Autonomous vehicle collision mitigation systems and methods

Patent metadata

Field	Value
Publication number	US-11789461-B2
Application number	US-202117360599-A
Country	US
Kind code	B2
Filing date	Jun 28, 2021
Priority date	Jun 29, 2017
Publication date	Oct 17, 2023
Grant date	Oct 17, 2023

Abstract

Systems and methods for controlling an autonomous vehicle are provided. In one example embodiment, a computer-implemented method includes obtaining, from an autonomy system, data indicative of a planned trajectory of the autonomous vehicle through a surrounding environment. The method includes determining a region of interest in the surrounding environment based at least in part on the planned trajectory. The method includes controlling one or more first sensors to obtain data indicative of the region of interest. The method includes identifying one or more objects in the region of interest, based at least in part on the data obtained by the one or more first sensors. The method includes controlling the autonomous vehicle based at least in part on the one or more objects identified in the region of interest.

First claim

What is claimed is:

1. A vehicle, comprising:
a vehicle computing system configured to determine a trajectory of the vehicle through a surrounding environment, wherein the trajectory comprises data defining a planned path along which the vehicle is intending to travel;
an event response system that is separate from the vehicle computing system, the event response system configured to:
determine a region of interest in the surrounding environment at a particular directional location with respect to the vehicle based on data indicative of the trajectory;
identify an object in the region of interest based on data indicative of the region of interest obtained by one or more sensors associated with the event response system; and
provide one or more control signals for controlling the vehicle, wherein the one or more control signals are based on the object identified in the region of interest.

2. The vehicle of claim 1 , the event response system configured to:
steer the one or more sensors towards the region of interest; and
control the one or more sensors steered toward the region of interest to obtain the data indicative of the region of interest.

3. The vehicle of claim 2 , wherein steering the one or more sensors comprises adjusting a region of detection associated with the one or more sensors to overlap at least in part with of the region of interest.

4. The vehicle of claim 2 , wherein adjusting the region of detection associated with the one or more sensors comprises physically moving the one or more sensors using one or more actuators associated with the one or more sensors.

5. The vehicle of claim 1 , wherein the one or more control signals for controlling the vehicle comprise one or more control signals for adjusting a motion of the vehicle, the motion comprising at least one of the trajectory of the vehicle or a speed of the vehicle, the trajectory of the vehicle comprising a path along which the vehicle is intending to travel.

6. The vehicle of claim 1 , wherein the one or more control signals for controlling the vehicle comprise providing one or more control signals to a human-machine interface system to indicate an identification of the object.

7. The vehicle of claim 1 , wherein the vehicle computing system is configured to control the vehicle based on the object identified in the region of interest.

8. The vehicle of claim 1 , wherein the vehicle comprises an autonomous truck.

9. An event response 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 event response system to perform operations, the operations comprising:
obtaining, from a vehicle computing system that is separate from the event response system, data indicative of a trajectory of a vehicle through a surrounding environment, wherein the trajectory comprises data defining a planned path along which the vehicle is intending to travel;
determining a region of interest in the surrounding environment at a particular directional location with respect to the vehicle based at least in part on the trajectory;
identifying an object in the region of interest based on data indicative of the region of interest obtained by one or more sensors associated with the event response system; and
providing one or more control signals for controlling the vehicle, wherein the one or more control signals are based on the object identified in the region of interest.

10. The event response system of claim 9 , the operations comprising:
steering the one or more sensors towards the region of interest; and
controlling the one or more sensors steered toward the region of interest to obtain the data indicative of the region of interest.

11. The event response system of claim 10 , wherein steering the one or more sensors comprises adjusting a region of detection associated with the one or more sensors to overlap at least in part with the region of interest.

12. The event response system of claim 11 , wherein adjusting the region of detection associated with the one or more sensors comprises physically moving the one or more sensors using one or more actuators associated the one or more sensors.

13. The event response system of claim 9 , wherein the one or more control signals for controlling the vehicle comprise one or more control signals for adjusting a motion of the vehicle, the motion comprising at least one of the trajectory of the vehicle or a speed of the vehicle, the trajectory of the vehicle comprising a path along which the vehicle is intending to travel.

14. The event response system of claim 9 , wherein the one or more control signals for controlling the vehicle comprise providing one or more control signals to a human-machine interface system to indicate an identification of the object.

15. The event response system of claim 9 , wherein the vehicle computing system configured to control the vehicle based on the object identified in the region of interest.

16. The event response system of claim 9 , wherein the event response system is configured for use in an autonomous truck.

17. A computer-implemented method for controlling a vehicle, comprising:
obtaining, from a vehicle computing system that is separate from an event response system, data indicative of a trajectory of a vehicle through a surrounding environment, the trajectory of the vehicle comprising data defining a planned path along which the vehicle is intending to travel;
determining, by the event response system, a region of interest in the surrounding environment at a particular directional location with respect to the vehicle based on the trajectory;
identifying, by the event response system, an object in the region of interest based on data indicative of the region of interest obtained by one or more sensors associated with the event response system; and
providing, by the event response system, one or more control signals for controlling a motion of the vehicle, wherein the one or more control signals are based on the object identified in the region of interest.

18. The computer-implemented method of claim 17 , comprising:
steering, by the event response system, the one or more sensors towards the region of interest; and
controlling, by the event response system, the one or more sensors steered toward the region of interest to obtain the data indicative of the region of interest.

19. The vehicle of claim 17 , wherein steering the one or more sensors towards the region of interest comprises adjusting a region of detection by controlling a physical position of the one or more sensors via one or more actuators.

20. The vehicle of claim 17 , wherein steering the one or more sensors towards the region of interest comprises adjusting a region of detection by filtering data corresponding to the region of interest from data provided by the one or more sensors.

Assignees

• Uatc Llc

Inventors

• Wood Matthew Shaw
• Leach William M
• Poeppel Scott C
• Letwin Nicholas G
• Zych Noah

Classifications

• G05D1/0297 Primary

  by controlling means in a control room · CPC title

• B60W30/09

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

• B62D15/0265 Primary

  Automatic obstacle avoidance by steering · CPC title

• G01S13/931

  of land vehicles · CPC title

• G01S15/931

  of land vehicles · CPC title