Model checking for autonomous vehicles

Patent metadata

Field	Value
Publication number	US-9315178-B1
Application number	US-201213446025-A
Country	US
Kind code	B1
Filing date	Apr 13, 2012
Priority date	Apr 13, 2012
Publication date	Apr 19, 2016
Grant date	Apr 19, 2016

Abstract

In an example method, a vehicle configured to operate in an autonomous mode could predict an output of the vehicle based on an input provided to control the vehicle and a state of the vehicle. The method could include receiving an indication of an input from at least one input-indication sensor and an indication of an output from at least one output-indication sensor. A predicted output value could be calculated based on the indication of the input and a state of the vehicle. The predicted output value could be compared with the indication of the output. If the comparison is not within a threshold range, an alert indicator could be created. Upon creating the alert indicator, an alert action could be activated.

First claim

What is claimed is:

1. An apparatus comprising:
at least one input-indication sensor configured to provide an indication of an input provided to a braking system of a vehicle, wherein the vehicle is operating the braking system in an autonomous mode;
at least one output-indication sensor configured to provide an indication of an output associated with the braking system of the vehicle;
a processor configured to:
i) calculate a predicted output value associated with the braking system based on the indication of the input received from the at least one input-indication sensor, a state of the vehicle, and on a coefficient indicative of a value used to at least partially compensate for a change in a performance of the braking system of the vehicle, wherein the predicted output value associated with the braking system is further based on a wear coefficient indicative of wear associated with the braking system;
ii) compare the predicted output value with the indication of the output; and
iii) if the comparison is not within a threshold range, create an alert indicator indicative of a malfunction of the braking system of the vehicle; and
a computing system having an alert module for activating an alert action responsive to the processor creating the alert indictor.

2. The apparatus of claim 1 , wherein the wear coefficient indicative of wear associated with the braking system is a calculated wear coefficient associated with the braking system of the vehicle.

3. The apparatus of claim 1 , wherein the wear coefficient indicative of wear associated with the braking system is a measured wear coefficient associated with the braking system of the vehicle.

4. The apparatus of claim 1 , wherein the at least one input-indication sensor is configured to measure a pressure applied to a pedal of the vehicle.

5. The apparatus of claim 1 , wherein the at least one input-indication sensor is configured to measure an electrical signal.

6. The apparatus of claim 1 , wherein the at least one output-indication sensor is configured to measure a speed associated with the vehicle.

7. The apparatus of claim 1 , wherein the at least one output-indication sensor is configured to measure a Global Positioning System signal.

8. The apparatus of claim 1 , wherein the alert action comprises operating the vehicle in a safety mode.

9. The apparatus of claim 1 , wherein the alert action comprises stopping a movement of the vehicle.

10. The apparatus of claim 1 , wherein the state of the vehicle comprises at least one of a speed of the vehicle, a heading of the vehicle, and a current environment of the vehicle.

11. A method comprising:
receiving, at a computing system from at least one input-indication sensor, an indication of an input provided to a braking system of a vehicle, wherein the computing system is operating the braking system in an autonomous mode;
receiving, at the computing system from at least one output-indication sensor, an indication of an output of the braking system of the vehicle;
determining, by the computing system, a predicted output value based on the indication of the input, a state of the vehicle, and a wear coefficient indicative of wear associated with the braking system, wherein the state of the vehicle includes at least a speed of the vehicle;
determining whether the predicted output value is within a threshold range of the indication of the output; and
based on determining that the predicted output value is not within the threshold range of the indication of the output, causing, by the computing system, the braking system to perform an alert action that includes at least reducing the speed of the vehicle.

Assignees

• Ferguson David I
• Dolgov Dmitri A
• Urmson Christopher
• Google Inc

Inventors

• Ferguson David I
• Dolgov Dmitri A
• Urmson Christopher

Classifications

• B60W2050/021

  Means for detecting failure or malfunction · CPC title

• B60W50/0205

  Diagnosing or detecting failures; Failure detection models · CPC title

• B60W2756/10

  Involving external transmission of data to or from the vehicle · CPC title

• B60W2552/15

  Road slope, i.e. the inclination of a road segment in the longitudinal direction · CPC title

• B60W2556/50

  of positioning data, e.g. GPS [Global Positioning System] data · CPC title