Detecting a construction zone by a lead autonomous vehicle (AV) and updating routing plans for following AVs

Patent metadata

Field	Value
Publication number	US-12565235-B2
Application number	US-202017021934-A
Country	US
Kind code	B2
Filing date	Sep 15, 2020
Priority date	Sep 15, 2020
Publication date	Mar 3, 2026
Grant date	Mar 3, 2026

Abstract

A lead autonomous vehicle (AV) includes a sensor configured to observe a field of view in front of the lead AV. Following AVs are on the same road behind the lead AV. A processor of the lead AV is configured to detect a construction zone. The processor sends a first message to an operation server, indicating that the construction zone is detected. The processor updates driving instructions of the lead AV to navigate around the construction zone. While navigating around the construction zone, the processor sends sensor data associated with the construction zone to the operation server. The operation server determines an extent of the construction zone. If the operation server determines that the construction zone is extensive, it sends re-routing instructions to the AVs. If the operation server determines that the construction zone is not extensive, it sends instructions to navigate around the construction zone to the AVs.

First claim

The invention claimed is:

1 . A system, comprising: a lead autonomous vehicle comprising at least one vehicle sensor located on the lead autonomous vehicle and configured to observe a first field-of-view comprising a region in front of the lead autonomous vehicle;
one or more following autonomous vehicles, different from the lead autonomous vehicle, wherein: the lead autonomous vehicle is on a particular road heading toward a destination using a first routing plan and map data previously received from an operation server; the one or more following autonomous vehicles are on the particular road behind the lead autonomous vehicle; and the lead autonomous vehicle and the one or more following autonomous vehicles are communicatively coupled with the operation server; a first control subsystem, associated with the lead autonomous vehicle, communicatively coupled with the lead autonomous vehicle, the one or more following autonomous vehicles, and the operation server, the first control subsystem comprising a first processor configured to: receive sensor data from the at least one vehicle sensor of the lead autonomous vehicle, wherein the sensor data comprises location coordinates of any object on the particular road within the first field-of-view of the lead autonomous vehicle; compare the sensor data with a first portion of the map data, wherein the first portion of the map data comprises location coordinates of expected objects on the particular road within the first field-of-view of the lead autonomous vehicle; based at least in part upon comparing the sensor data with the first portion of the map data, determine whether there is a construction zone in the particular road by identifying one or more objects in the sensor data that correspond to the construction zone and that are not among the expected objects in the map data; in response to a determination that the construction zone is detected in the particular road: send a first message to the operation server, indicating that the construction zone is detected; update driving instructions of the lead autonomous vehicle to navigate around the construction zone; while navigating around the construction zone, send a plurality of second messages to the operation server, comprising construction zone sensor data, wherein the construction zone sensor data comprises location coordinates of two opposite ends of the construction zone; the operation server comprising a second processor configured to: based at least in part upon the plurality of second messages, determine an extent of the construction zone by determining a distance between the location coordinates of the two opposite ends of the construction zone; update the first portion of the map data, reflecting that there is the construction zone in the particular road; for each autonomous vehicle from the one or more following autonomous vehicles: determine location coordinates of the autonomous vehicle; based at least in part upon the location coordinates of the autonomous vehicle, determine whether re-routing is possible, wherein the re-routing is possible if there is at least one road to a second routing plan to reach the destination between the autonomous vehicle and the construction zone, wherein the second routine plan is different from the first routine plan; in response to determining that the re-routing is possible and the extent of the construction zone is above a configurable threshold distance, send the updated map data and re-routing instructions to the autonomous vehicle, wherein the re-routing instruction comprises using the second routing plan; and in response to determining that the re-routing is not possible or the extent of the construction zone is below the configurable threshold distance, send the updated map data and construction zone instructions to the autonomous vehicle, wherein the construction zone instructions comprise instructions to navigate around the construction zone.

2 . The system of claim 1 , wherein the second processor is further configured to send the updated map data and delay departure instructions to each autonomous vehicle from the one or more following autonomous vehicles which has not left an autonomous vehicle launch pad, wherein the delay departure instructions comprises delaying a departure of the autonomous vehicle until the particular road is opened.

3 . The system of claim 1 , wherein updating the driving instructions of the lead autonomous vehicle comprises entering a safety mode by:
reducing a speed of the lead autonomous vehicle according to speeds of surrounding vehicles; increasing distances from the surrounding vehicles; or avoiding autonomous driving parallel to the surrounding vehicles.

4 . The system of claim 1 , wherein determining the construction zone comprises determining a presence of at least one of: a traffic cone, a traffic barrier, a traffic barrel, a construction sign, a reflective vest, a construction helmet, an arrow-board trailer, a construction vehicle, and a piece of a construction equipment.

5 . The system of claim 1 , wherein determining the extent of the construction zone comprises:
determining first location coordinates of the construction zone, corresponding to a first end of the construction zone; determining second location coordinates of the construction zone, corresponding to a second end of the construction zone, opposite to the first end; and calculating a distance between the first end and the second end.

6 . The system of claim 1 , further comprising:
a second control subsystem, associated with any of the one or more following autonomous vehicles, comprising a third processor configured to:
determine whether the construction zone is removed; and
in response to a determination that the construction zone is removed, send a third message to the operation server, indicating that the construction zone is removed, wherein in response to receiving the third message, the operation server updates the first portion of the map data, indicating that the construction zone is removed.

7 . The system of claim 1 , wherein the at least one vehicle sensor comprises one or more of cameras, LiDAR sensors, motion sensors, and infrared sensors.

8 . A method, comprising:
receiving sensor data from at least one vehicle sensor of a lead autonomous vehicle, wherein: the sensor data comprises location coordinates of any object on a particular road within a first field-of-view of the lead autonomous vehicle; the lead autonomous vehicle is on a particular road heading toward a destination using a routing plan and map data previously received from an operation server; and one or more following autonomous vehicles, different from the lead autonomous vehicle, are on the particular road behind the lead autonomous vehicle; comparing the sensor data with a first portion of the map data, wherein the first portion of the map data comprises location coordinates of expected objects on the particular road within the first field-of-view of the lead autonomous vehicle; based at least in part upon comparing the sensor data with the first portion of the map data, determining whether there is a construction zone in the particular road by identifying one or more objects in the sensor data that correspond to the construction zone and that are not among the expected objects in the map data; in response to a determination that the construction zone is detected in the particular road: sending a first message to the operation server, indicating that the construction zone is detected; updating driving instructions of the lead autonomous vehicle to navigate around the construction zone; while navigating around the construction zone, sending a plurality of second messages to the op

Assignees

• Tusimple Inc
• Createai Inc

Inventors

• Brown Robert Patrick
• Foster Scott Douglas
• Tam Joyce

Classifications

• B60W2420/408

  Radar; Laser, e.g. lidar · CPC title

• B60W2420/403

  Image sensing, e.g. optical camera · CPC title

• B60W30/0956

  the prediction being responsive to traffic or environmental parameters · CPC title

• B60W2554/20

  Static objects · CPC title

• B60W2420/40

  Photo, light or radio wave sensitive means, e.g. infrared sensors · CPC title