Complementary control system detecting imminent collision of autonomous vehicle in fallback monitoring region

Patent metadata

Field	Value
Publication number	US-12049236-B2
Application number	US-202117389136-A
Country	US
Kind code	B2
Filing date	Jul 29, 2021
Priority date	Jul 29, 2021
Publication date	Jul 30, 2024
Grant date	Jul 30, 2024

Abstract

Systems and methods for complementary control of an autonomous vehicle are disclosed. A primary controller provides a first plurality of instructions to an AV platform for operating the AV in an autonomous mode along a planned path based on sensor data from a primary sensor system and a secondary sensor system, and provides information that includes a fallback monitoring region to a complementary controller. The complementary controller receives sensor data from the secondary sensor system that includes sensed data for a fallback monitoring region, analyzes the received sensor data to determine whether a collision is imminent with an object detected in the fallback monitoring region, and cause the AV platform to initiate a collision mitigation action if a collision is determined to be imminent.

First claim

The invention claimed is:

1. A method for operating an autonomous vehicle (AV), the method comprising:
by a primary controller:
receiving a first set of sensor data from a primary sensor system and a second set of sensor data from a secondary sensor system,
providing a first plurality of instructions to an AV platform for operating the AV in an autonomous mode along a planned path based on the first set of sensor data and the second set of sensor data, and
providing information to a complementary controller, the information comprising at least a fallback monitoring region determined based on a speed of the AV a deceleration capability of the AV associated with a road condition, the fallback monitoring region includes a region of inevitable intersection (ROII) immediately before the AV and a region of likely intersection (ROLI) father from the AV after the ROII;

by the complementary controller having less processing power than the primary controller:
receiving the second set of sensor data from the secondary sensor system, the second set of sensor data corresponding to the fallback monitoring region,
analyzing the received second set of sensor data to determine whether a collision is imminent with an object as the AV is traveling at a first speed when the object enters the ROII, and
upon determining that the collision is imminent with the object in the ROII, causing the AV platform to initiate a collision mitigation action; and

by the primary controller:
analyzing the second set of sensor data to detect presence of the object within the ROLI before the object enters the ROII, and
providing instructions to the AV platform for decelerating the AV such that the vehicle is traveling at a second speed slower than the first speed when the object enters the ROII, and the initiation of the collision mitigation action by the complementary controller is prevented or delayed.

2. The method of claim 1 , wherein:
analyzing, by the complementary controller, the received second set of sensor data to determine whether the collision is imminent with the object in the fallback monitoring region comprises at least one of the following: determining that the object is present within the ROII or identifying intersections between projected positions of the AV and the object in the ROII at various points of time.

3. The method of claim 2 , wherein the ROII is calculated as a union of the AV's footprint over a left highest possible curvature trajectory and a right highest possible curvature trajectory at a current speed of the AV.

4. The method of claim 1 , wherein the collision mitigation action comprises a maximum braking action to bring the AV to a stop before it can collide with the object.

5. The method of claim 1 , wherein:
providing, by the primary controller, the first plurality of instructions to the AV platform for operating the AV in the autonomous mode along the planned path comprises providing the first plurality of instructions to the AV platform via the complementary controller; and
upon determining that the collision is imminent with the object in the fallback monitoring region, by the complementary controller:
stopping provision of the first plurality of instructions, received from the primary controller, to the AV platform, and
providing a second plurality of instructions to cause the AV platform to initiate the collision mitigation action.

6. The method of claim 1 , further comprising:
by the primary controller:
determine a rate for decelerating the AV based on at least one of: a speed or acceleration of the object, a heading or orientation of the object, or an environmental condition.

7. A system for controlling operations of an autonomous vehicle (AV), the system comprising:
an AV comprising:
a primary sensor system,
a secondary sensor system,
a primary controller, and
a complementary controller;

the primary controller being configured to:
receive a first set of sensor data from the primary sensor system and a second set of sensor data from the secondary sensor system,
provide a first plurality of instructions to an AV platform for operating the AV in an autonomous mode along a planned path based on the first set of sensor data and the second set of sensor data, and
provide information to the complementary controller, the information comprising at least a fallback monitoring region determined based on a speed of the AV a deceleration capability of the AV, the fallback monitoring region includes a region of inevitable intersection (ROII) immediately before the AV; and

the secondary controller having less processing power than the primary controller, the secondary controller being configured to:
receive the second set of sensor data from the secondary sensor system, the second set of sensor data corresponding to the fallback monitoring region,
analyze the received second set of sensor data to determine whether a collision is imminent with an object detected in the ROII, and
upon determining that the collision is imminent with the object in the ROII, cause the AV platform to initiate a collision mitigation action.

Assignees

• Ford Global Tech Llc

Inventors

• Happold Michael
• Skaff Ryan
• Hartl Derek

Classifications

• B60W30/095 Primary

  Predicting travel path or likelihood of collision · CPC title

• B60W50/023

  Avoiding failures by using redundant parts · CPC title

• B60W60/001

  Planning or execution of driving tasks · CPC title

• B60W60/0015 Primary

  specially adapted for safety · CPC title