Vehicle path-planner monitor and controller

  • US 10,635,109 B2
  • Filed: 10/17/2017
  • Issued: 04/28/2020
  • Est. Priority Date: 10/17/2017
  • Status: Active Grant
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First Claim
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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 a vehicle and further provide an actuator feedback signal;

    a motion control system programmed to determine a path boundary and provide motion control commands to the actuator to cause the vehicle to traverse the path boundary, wherein the path boundary defines an expected location of the vehicle for a particular timeframe; and

    wherein the processor, in communication with the actuator control and the motion control system, is programmed to;

    access a safe zone boundary for the vehicle, wherein the safe zone boundary defines a dynamic envelope that the vehicle may operate in to avoid identified objects while traversing the path boundary;

    determine whether the path boundary has breached the safe zone boundary;

    in response to determining that the safe zone boundary has been breached, determine whether the actuator feedback is divergent from the motion control command;

    in response to determining that the actuator feedback is divergent from the motion control command, process a failure in accordance 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 safe zone boundary.

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