Method to monitor control system of autonomous driving vehicle with multiple levels of warning and fail operations

Patent metadata

Field	Value
Publication number	US-11613254-B2
Application number	US-201916440983-A
Country	US
Kind code	B2
Filing date	Jun 13, 2019
Priority date	Jun 13, 2019
Publication date	Mar 28, 2023
Grant date	Mar 28, 2023

Abstract

According to one embodiment, a motion trajectory boundary is obtained based on a trajectory that has been planned to drive an ADV for a next time period. A safe driving area boundary is determined for the ADV based on perception data perceiving a driving environment surrounding the ADV. The motion trajectory boundary and the safe drivable area boundary are projected onto a map such as an HD map. A relative location of the ADV within the map relative to the motion trajectory and the safe drivable area boundary is determined. A fail-safe action or a fail operational action may be performed based on the relative location of the ADV in view of the motion trajectory boundary and the safe drivable area boundary.

First claim

What is claimed is:

1. A computer-implemented method for operating an autonomous driving vehicle, the method comprising:
obtaining a motion trajectory boundary based on a trajectory that has been planned to drive an autonomous driving vehicle (ADV) for a next time period;
determining, while the ADV is driving forward, a safe drivable area boundary for the ADV based on perception data perceiving a driving environment surrounding the ADV, wherein the safe drivable area boundary defines an area around the ADV comprising:
a first area extending backwards from the ADV a first distance based at least in part on a speed of the ADV and a speed of an object behind the ADV based on the perceiving of the driving environment surrounding the ADV, and
a second area extending forwards from the ADV a second distance;

projecting the motion trajectory boundary and the safe drivable area boundary onto a map; and
determining a relative location of the ADV within the map relative to the motion trajectory boundary and the safe drivable area boundary, wherein determining the relative location of the ADV within the map relative to the motion trajectory boundary and the safe drivable area boundary comprises:
determining whether the ADV is within a first predetermined proximity of the motion trajectory boundary on the map,
performing at least one of a fail-safe action or a fail operational action, in response to determining that the ADV is within the first predetermined proximity of the motion trajectory boundary,
determining whether the ADV is within a second predetermined proximity of the safe drivable area boundary, in response to determining that the ADV is within the first predetermined proximity of the motion trajectory boundary, and
in response to determining that the ADV is not within the second predetermined proximity, generating a warning signal to a primary autonomous driving system and transmitting a first signal to a secondary autonomous driving system to initiate at least one of the fail-safe action or the fail operational action.

2. The method of claim 1 , wherein the motion trajectory boundary defines an area within which the ADV is expected to be located for the next time period if the ADV was driven according to the trajectory.

3. The method of claim 2 , wherein the motion trajectory boundary is determined based on predicted movement of one or more obstacles within a predetermined proximity of the ADV in view of a current location and a current speed of the ADV according to a set of one or more driving rules.

4. The method of claim 1 , wherein the safe drivable area boundary is determined based on a distance between the ADV and each of one or more obstacles identified based on the perception data according to a set of one or more safety clearance rules, wherein the one or more obstacles comprise a first obstacle behind the ADV and a second obstacle in front of the ADV.

5. The method of claim 4 , wherein the safe drivable area boundary is determined further based on a lane configuration of one or more lanes of a road in which the ADV is located, the lane configuration is obtained based on map data of the map, and the area defined by the safe drivable area boundary comprises a third area extending sideways from the ADV a second distance into a lane of the lane configuration next to the ADV.

6. The method of claim 1 , wherein transmitting a first signal to a secondary autonomous driving system to initiate at least one of the fail-safe action or the fail operational action comprises:
determining whether the ADV is within a low speed zone based on a current location of the ADV and a lane configuration of one or more lanes of a road in which the ADV is located on the map;
initiating the fail-safe action if the ADV is determined within the low speed zone; and
initiating the fail operational action if the ADV is not within the low speed zone.

7. The method of claim 1 , wherein in response to determining that the ADV is within the second predetermined proximity, the method further comprises:
determining whether the ADV is within a low speed zone based on a current location of the ADV and a lane configuration of one or more lanes of a road in which the ADV is located on the map;
transmitting a second signal to the secondary autonomous driving system to activate the fail-safe action if the ADV is determined within the low speed zone; and
transmitting a third signal to the secondary autonomous driving system to activate the fail operational action if the ADV is not within the low speed zone.

8. The method of claim 1 , wherein the fail-safe action comprises emergency braking when the first distance exceeds a threshold, and wherein the fail operational action comprises controlling the ADV to move according to an alternative trajectory.

9. The method of claim 1 , wherein the motion trajectory boundary and the safe drivable area boundary are determined by a primary autonomous driving system, and wherein the fail-safe action and the fail operational action are performed by a secondary autonomous driving system serving as a standby system with respect to the primary autonomous driving system.

10. A non-transitory machine-readable medium having instructions stored therein, which when executed by a processor, cause the processor to perform operations, the operations comprising:
obtaining a motion trajectory boundary based on a trajectory that has been planned to drive an autonomous driving vehicle (ADV) for a next time period;
determining, while the ADV is driving forward, a safe drivable area boundary for the ADV based on perception data perceiving a driving environment surrounding the ADV, wherein the safe drivable area boundary defines an area around the ADV comprising:
a first area extending backwards from the ADV a first distance based at least in part on a speed of the ADV and a speed of an object behind the ADV based on the perceiving of the driving environment surrounding the ADV, and
a second area extending forwards from the ADV a second distance;

projecting the motion trajectory boundary and the safe drivable area boundary onto a map; and
determining a relative location of the ADV within the map relative to the motion trajectory boundary and the safe drivable area boundary, wherein determining the relative location of the ADV within the map relative to the motion trajectory boundary and the safe drivable area boundary comprises:
determining whether the ADV is within a first predetermined proximity of the motion trajectory boundary on the map,
performing at least one of a fail-safe action or a fail operational action, in response to determining that the ADV is within the first predetermined proximity of the motion trajectory boundary,
determining whether the ADV is within a second predetermined proximity of the safe drivable area boundary, in response to determining that the ADV is within the first predetermined proximity of the motion trajectory boundary, and

in response to determining that the ADV is not within the second predetermined proximity, generating a warning signal to a primary autonomous driving system and transmitting a first signal to a secondary autonomous driving system to initiate at least one of the fail-safe action or the fail operational action.

11. The machine-readable medium of claim 10 , wherein the motion trajectory boundary defines an area within which the ADV is expected to be located for the next time period if the ADV was driven according to the trajectory.

12. The machine-readable medium of claim 11 , wherein the motion trajectory boundary is determined based on predicted movement of one or more obstacles within a predetermined proximity of

Assignees

• Baidu Usa Llc

Inventors

• Liu Xiaodong
• Qu Ning

Classifications

• B60W30/0956

  the prediction being responsive to traffic or environmental parameters · CPC title

• B60W60/0027 Primary

  using trajectory prediction for other traffic participants · CPC title

• B60W30/0953

  the prediction being responsive to vehicle dynamic parameters · CPC title

• B60W2754/10

  Spatial relation or speed relative to objects · CPC title

• B60W30/09 Primary

  Taking automatic action to avoid collision, e.g. braking and steering · CPC title