VEHICLE PATH-PLANNER MONITOR AND CONTROLLER
First Claim
1. An autonomous driving system, comprising:
- a processor, the processor further comprising circuitry and a memory;
a sensor, in communication with the processor;
an actuator control programmed to receive a motion control command and convert the motion control command into an actuator command;
an actuator configured, in response to receiving an actuator command, to execute an operation controlling an aspect of locomotion for the vehicle and further provide an actuator feedback signal;
a motion control system programmed to determine a planned path and provide motion control commands to the actuator to cause the vehicle to traverse the planned path; and
wherein the processor, in communication with the actuator control and the motion control system, is programmed to;
access a safety envelope for the vehicle;
receive indicia of an observed path from the vehicle from the sensor;
determine the observed path has breached the safety envelope;
in response to determining the safety envelope has been breached, determine whether the actuator feedback is divergent from the motion control commands;
in response to determining the actuator feedback is divergent from the motion control command, process a failure in accord with an actuator failure; and
wherein processing the failure comprises executing a mitigating action to mitigate the vehicle'"'"'s breach or potential breach of the safety envelope.
2 Assignments
0 Petitions
Accused Products
Abstract
Systems of an autonomous vehicle and the operations thereof are provided. Autonomous vehicles may rely on data inputs, processes, and output commands. Errors due to translation errors, failed or faulty equipment, connections, and other components may cause a dynamic vehicle path to approach a dynamic safe zone. If so, a warning message may be sent and processed by the motion control system, when the vehicle is responding to commands correctly, or actuator control, when the vehicle is not responding to commands correctly. Should the vehicle'"'"'s path approach the safe zone, a failure message is sent to the appropriate system for mitigation.
35 Citations
20 Claims
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1. An autonomous driving system, comprising:
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a processor, the processor further comprising circuitry and a memory; a sensor, in communication with the processor; an actuator control programmed to receive a motion control command and convert the motion control command into an actuator command; an actuator configured, in response to receiving an actuator command, to execute an operation controlling an aspect of locomotion for the vehicle and further provide an actuator feedback signal; a motion control system programmed to determine a planned path and provide motion control commands to the actuator to cause the vehicle to traverse the planned path; and wherein the processor, in communication with the actuator control and the motion control system, is programmed to; access a safety envelope for the vehicle; receive indicia of an observed path from the vehicle from the sensor; determine the observed path has breached the safety envelope; in response to determining the safety envelope has been breached, determine whether the actuator feedback is divergent from the motion control commands; in response to determining the actuator feedback is divergent from the motion control command, process a failure in accord with an actuator failure; and wherein processing the failure comprises executing a mitigating action to mitigate the vehicle'"'"'s breach or potential breach of the safety envelope. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method, comprising:
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accessing, by a processor, a safety envelope for the vehicle; receiving, by the processor, indicia of an observed path of the vehicle; determining, by the processor, the observed path has breached the safety envelope; in response to determining the safety envelope has been breached, determining, by the processor, whether the actuator feedback is divergent from the motion control commands; in response to determining the actuator feedback is divergent from the motion control command, processing, by the processor, a failure in accord with an actuator failure; in response to determining the actuator feedback is not divergent from the motion control command, processing, by the processor, the failure in accord with a motion control failure; and performing, by the processor, a mitigating action to mitigate the vehicle'"'"'s breach or potential breach of the safety envelope. - View Dependent Claims (14, 15, 16, 17, 18)
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19. A system for autonomously driving a vehicle, comprising:
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a processor, the processor further comprising circuitry and a memory; a sensor, in communication with the processor; an actuator control configured to receive a motion control command and convert the motion control command into an actuator command; an actuator configured, in response to receiving an actuator command, to execute an operation controlling an aspect of locomotion for a vehicle and further provide an actuator feedback signal; a motion control system programmed to determine a planned path and provide motion control commands to the actuator to cause the vehicle to traverse the planned path; and wherein the processor, in communication with the actuator control and the motion control system, is programmed to; access a safety envelope for the vehicle; receive indicia of an observed path from the vehicle from the sensor; determines the observed path has breached the safety envelope; in response to determining the safety envelope has been breached, determine whether the actuator feedback is divergent from the motion control commands; in response to determining the actuator feedback is divergent from the motion control command, process a failure in accord with an actuator failure; in response to determining the actuator feedback is not divergent from the motion control command, process the failure in accord with a motion control failure; and wherein processing the failure comprises executing a mitigating action to mitigate the vehicle'"'"'s breach of the safety envelope. - View Dependent Claims (20)
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Specification