Sensor-based object-detection optimization for autonomous vehicles
First Claim
1. A method comprising:
- identifying a sensor anomaly at an autonomous vehicle system comprising a plurality of sensors;
determining a type of the sensor anomaly;
retrieving, from a data store and based on the sensor anomaly, data representing at least one sensor recovery strategy, the at least one sensor recovery strategy including one or more courses of action to modify operation of the autonomous vehicle system in response to the sensor anomaly;
selecting a course of action from the one or more courses of action based at least in part on the type of the sensor anomaly; and
executing the course of action at the autonomous vehicle system, wherein executing the course of action causes the autonomous vehicle system to operate within a range of operational parameters defined by the course of action.
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Abstract
Various embodiments relate generally to autonomous vehicles and associated mechanical, electrical and electronic hardware, computer software and systems, and wired and wireless network communications to provide an autonomous vehicle fleet as a service. In particular, a method may include receiving an indication of a sensor anomaly, determining one or more sensor recovery strategies based on the sensor anomaly, and executing a course of action that ensures the autonomous vehicle system operates within accepted parameters. Alternative sensors may be relied upon to cover for the sensor anomaly, which may include a failed sensor while the autonomous vehicle is in operation.
236 Citations
23 Claims
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1. A method comprising:
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identifying a sensor anomaly at an autonomous vehicle system comprising a plurality of sensors; determining a type of the sensor anomaly; retrieving, from a data store and based on the sensor anomaly, data representing at least one sensor recovery strategy, the at least one sensor recovery strategy including one or more courses of action to modify operation of the autonomous vehicle system in response to the sensor anomaly; selecting a course of action from the one or more courses of action based at least in part on the type of the sensor anomaly; and executing the course of action at the autonomous vehicle system, wherein executing the course of action causes the autonomous vehicle system to operate within a range of operational parameters defined by the course of action. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method comprising:
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receiving, at an autonomous vehicle system comprising a plurality of sensors, an indication of a sensor anomaly; determining at least one sensor recovery strategy based at least in part on the sensor anomaly; and executing, at the autonomous vehicle system, a course of action included in the at least one sensor recovery strategy at the autonomous vehicle system. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19)
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20. A method comprising:
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receiving, at an autonomous vehicle system comprising a plurality of sensors, an indication of a sensor anomaly, wherein the indication identifies at least one sensor of the plurality of sensors corresponding to the sensor anomaly; determining a field of perception of a remainder of sensors of the plurality of sensors, wherein the remainder of sensors is exclusive of the at least one sensor; based at least in part on the field of perception, determining respective confidence levels associated with each path of a plurality of potential trajectory paths; selecting a trajectory path of the plurality of potential trajectory paths based at least in part on the respective confidence levels; and causing the autonomous vehicle system to travel along the selected trajectory path. - View Dependent Claims (21, 22, 23)
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Specification