Cargo inspection, monitoring and securement in self-driving trucks

Patent metadata

Field	Value
Publication number	US-11922362-B2
Application number	US-202318093870-A
Country	US
Kind code	B2
Filing date	Jan 6, 2023
Priority date	Jun 8, 2020
Publication date	Mar 5, 2024
Grant date	Mar 5, 2024

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 a vehicle configured to operate in an autonomous driving mode, the method comprising:
evaluating, by one or more processors, information regarding at least one of a cargo arrangement or cargo securement of cargo on the vehicle configured to be operated in the autonomous driving mode, to determine whether the cargo arrangement or the cargo securement falls within a target threshold, the evaluating including generating a confidence value of whether the cargo is properly secured;
in response to the cargo arrangement or the cargo securement not falling within the target threshold based on the confidence value, determining by the one or more processors whether to make a specific adjustment to a securement mechanism of the vehicle; and
in response to the cargo arrangement or the cargo securement falling within the target threshold based on the confidence value, generating, by the one or more processors, a baseline cargo profile for use during a trip to be performed by the vehicle when operating in the autonomous driving mode.

2. The method of claim 1 , wherein upon determining to make the specific adjustment to the securement mechanism of the vehicle, the one or more processors requesting the specific adjustment be made to the securement mechanism of the vehicle.

3. The method of claim 1 , wherein when the determining does not identify any specific adjustment, the method further includes sending at least a portion of the information for a second-tier review.

4. The method of claim 3 , wherein the at least the portion of the information includes imagery of at least one of the cargo or the securement mechanism.

5. The method of claim 3 , wherein the at least the portion of the information is sent for the second-tier review when the confidence value is below a given threshold although the target threshold is satisfied.

6. The method of claim 3 , wherein sending at least the portion of the information for a second-tier review includes sending the portion of the information to a cargo loading facility.

7. The method of claim 3 , wherein sending at least the portion of the information for a second-tier review includes sending the portion of the information to remote assistance.

8. The method of claim 1 , wherein the baseline cargo profile is configured to be stored in memory of the vehicle for in-trip evaluation against real time data.

9. The method of claim 1 , wherein evaluating the information includes the one or more processors issuing inspection information to the vehicle so that the vehicle is able to undergo inspection at a cargo loading facility.

10. The method of claim 1 , further comprising the one or more processors causing a sensor suite of a cargo facility to capture the information regarding at least one of the cargo arrangement or cargo securement of the cargo on the vehicle.

11. The method of claim 1 , wherein evaluating the information includes determining whether the cargo arrangement has a set of dimensions that does not exceed a regulation.

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

13. The method of claim 12 , wherein the correlating further includes evaluating the received sensor information against a baseline cargo securement profile.

14. The method of claim 13 , wherein the baseline cargo securement profile is either:
obtained prior to departure of the vehicle on a trip; or
obtained from a loading depot at which the cargo was loaded.

15. The method of claim 12 , wherein the corrective action includes one or more of (i) modifying a driving behavior of the vehicle, (ii) re-routing the vehicle to a location at which the cargo can be re-secured, (iii) pulling the vehicle over, or (iv) contacting a remote assistance service.

16. The method of claim 12 , wherein determining whether at least a portion of the cargo is no longer secured according to a threshold securement requirement includes determining that the portion of the cargo has either shifted in a particular direction or has tipped.

17. The method of claim 12 , wherein the sensor information includes one or more of (i) weight distribution information, (ii) pressure distribution information, (iii) strain of a cargo securement mechanism, (iv) tension of the cargo securement mechanism, or (v) imagery of at least one of the cargo or the cargo securement mechanism.

18. The method of claim 12 , wherein correlating the received sensor information with the one or more vehicle signals includes estimating the mass of the vehicle.

19. The method of claim 12 , wherein correlating the received sensor information with the one or more vehicle signals is based on a weather condition experienced by the vehicle.

20. The method of claim 12 , wherein correlating the received sensor information with the one or more vehicle signals is based on anomalies or errors to be checked for different types of cargo securement mechanisms.

21. 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:
receive, during operation in the autonomous mode, sensor information regarding at least one of a cargo arrangement or a cargo securement of cargo along a cargo section of the vehicle;
correlate the received sensor information with one or more vehicle signals, the one or more vehicle signals including a change in vehicle dynamics, a change in a suspension mechanism, a change in tire pressure of at least one tire, or a change in vehicle pose;
determine, based on the correlation, whether at least a portion of the cargo is no longer secured according to a threshold securement requirement; and
upon determining that at least the portion of the cargo is no longer secured, cause the vehicle to take a corrective action while operating in the autonomous driving mode.

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