Operator instigated false positive muting for autonomous vehicles

Patent metadata

Field	Value
Publication number	US-12552408-B2
Application number	US-202418757025-A
Country	US
Kind code	B2
Filing date	Jun 27, 2024
Priority date	Jun 27, 2023
Publication date	Feb 17, 2026
Grant date	Feb 17, 2026

Abstract

An autonomous vehicle system and method is disclosed that allows an operator to override a stop command issued from an obstacle detection and avoidance subsystem of the autonomous vehicle. Most autonomous vehicles include an obstacle detection and avoidance subsystem that detects potential obstacles along the path of the autonomous vehicle and may send a command to stop the autonomous vehicle. When the obstacle detection and avoidance subsystem detects a potential obstacle (regardless of whether the potential obstacle does or does not exist) and the path is still traversable, the autonomous vehicle may still stop unnecessarily. The disclosed system and methods will allow an operator to override commands issued by the obstacle detection and avoidance subsystem and allow the autonomous vehicle to continue along the path regardless of any potential obstacle.

First claim

That which is claimed:

1 . An autonomous vehicle comprising:
a communication interface that receives a first from a base station; a controller that operates a breaking braking subsystem, a speed control subsystem, and a steering subsystem to direct the autonomous vehicle along the first path at a first speed; a sensor array that senses an external environment to produce sensor data; an obstacle detection and avoidance subsystem that identifies a potential obstacle in the first path from the sensor data and determines that the obstacle cannot be avoided by following a second path; wherein:
the controller sends a stop command to the braking subsystem and/or the speed control subsystem to decelerate the autonomous vehicle prior to reaching the obstacle;
the controller sends an obstacle message to the base station via the communication interface, wherein the obstacle message includes the location of the obstacle;
the controller receives an override message from the base station via the communication interface;
the controller repeatedly receives the override message from the base station via the communication interface; and
in response to repeatedly receiving the override message, the controller using the braking subsystem, speed control subsystem, and steering subsystem directs the autonomous vehicle along the first path at a second speed, wherein the second speed is substantially lower than the first speed, and wherein the second speed is less than 5 miles per hour.

2 . The autonomous vehicle according to claim 1 , wherein the controller sends a stop command to the braking subsystem and/or the speed control subsystem to stop the autonomous vehicle prior to reaching the obstacle.

3 . The autonomous vehicle according to claim 1 , wherein the obstacle message includes at least a portion of the sensor data.

4 . The autonomous vehicle according to claim 1 , wherein if the controller stops receiving the override message from the base station via the communication interface, the controller sends a command to the braking subsystem and/or the speed control subsystem to decelerate the autonomous vehicle prior to reaching the obstacle.

5 . A method executing at an autonomous vehicle comprising:
receiving a first path from a base station; operating the autonomous vehicle along the first path at a first speed; sensing the external environment to produce sensor data; identifying a location of a potential obstacle along the first path from the sensor data; decelerating the autonomous vehicle prior to reaching the obstacle; sending an obstacle message to a base station, wherein the obstacle message includes the location of the obstacle; repeatedly receiving an override message from the base station; and in response to repeatedly receiving the override message, operating the autonomous vehicle along the first path at a second speed, wherein the second speed is substantially lower than the first speed, and wherein the second speed is less than 5 miles per hour.

6 . The method according to claim 5 , further comprising sending a stop command to the braking subsystem and/or a speed control subsystem to stop the autonomous vehicle prior to reaching the obstacle.

7 . The method according to claim 5 , wherein the obstacle message includes at least a portion of the sensor data.

8 . The method according to claim 5 , further comprising in response to stop receiving the override message sending a command to a braking subsystem and/or a speed control subsystem to decelerate the autonomous vehicle prior to reaching the obstacle.

9 . The method according to claim 5 , further comprising
receiving the obstacle message at the base station; providing information about the potential obstacle on an operator interface and providing an override button on the operator interface; receiving an indication from the operator interface that an operator has interacted with the override button; and in response to receiving an indication from the operator, sending a second override message to the autonomous vehicle.

10 . An autonomous vehicle comprising:
a sensor array that produces sensor data; a transceiver that communicates with and receives data from at least a base station; a speed control subsystem that controls the speed of the autonomous vehicle; a steering control subsystem that controls the steering of the autonomous vehicle; and a controller communicatively coupled with the sensor array, the transceiver, the speed control subsystem, and the steering control subsystem; wherein the controller has code that: receives a first path from the base station via the transceiver; sends commands to the steering control subsystem and the speed control subsystem that when executed move the autonomous vehicle at a first speed along the first path within an external environment; senses the external environment to produce sensor data; identifies a location of a potential obstacle along the first path from the sensor data; sends commands to the speed control subsystem to stop the autonomous vehicle prior to reaching the obstacle; sends an obstacle message to a base station, wherein the obstacle message includes the location of the obstacle and at least a portion of the sensor data; repeatedly receives an override message from the base station via the transceiver; and in response to repeatedly receiving the override message, sends commands to the steering control system and the speed control system that when executed move the autonomous vehicle along the first path at a second speed, wherein the second speed is substantially lower than the first speed.

11 . The autonomous vehicle according to claim 10 , wherein the second speed is less than 5 miles per hour.

12 . The autonomous vehicle according to claim 10 , wherein the controller repeatedly receives the override message from the base station via the communication interface, and while the controller is repeatedly receiving the override message, the controller using a braking subsystem, speed control subsystem, and steering subsystem directs the autonomous vehicle along the first path at a first speed.

13 . The autonomous vehicle according to claim 12 , wherein if the controller stops receiving the override message from the base station via the communication interface, the controller sends a command to a braking subsystem and/or the speed control subsystem to decelerate the autonomous vehicle prior to reaching the obstacle.

Assignees

• Autonomous Solutions Inc

Inventors

• Winward Garrett
• Merkley Nathan
• Bybee Taylor
• Morwood Daniel
• Baker Levi
• Call Benjamin
• Ferrin Jeff
• Bailio Brad
• Hoyt Richard

Classifications

• B60W10/18

  including control of braking systems · CPC title

• B60W10/20

  including control of steering systems · CPC title

• B60W10/04

  including control of propulsion units · CPC title

• B60W30/09

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

• G08G1/09 Primary

  Arrangements for giving variable traffic instructions ({railroad crossing signals B61L; reflectors E01F, G08B}; indicating arrangements for variable information by selection or combination of individual elements G09F9/00) · CPC title