output to override a primary control parameter provided by the primary control system to initiate the planned future trajectory of the autonomous vehicle.

13. The method of claim 12 , wherein the vehicle response output comprises an auxiliary control parameter to initiate a response to the predefined condition or event.

14. The method of claim 13 , wherein the response comprises at least one predetermined vehicle action, where the at least one predetermined vehicle action comprises at least 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, or (v) performing a lane change action.

15. The method of claim 13 , further comprising:
communicating the auxiliary control parameter to the primary control system, wherein the auxiliary control parameter is prioritized over the primary control parameter.

16. An autonomous vehicle comprising:
a primary control system to control the autonomous vehicle; and
an auxiliary control system comprising:
one or more processors; and
one or more tangible, non-transitory, computer readable media that store instructions that, when executed by the one or more processors, cause the auxiliary control system to perform operations, the operations comprising:
receiving an auxiliary sensor input from one or more auxiliary vehicle sensors;
receiving, from the primary control system, trajectory data for a planned future trajectory of the autonomous vehicle;
analyzing the auxiliary sensor input and the trajectory data to detect a predefined condition or event associated with the planned future trajectory of the autonomous vehicle; and
generating a vehicle response output, wherein the vehicle response output is associated with a verification of the trajectory data based on the auxiliary sensor input.

17. The autonomous vehicle of claim 16 , wherein the auxiliary control system is further configured to:
communicate the vehicle response output to the primary control system, wherein the primary control system uses the vehicle response output to verify the planned future trajectory of the autonomous vehicle.

18. The autonomous vehicle of claim 16 , further comprising:
one or more primary vehicle sensors, wherein the trajectory data is generated by the primary control system based on a primary sensor input from the one or more primary vehicle sensors, wherein the primary sensor input is different than the auxiliary sensor input.

19. The autonomous vehicle of claim 18 , wherein the one or more primary vehicle sensors comprise one or more first camera sensors and one or more first remote detection sensors and the one or more auxiliary vehicle sensors comprise one or more second camera sensors and one or more second remote detection sensors different from the one or more first camera sensors and the one or more first remote detection sensors.

20. The autonomous vehicle of claim 19 , wherein the primary sensor input and the auxiliary sensor input are captured at a concurrent time.

Assignees

• Uatc Llc

Inventors

• Letwin Nicholas
• Kelly Sean

Classifications

• B60T2270/406

  Test-mode; Self-diagnosis · CPC title

• B60Y2302/05

  Leading to automatic stopping of the vehicle · CPC title

• B60T8/17557 Primary

  specially adapted for lane departure prevention (road vehicle drive control systems for lane keeping otherwise than by controlling a particular sub-unit B60W30/12) · 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

• B60W30/08

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