Autonomous vehicle with independent auxiliary control units

• US 10,061,313 B2
• Filed: 09/28/2016
• Issued: 08/28/2018
• Est. Priority Date: 09/28/2015
• Status: Active Grant

• Current Assignee: Uatc, LLC (Uber Technologies, Inc.)
• Original Assignee: Uber Technologies, Inc.
• Inventors: Letwin, Nicholas, Kelly, Sean
• Primary Examiner(s): Shaawat, Mussa A
• Assistant Examiner(s): Kim, Kyung J
• Application Number:
  US15/279,165
• Publication Number:
  US 20170090476A1
• Time in Patent Office: 699 Days
• Field of Search: None
• CPC Class Codes: B60T 2270/406 Test-mode; Self-diagnosis
• CPC Class Codes: B60T 8/17557 specially adapted for lane departure prevention road vehicle drive control systems for lane keeping otherwise than by controlling a particular sub-unit B60W30/12
• CPC Class Codes: B60T 8/17558 specially adapted for collision avoidance or collision mitigation road vehicle drive control systems for collision avoidance otherwise than by controlling a particular sub-unit B60W30/09
• CPC Class Codes: B60W 2050/0215 Sensor drifts or sensor failures
• CPC Class Codes: B60W 30/08 Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
• CPC Class Codes: B60Y 2302/05 Leading to automatic stopping of the vehicle
• CPC Class Codes: G05D 1/0077 using redundant signals or controls
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• CPC Class Codes: G05D 1/86 Monitoring the performance of the system, e.g. alarm or diagnosis modules
• CPC Class Codes: G05D 2105/20 for transportation
• CPC Class Codes: G05D 2107/13 Spaces reserved for vehicle traffic, e.g. roads, regulated airspace or regulated waters
• CPC Class Codes: G05D 2109/10 Land vehicles

Abstract

An autonomous vehicle which includes multiple independent control systems that provide redundancy as to specific and critical safety situations which may be encountered when the autonomous vehicle is in operation.

Claims

1. An autonomous vehicle comprising:

a first set of vehicle sensors that monitor an environment outside the autonomous vehicle;

a second set of vehicle sensors, separate from the first set of vehicle sensors, that monitor the environment outside the autonomous vehicle;

a primary control system to control the autonomous vehicle, including to (i) receive first sensor input from the first set of vehicle sensors, (ii) determine, from the first sensor input, a vehicle action or vehicle state, and (iii) signal, to a corresponding vehicle interface, one or more control parameters corresponding to the determined vehicle action or vehicle state; and

an auxiliary control unit, operating independently of the primary control system, to (i) receive second sensor input from the second set of vehicle sensors, (ii) receive trajectory data from the primary control system for a planned trajectory of the autonomous vehicle, (iii) detect a predefined condition or event from the second sensor input, and (iv) in response to detecting the predefined condition or event, generate a vehicle response output to override the one or more control parameters from the primary control system based at least in part on the second sensor input and the trajectory data.

2. The autonomous vehicle of claim 1, wherein the auxiliary control unit communicates the vehicle response output to the primary control system.

3. The autonomous vehicle of claim 2, wherein the primary control system uses the vehicle response output to verify one or more planned trajectories of the autonomous vehicle.

4. The autonomous vehicle of claim 1, wherein the auxiliary control unit generates the vehicle response output to specify one or more vehicle actions to one or more vehicle interfaces of the autonomous vehicle.

5. The autonomous vehicle of claim 4, wherein the auxiliary control unit communicates the vehicle response output to a preselected vehicle interface of the autonomous vehicle, to cause the autonomous vehicle to perform a predetermined vehicle action or achieve a predetermined vehicle state.

6. The autonomous vehicle of claim 5, wherein the predetermined vehicle action includes one of (i) bringing the autonomous vehicle to a stop, (ii) bringing the autonomous vehicle to a particular velocity, (iii) maintaining the autonomous vehicle to move within a lane, (iv) steering the autonomous vehicle to a roadside stop, (v) performing a lane change action.

7. The autonomous vehicle of claim 5, wherein the one or more vehicle interfaces are configured to implement the predetermined vehicle action as a bypass to command input received from the primary control system.

8. The autonomous vehicle of claim 1, wherein the auxiliary control unit generates the vehicle response output to implement one or more predetermined actions by the autonomous vehicle in response to detecting the predefined condition or event.

9. The autonomous vehicle of claim 8, wherein the auxiliary control unit generates the vehicle response output to signal a brake interface of the autonomous vehicle to perform an emergency stop, and wherein the brake interface actuates a braking mechanism of the autonomous vehicle to come to a stop.

10. The autonomous vehicle of claim 9, wherein the auxiliary control unit generates the vehicle response output to cause a multistep action to be performed by multiple control devices of the autonomous vehicle.

11. The autonomous vehicle of claim 10, wherein the multiple control devices of the autonomous vehicle include (i) the brake interface for a braking system of the autonomous vehicle, (ii) a steering interface for a steering system of the autonomous vehicle, (iii) an accelerator interface for an acceleration mechanism of the autonomous vehicle, (iv) a shift interface for a shift operator of the autonomous vehicle, (v) a light signal interface for a vehicle light, and/or (vi) an interface for a wireless communication port of the autonomous vehicle.

12. A method for operating an autonomous vehicle, the method comprising:

autonomously controlling a vehicle in operation using a primary control system coupled to a first set of vehicle sensors that monitor an environment outside the autonomous vehicle;

operating an auxiliary control unit, coupled to a second set of vehicle sensors, separate from the first set of vehicle sensors, that monitor the environment outside the autonomous vehicle, to monitor for and detect a predefined condition or event, the auxiliary control unit being independent of the primary control system;

receiving, by the auxiliary control unit, trajectory data from the primary control system for a planned trajectory of the vehicle; and

generating, using the auxiliary control unit, a vehicle response output that overrides vehicle control parameters from the primary control system based on the detected predefined condition or event, sensor data from the second set of vehicle sensors, and the trajectory data.

13. The method of claim 12, further comprising:

communicating, by the auxiliary control unit, the vehicle response output to the primary control system.

14. The method of claim 13, wherein the auxiliary control unit repeatedly communicates the vehicle response output to the primary control system while monitoring for the predefined condition or event.

15. The method of claim 13, further comprising:

calculating, by the primary control system, the planned trajectory of the autonomous vehicle; and

verifying the planned trajectory based on the vehicle response output of the auxiliary control unit.

16. The method of claim 13, further comprising:

communicating, by the auxiliary control unit, the vehicle response output to one or more control devices of the autonomous vehicle, to cause the one or more control devices to implement a vehicle action or vehicle state that is determined by the auxiliary control unit.

17. The method of claim 16, wherein the auxiliary control unit causes the one or more control devices of the autonomous vehicle to bypass the vehicle control parameters communicated by the primary control system in order to perform the vehicle action determined by the auxiliary control unit.

18. A control system for an autonomous vehicle, the control system comprising:

a primary control system to control the autonomous vehicle, including to (i) receive first sensor input from a first set of vehicle sensors that monitor an environment outside the autonomous vehicle, (ii) determine, from the first sensor input, a vehicle action or vehicle state, and (iii) signal, to a corresponding vehicle interface, one or more control parameters corresponding to the determined vehicle action or vehicle state; and

an auxiliary control unit, operating independently of the primary control system, to (i) receive second sensor input from a second set of vehicle sensors, separate from the first set of vehicle sensors, that monitor the environment outside the autonomous vehicle, (ii) receive trajectory data from the primary control system for a planned trajectory of the autonomous vehicle, (iii) detect a predefined condition or event from the second sensor input, and (iv) in response to detecting the predefined condition or event, generate a vehicle response output to override the one or more control parameters from the primary control system based at least in part on the second sensor input and the trajectory data.