Systems and methods for operating one or more self-driving vehicles

Patent metadata

Field	Value
Publication number	US-12552374-B2
Application number	US-202418678811-A
Country	US
Kind code	B2
Filing date	May 30, 2024
Priority date	Sep 10, 2020
Publication date	Feb 17, 2026
Grant date	Feb 17, 2026

Abstract

The various embodiments described herein generally relate to systems and methods for operating one or more self-driving vehicles. In some embodiments, the self-driving vehicles may include a vehicle processor being operable to: control the vehicle to navigate an operating environment in an initial vehicle navigation mode; monitor for one or more trigger conditions indicating a possible change for the vehicle navigation mode; detect a trigger condition; determine a prospective vehicle navigation mode associated with the detected trigger condition; determine whether to change from the initial vehicle navigation mode to the prospective vehicle navigation mode; and in response to determining to change from the initial vehicle navigation mode to the prospective vehicle navigation mode, adjust one or more vehicle attributes corresponding to the prospective vehicle navigation mode, otherwise continue to operate the vehicle in the initial vehicle navigation mode.

First claim

The invention claimed is:

1 . A method for operating a self-driving vehicle within an environment comprising one or more pre-defined zones, each pre-defined zone being associated with one or more vehicle safety profiles defining at least one or more travel parameters, the self-driving vehicle comprising a vehicle processor, the method comprising operating the vehicle processor to:
determine an initial position of the vehicle using a first vehicle localization method; evaluate whether the initial position is within a pre-defined zone of the one or more pre-defined zones; in response to determining the initial position is within the pre-defined zone:
determine an initial safety performance level of a sensing system operated to conduct the first vehicle localization method; and
evaluate whether the initial safety performance level associated with the sensing system complies with a required safety performance level of the pre-defined zone;
in response to determining that the initial safety performance level does not comply with the required safety performance level, initiate a second vehicle localization method to identify an enhanced position of the self-driving vehicle, the second vehicle localization method being operable to enhance an accuracy of the initial position identified by the first vehicle localization method and the second vehicle localization method being associated with a safety performance level that is one of equal to the initial safety performance level or a higher safety performance level; and operate the self-driving vehicle according to one or more vehicle operating attributes compliant with the environment in which the self-driving vehicle is located, wherein the self-driving vehicle is operated according to the one or more vehicle operating attributes of the associated vehicle safety profile when located within the pre-defined zone.

2 . The method of claim 1 , wherein the pre-defined zone is a pedestrian-exclusion zone, and the one or more vehicle operating attributes comprise one or more of an increased detection range and an increased vehicle travelling speed.

3 . The method of claim 1 , wherein the pre-defined zone is a high traffic pedestrian zone, and the one or more vehicle operating attributes comprise one or more of an increased detection range and a decreased vehicle travelling speed.

4 . The method of claim 1 , wherein the one or more pre-defined zones are defined in an electronic map accessible to the vehicle processor.

5 . The method of claim 1 , wherein a storage medium is coupled to the vehicle processor, the storage medium storing the initial safety performance level of the sensing system operated to conduct the first vehicle localization method and the safety performance level associated with the second vehicle localization method.

6 . The method of claim 5 , the method further comprises operating the vehicle processor to:
determine whether the initial position comprises location data corresponding to a different location than a location corresponding to the enhanced position; in response to determining that the initial position is different than the second position, determine that at least one of the initial safety performance level and the safety performance level associated with the second vehicle localization method satisfies the required safety performance level; and select a vehicle location to be one of the initial position and the second position according to which of the associated safety performance level satisfies the required safety performance level.

7 . The method of claim 1 , wherein the sensing system further comprises at least one first sensor and at least one second sensor, each being coupled to the vehicle processor, and the method further comprises operating the vehicle processor to:
determine the initial position using the at least one first sensor; and determine the enhanced position using the at least one second sensor.

8 . The method of claim 7 , wherein the vehicle processor comprises a first vehicle processor being coupled to the at least one first sensor, and a second vehicle processor being coupled to the at least one second sensor, and the method further comprises operating the first vehicle processor to:
based on first sensor data generated by the at least one first sensor, determine the initial position; and based on second sensor data generated by the at least one second sensor, determine the enhanced position.

9 . The method of claim 1 , wherein the method further comprises operating the vehicle processor to:
in response to the determining that the initial position is not within the one or more pre-defined zones, continue operating the vehicle using initial vehicle operating attributes.

10 . A system for operating a self-driving vehicle within an environment comprising one or more pre-defined zones, each pre-defined zone being associated with one or more vehicle safety profiles defining at least one or more travel parameters, the self-driving vehicle comprising a vehicle processor, the vehicle processor being operable to:
determine an initial position of the vehicle using a first vehicle localization method; evaluate whether the initial position is within a predefined zone of the one or more pre-defined zones; in response to determining the initial position is within the pre-defined zone:
determine an initial safety performance level of a sensing system operated to conduct the first vehicle localization method; and
evaluate whether the initial safety performance level associated with the sensing system complies with a required safety performance level of the pre-defined zone;
in response to determining that the initial safety performance level does not comply with the required safety performance level, initiate a second vehicle localization method to identify an enhanced position of the self-driving vehicle, the second vehicle localization method being operable to enhance an accuracy of the initial position identified by the first vehicle localization method and the second vehicle localization method being associated with a safety performance level that is one of equal to the initial safety performance level or a higher safety performance level; and operate the self-driving vehicle according to one or more vehicle operating attributes compliant with the environment in which the self-driving vehicle is located, wherein the self-driving vehicle is operated according to the one or more vehicle operating attributes of the associated vehicle safety profile when located within the pre-defined zone.

11 . The system of claim 10 , wherein the pre-defined zone is a pedestrian-exclusion zone, and the one or more vehicle operating attributes comprise one or more of an increased detection range and an increased vehicle travelling speed.

12 . The system of claim 10 , wherein the pre-defined zone is a high traffic pedestrian zone, and the one or more vehicle operating attributes comprise one or more of an increased detection range and a decreased vehicle travelling speed.

13 . The system of claim 10 , wherein the one or more pre-defined zones are defined in an electronic map accessible to the vehicle processor.

14 . The system of claim 10 , wherein the system further comprises a storage medium coupled to the vehicle processor, the storage medium storing the initial safety performance level of the sensing system operated to conduct the first vehicle localization method and the safety performance level associated with the second vehicle localization method.

15 . The system of claim 14 , wherein the vehicle process

Assignees

• Clearpath Robotics Inc
• Rockwell Automation Tech Inc

Inventors

• Gariepy Ryan Christopher
• Rodrigues Yvan Geoffrey
• Lord Matthew
• Wanders Ivor
• Mercer Jason
• Servos James
• Clayton Roydyn

Classifications

• B60W30/165

  Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar" · CPC title

• G01C21/343

  Calculating itineraries (travelling salesman problem G06Q10/04; optimisation of routes G06Q10/047) · CPC title

• G01C21/3667

  Display of a road map (G01C21/3614 takes precedence; guidance using 3D or perspective road maps G01C21/3635) · CPC title

• G01C21/20

  Instruments for performing navigational calculations (G01C21/24, G01C21/26 take precedence) · CPC title

• B60W2552/53

  Road markings, e.g. lane marker or crosswalk · CPC title