Provided herein a system and method for a bracket configured to position one or more sensors 415,420,425 on a vehicle 10. A method for supporting a sensor 415,420,425 on a vehicle 10 includes: attaching an internal frame structure 250,350 to an inside of a hood of a vehicle 10 behind a g rille 125, 225 supported by the hood; and attaching an external frame structure 130 to the internal frame structure 415,420,425, where the external frame structure is positioned outside of the hood 120 in front of the grille 125, 225, where supports for the external frame structure extend through the grille and attach to the internal frame structure, where the external frame structure supports the one or more sensors415,420,.425 at a position providing a line-of-sight not visible from inside a passenger compartment of the vehicle 10.
B60R 11/04 - Mounting of cameras operative during driveArrangement of controls thereof relative to the vehicle
B60R 19/50 - Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects combined with, or convertible into, other devices or objects, e.g. bumpers combined with road brushes, bumpers convertible into beds with lights or registration plates
2.
ADAPTING AN AUTONOMOUS VEHICLE'S NAVIGATION BASED ON FEEDBACK FROM A COOLING SYSTEM
A system receives, from one or more flow rate sensor circuits, one or more signals that indicate the flow rate of coolant provided to a set of circuit boards. The one or more flow rate sensor circuits are configured to detect the flow rate of the coolant traveling from one or more pumps towards the set of circuit boards. The one or more pumps are configured to direct a flow of the coolant towards the set of circuit boards. The system compares the flow rate of the coolant to a threshold flow rate. The system determines that a total flow rate of the coolant is less than the threshold flow rate. The system causes the autonomous vehicle to perform a minimal risk maneuver in response to determining that the flow rate of the coolant is less than the threshold flow rate.
An example sensor system for use with a vehicle includes a first group of sensing devices that are associated with an essential level of autonomous operation of the vehicle. The first group of sensing devices are configured and intended for continuous use while the vehicle is being autonomously operated. The sensor system further includes a second group of sensing devices that are associated with a non-essential level of autonomous operation of the vehicle. For example, the second group of sensing devices are configured to be redundant to and/or to enhance the performance of the first group of sensing devices. The second group operates in response to certain conditions being determined during autonomous operation of the vehicle. The sensor system further includes a plurality of assemblies attached to the vehicle. Each assembly includes two or more sensing devices from the first group and/or the second group.
A cooling system for an autonomous vehicle receives a first flow rate data from a first flow rate sensor circuit and a second flow rate data from a second flow rate sensor circuit. The first flow rate data indicates a first flow rate of the liquid coolant flowing out of a first pump. The second flow rate data indicates a second flow rate of the liquid coolant flowing out of a second pump. The system detects that the first flow rate of the liquid coolant is less than a threshold flow rate. In response, the system communicates, to the second pump, a signal that indicates to increase a speed of the second pump to increase the second flow rate of the liquid coolant flowing out of the second pump and compensate for the first flow rate that is less than the threshold flow rate.
A sensor housing is provided that is configured to be mounted to a roof of a vehicle. The sensor housing includes a frame defining a plurality of cavities and a plurality of windows opening into respective cavities. The sensor housing also includes a plurality of sensors, at least some of which are disposed within the respective cavities defined by the frame. The sensors disposed within the respective cavities are oriented relative to the frame such that fields of view of the sensors that are disposed within the respective cavities defined by the frame are directed through the windows that open into the respective cavities. At least one of the plurality of sensors may include a camera mounted to the frame so as to be exterior to the vehicle and oriented such that a field of view of the camera is directed into a cabin of the vehicle.
Provided herein is a system and method for vibration mitigation at a sensor of a vehicle including at least one sensor; a bracket (500) configured to support the at least one sensor; a sheet metal structure (510) having a first major surface along which the sheet metal structure (510) extends, and a second major surface opposite the first major surface; and a backing plate (550) where the bracket (500) is disposed adjacent to the first major surface of the sheet metal structure (510), where the backing plate (550) is disposed adjacent to the second major surface of the sheet metal structure (510), and where two or more fasteners (560) secure the backing plate (550) to the bracket (500) through the sheet metal structure (510).
A modular enclosure is configured to house a set of components that facilitate the autonomous functions of an autonomous vehicle while meeting a set of requirements. The set of components comprises a sensor processing unit configured to detect objects from sensors associated with the autonomous vehicle, a compute unit configured to determine a navigation path for the autonomous vehicle, a vehicle control unit configured to control the autonomous function of the autonomous vehicle, a communication gateway configured to establish communication of the autonomous vehicle, and a data diagnostics unit configured to determine a health data for at least one component of the autonomous vehicle. The set of requirements comprises a space requirement, a communication requirement, a cooling requirement, and a shock absorption requirement.
The present disclosure provides a data processing system, method, and device for monitoring a high definition map data collection trip. A current vehicle location is determined. Whether the vehicle is following a planned route linked to a data collection trip, based on the current vehicle location is determined. On a condition that the vehicle is not following the planned route, a reason why the vehicle is not following the planned route is determined. An alert is generated, displayed on an in-vehicle navigation device, and uploaded with the reason to a command center.
Provided herein is a system and method for a sensor housing that mitigates glare within the field-of-view and facilitates cleaning of a sensor lens. A sensor assembly (600) includes: a sensor having a sensor lens (616) and a field-of-view through the sensor lens; and a baffle (612) defining a sensor lens aperture, where the field-of-view through the sensor lens (616) is through the sensor lens aperture, where the baffle (616) includes a series of concentric rings extending away from the sensor lens aperture and increasing in diameter as a distance from the sensor lens aperture increases. According to some embodiments, the series of concentric rings defines a viewing angle, where the viewing angle corresponds to the field-of-view of the sensor lens. The sensor assembly (600) may comprise an injector (620) received within a port (618) of the baffle (612) and configured to direct a spray pattern (630) of cleaning fluid toward the sensor lens (616).
A method (800) of operating an autonomous vehicle (105, 210, 300, 400), comprising activating, by a processor on the autonomous vehicle (105, 210, 300, 400), a first set of lights in response to determining that the autonomous vehicle (105, 210, 300, 400) has come to a stop due to a critical situation, wherein the first set of lights have an illumination intensity brighter than a second set of lights used in a non-critical situation, wherein the first set of lights form a pattern indicative of a size of the autonomous vehicle (105, 210, 300, 400) wherein the first set of lights are disposed on a base that is detachable from the autonomous vehicle (105, 210, 300, 400).
B60Q 1/52 - Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking for indicating emergencies
B60Q 1/30 - Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating rear of vehicle, e.g. by means of reflecting surfaces
B60Q 1/00 - Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
Provided herein is a system and method for damping the steering of a vehicle. Methods of an example include: steering a pair of steerable wheels of the vehicle with a steering mechanism about an axis substantially perpendicular to an axis of rotation of a respective one of the pair of steerable wheels; damping the steering mechanism at a first damping rate in response to a steering change rate of the pair of steerable wheels being below a predetermined rate; and damping the steering mechanism at a second damping rate in response to the steering change rate of the pair of steerable wheels being above the predetermined rate.
A control device associated with an autonomous vehicle detects that a person is altering traffic on a road using a hand signal. The control device determines an interpretation of the hand signal. The control device transmits the hand signal interpretation to an oversight server. The oversight server verifies the hand signal interpretation and communicates an instruction to navigate the autonomous vehicle according to the verified hand signal interpretation. The control device determines a proposed trajectory for the autonomous vehicle according to the interpretation of the hand signal. The control device navigates the autonomous vehicle according to the proposed trajectory.
A sensor failure detection system receives sensor data from sensors associated with an autonomous vehicle. For evaluating a first sensor, the system compares the first sensor data captured by the first sensor to each of map data and other sensor data captured by other sensors. If it is determined that the first sensor fails to detect object(s) that are confirmed to be on the road by the map data and the other sensor data, the system determines that the first sensor fails to detect the object(s) and is not reliable. In response, the system may determine whether the autonomous vehicle can be navigated safely without relying on the first sensor. If it is determined that the autonomous vehicle can be navigated safely without relying on the first sensor, the system may continue autonomous navigation of the autonomous vehicle.
A system accesses cellular information and network information. The cellular information provides information about cellular coverage along a road. The cellular information also provides information about cellular coverage with respect to multiple network providers. The network information provides information about network communication conditions along the road. The network information is detected from communications with a remote server. The system determines network coverage along the road based on the cellular information and the network information. The system creates a cellular map that indicates the determined network coverage along the road.
H04W 4/021 - Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
H04W 4/029 - Location-based management or tracking services
H04W 4/40 - Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
H04W 4/44 - Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
A system comprises a microphone array and a processor. The microphone array detects first sound signal and the second sound signal. Each of the first and second sound signals has a particular frequency band. Each of the first and second sound signals is originated from a particular sound source. The processor receives the first and second sound signals. The processor amplifies the first sound signals, each with a different amplification order. The processor disregards the second sound signal, where the second sound signal includes interference noise signals. The processor determines that the first sound signals indicate that a vehicle is within a threshold distance from an autonomous vehicle and traveling in a direction toward the autonomous vehicle. In response, the processor instructs the autonomous vehicle to perform a minimal risk condition operation. The minimal risk condition operation includes pulling over or stopping the autonomous vehicle.
G05D 1/243 - Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals
B60W 60/00 - Drive control systems specially adapted for autonomous road vehicles
G01S 3/00 - Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
Systems and methods for deployment on an autonomous vehicle are provided. In some example embodiments, the system includes a first compute unit and a second compute unit, in which the first compute unit is configured to receive first information of the vehicle and an environment of the vehicle, generate a first control command based on the first information, and transmit the first control command to a controller of the vehicle to effectuate an autonomous operation of the vehicle; and the second compute unit is configured to receive second information of the vehicle and the environment of the vehicle, generate a second control command based on the second information, and only when a fault or failure of the first compute unit is detected, transmits the second control command to the controller of the vehicle to effectuate the autonomous operation of the vehicle.
Embodiments are disclosed for providing full and redundant sensor coverage for an environment surrounding a vehicle. An example vehicle includes a plurality of first cameras and a plurality of second cameras. The first cameras are associated with a first field-of-view (FOV) having a first horizontal aspect, and the second cameras are associated with a second FOV having a second horizontal aspect. The first cameras and the second cameras are located at different angular locations on the vehicle along a horizontal plane. Horizontal aspects of two FOVs of any two consecutive cameras located along the horizontal plane overlap in the horizontal plane by at least a predetermined degree. Another example vehicle includes a controller for controlling autonomous driving operation of the vehicle and a sensor network that includes at least six sensors. Directional beams corresponding to the sensors cover a surrounding region of the vehicle relevant to the autonomous driving operation.
H04N 23/90 - Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
H04N 23/69 - Control of means for changing angle of the field of view, e.g. optical zoom objectives or electronic zooming
H04N 23/695 - Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
H04N 23/698 - Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
B60R 1/00 - Optical viewing arrangementsReal-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
B60R 1/22 - Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
B60R 1/27 - Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view providing all-round vision, e.g. using omnidirectional cameras
B60R 1/28 - Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with an adjustable field of view
G06V 20/58 - Recognition of moving objects or obstacles, e.g. vehicles or pedestriansRecognition of traffic objects, e.g. traffic signs, traffic lights or roads
18.
TECHNIQUES TO CONTROL AN ENGINE FOR AUTONOMOUS DRIVING OPERATIONS
The technology enables an in-vehicle control computer located in an autonomous vehicle to control an output of a propulsion apparatus based on an estimate of the electrical load of one or more devices on or in the autonomous vehicle. An example method of autonomous driving operation includes determining, at a first time, by a computer located in the vehicle, a second energy or power consumption value of a plurality of devices that are expected to operate at a second time later than the first time, where the second energy or power consumption value is a different than a first energy or power consumption value of the plurality of devices at the first time,; and sending, by the computer, the second energy or power consumption value to control an engine or a motor located in the vehicle.
B60W 10/06 - Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
B60W 10/08 - Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
B60W 10/30 - Conjoint control of vehicle sub-units of different type or different function including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
B60W 30/188 - Controlling power parameters of the driveline, e.g. determining the required power
B60W 50/00 - Details of control systems for road vehicle drive control not related to the control of a particular sub-unit
An autonomous vehicle can include a compute controller that can efficiently perform autonomous driving operations. An apparatus for autonomous vehicle operation comprises an electrical board that includes a plurality of semiconductor devices; a first switch device that is electrically coupled to the plurality of semiconductor devices via a first communication bus of the electrical board; and a second switch device that is electrically coupled to the plurality of semiconductor devices via a second communication bus of the electrical board, where the second switch device is configured to route data between any two or more of the plurality of semiconductor devices using the second communication bus, and where a first data carrying capacity of the first communication bus is independent of a second data carrying capacity of the second communication bus.
Systems and methods for detecting restricted traffic zones for autonomous driving are disclosed. In one aspect, method, includes receiving output from a perception system of an autonomous vehicle and detecting, based on the output from the perception system, one or more objects indicating a presence of a restricted traffic zone. The method may further include determining that the autonomous vehicle is entering the restricted traffic zone based on at least one of a prior map, an obstruction map, and the detected one or more objects.
A system comprises a fleet of autonomous vehicles, a terminal, and an autonomous freight network (AFN) management device. The AFN management device receives information indicating that an autonomous vehicle is inbound to the terminal. The AFN management device determines locations of objects within the terminal based on sensor data. The AFN management device determines landing instructions indicating to avoid the locations of objects detected from the sensor data. The AFN management device communicates the landing instructions to the autonomous vehicle. A control device associated with the autonomous vehicle determines a route to reach a landing pad within the terminal based on the landing instructions. The control device instructs the autonomous vehicle to travel along the route.
A system comprises an autonomous vehicle and a control device. The control device detects an event trigger that impacts the autonomous vehicle. In response, to detecting the event trigger, the control device enters the autonomous vehicle into a first degraded autonomy mode, In the first degraded autonomy mode, the control device communicates sensor data to an oversight server. The control device receives high-level commands from the oversight server. The one or more high-level commands indicate minimal risk maneuvers for the autonomous vehicle. The control device receives a maximum traveling speed for the autonomous vehicle from the oversight server. The control device navigates the autonomous vehicle using an adaptive cruise control according to the one or more high-level commands and the maximum traveling speed.
A control subsystem, method and computer program product are provided to detect the failure of a tire of an autonomous vehicle (AV) and to direct a response to the tire failure that has been detected that is appropriate under the circumstances. In this regard, the control subsystem includes processing circuitry configured to receive signals from microphone(s) carried by the AV. The processing circuitry is configured to evaluate signal characteristics of the signals to identify signals indicative of a tire failure. In an instance in which a tire failure is identified, the processing circuitry is configured to determine a type of the tire failure based upon the signal characteristics. The processing circuitry is further configured to determine remedial action to be taken based at least in part upon the type of tire failure. Different remedial actions are determined to be taken for different types of tire failures.
B60C 23/06 - Signalling devices actuated by deformation of the tyre
B60W 40/12 - Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit related to parameters of the vehicle itself
24.
DYNAMIC ALLOCATION OF COMMUNICATION NETWORK RESOURCES FOR AUTONOMOUS VEHICLES
Various embodiments of the present invention provide methods, apparatus, systems, computing devices, computing entities, and/or the like for dynamic allocation of communication network resources by an autonomous vehicle. For example, certain embodiments of the present invention utilize systems, methods, and computer program products that determine a data transmission prioritization policy and cause an auxiliary data object to be provided based at least in part on the data transmission prioritization policy.
H04W 72/566 - Allocation or scheduling criteria for wireless resources based on priority criteria of the information or information source or recipient
25.
ADAPTIVE ILLUMINATION SYSTEM FOR AN AUTONOMOUS VEHICLE
A system (100) comprises a headlight (110) mounted on an autonomous vehicle (502). The headlight (110) is configured to illuminate at least a portion of a road (102) the autonomous vehicle (502) is on. The system (100) further comprises a control device (550) associated with the autonomous vehicle (502). The processor (122, 570) obtains information (310) about an environment around the autonomous vehicle (502). The processor (122, 570) determines that at least a portion of the road (102) should be illuminated if the information (310) indicates that an illumination level (340) of the portion of the road (102) is less than a threshold illumination level (342). The processor (122, 570) adjusts the headlight (110) to illuminate at least the portion of the road (102) in response to determining that at least the portion of the road (102) should be illuminated.
B60Q 1/14 - Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights having dimming means
B60Q 1/24 - Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments for lighting other areas than only the way ahead
A gateway processor coordinates communication among an autonomous vehicle components boundary domain, a vehicle boundary domain, and an oversight server. The gateway processor receives a message from the oversight server. The gateway processor determines a priority level, a domain tag data, and destination data associated with the message. The priority level indicates a scheduling requirement associated with the message. The domain tag data indicates that the message is associated with a particular domain from among the autonomous vehicle components boundary domain, the vehicle components boundary domain, or the security domain. The destination data indicates that the message is designated to a particular component within the particular domain. In response, the gateway processor schedules the message to be transmitted to the particular domain. The gateway processor routes the message to the particular component.
H04W 4/48 - Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for in-vehicle communication
H04L 47/24 - Traffic characterised by specific attributes, e.g. priority or QoS
H04W 4/40 - Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
H04W 4/46 - Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
A mobile terminal system includes equipment used to establish a terminal site with at least one landing pad sized and shaped to accommodate an autonomous vehicle of a fleet. A control subsystem determines that an autonomous vehicle of the fleet is in-bound to the established terminal site. After determining the in-bound autonomous vehicle, landing instructions are determined that indicate a landing pad in which the inbound autonomous vehicle is to stop and a route that the in-bound autonomous vehicle is to travel along to reach the landing pad. The landing instructions are provided to the in-bound autonomous vehicle. The landing instructions cause the in-bound autonomous vehicle to travel along the route to the landing pad.
A system includes an autonomous vehicle and an oversight server. The oversight server receives status data from the autonomous vehicle. The oversight server determines that a service is needed to be provided to the autonomous vehicle based on the status data. The oversight server determines an updated routing plan for the autonomous vehicle so that the service is provided to the autonomous vehicle. The oversight server communicates instructions that implement the updated routing plan to the autonomous vehicle.
A system for implementing a lane bias maneuver to negotiate a curved road comprises an autonomous vehicle and a control device. The control device determines that the autonomous vehicle is approaching a curved road. The control device determines a road radius of the curved road. The control device calculates a first lane bias adjustment amount associated with a road curvature of the curved road based on the road radius. The control device calculates a second lane bias adjustment amount associated with a trailer angle between a trailer and a semi-truck tractor unit of the autonomous vehicle. The control device calculates a total lane bias adjustment amount by combining the first and second lane bias adjustment amounts. The control device instructs the autonomous vehicle to perform a lane bias maneuver that comprises driving the autonomous vehicle off-center in a curved lane based on the total lane bias adjustment amount.
A control device (850) associated with an autonomous vehicle (802) detects that a person is altering traffic on a road using a hand signal. The control device determines an interpretation of the hand signal. The control device determines a proposed trajectory for the autonomous vehicle according to the interpretation of the hand signal and transmits the proposed trajectory to an oversight server (160). The oversight server determines whether the hand signal is in use to alter the traffic. The oversight server also determines whether the proposed trajectory causes the autonomous vehicle to go out of a pre- mapped area where the autonomous vehicle is able to autonomously travel. In response to determining that the hand signal is in use and that the proposed trajectory does not cause the autonomous vehicle to go out of the pre-mapped area, the oversight server transmits an instruction that indicates to perform the proposed trajectory to the control device.
G06V 20/58 - Recognition of moving objects or obstacles, e.g. vehicles or pedestriansRecognition of traffic objects, e.g. traffic signs, traffic lights or roads
G06V 40/20 - Movements or behaviour, e.g. gesture recognition
G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
31.
AUTONOMOUS VEHICLE AND METHOD OF MODIFYING CONTROL OF AUTONOMOUS VEHICLE
Systems and methods for situational behavior of an autonomous vehicle are disclosed. In one aspect, an autonomous vehicle includes at least one perception sensor configured to generate perception data indicative of at least one other vehicle on a roadway, a non-transitory computer readable medium, and a processor. The processor is configured to determine that the other vehicle is violating one or more rules of the roadway based on the perception data, tag the other vehicle as a non-compliant driver, and modify control of the autonomous vehicle in response to tagging the other vehicle as a non-compliant driver.
A control device associated with an autonomous vehicle (1002) receives sensor data (130) and detects that the autonomous vehicle is approaching a railroad crossing (104) based on the sensor data. The control device determines a target lane (112) to travel while crossing the railroad. The target lane is a lane that has available space with at least a length of the autonomous vehicle on the other side of the railroad as opposed to a side of the railroad where the autonomous vehicle is currently traveling. The control device instructs the autonomous vehicle to travel on the target lane. The control device determines that no train is approaching the railroad crossing. The control device instructs the autonomous vehicle to cross the railroad if the target lane still provides available space with at least the length of the autonomous vehicle on the other side of the railroad.
B60W 60/00 - Drive control systems specially adapted for autonomous road vehicles
B60W 30/17 - Control of distance between vehicles, e.g. keeping a distance to preceding vehicle with provision for special action when the preceding vehicle comes to a halt, e.g. stop and go
A control device (850) associated with an autonomous vehicle (802) detects that a construction worker is altering traffic on a road using a construction zone-related hand signal to divert the traffic from a construction site. The control device determines an interpretation of the construction zone-related hand signal. The control device determines a proposed trajectory for the autonomous vehicle according to the interpretation of the construction zone-related hand signal. In certain embodiments, the control device may navigate the autonomous vehicle according to the interpretation of the construction zone-related hand signal. In certain embodiments, the control device may transmit the proposed trajectory to an oversight server (160) for confirmation. In certain embodiments, the oversight server may confirm or override the proposed trajectory.
G06V 20/58 - Recognition of moving objects or obstacles, e.g. vehicles or pedestriansRecognition of traffic objects, e.g. traffic signs, traffic lights or roads
G06V 40/20 - Movements or behaviour, e.g. gesture recognition
G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
34.
SYSTEMS AND METHODS FOR OPERATING AN AUTONOMOUS VEHICLE
A method of operating an autonomous vehicle (302) comprises: detecting, by a controller disposed on the autonomous vehicle, that a motorcycle is operating on a roadway on which the autonomous vehicle is located; classifying, by the controller, a behavior state of the motorcycle based on a location of the motorcycle relative to a split zone (602) that extends between and into two adjacent lanes (604) of the roadway, wherein the behavior state indicates whether the motorcycle is lane splitting; determining, by the controller based on the behavior state of the motorcycle, a lane permission parameter for the autonomous vehicle that controls whether a given trajectory determined for the autonomous vehicle is permitted to extend into one of the two adjacent lanes; and causing, by the controller, the autonomous vehicle to operate in accordance with a trajectory that satisfies the lane permission parameter based on transmitting instructions related to the trajectory to one or more subsystems of the autonomous vehicle.
B60W 60/00 - Drive control systems specially adapted for autonomous road vehicles
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
G06V 20/58 - Recognition of moving objects or obstacles, e.g. vehicles or pedestriansRecognition of traffic objects, e.g. traffic signs, traffic lights or roads
B60W 30/09 - Taking automatic action to avoid collision, e.g. braking and steering
A system (100) for implementing adaptive light distributions for an autonomous vehicle (comprises the autonomous vehicle, a control device, and a headlight associated with the autonomous vehicle. The control device (750) receives sensor data (130) from sensors of the autonomous vehicle (702), where the sensor data (130) comprises an image (132) of one or more objects (104) on a road traveled by the autonomous vehicle (702). The control device (750) determines that a light condition level (134) on a particular portion of the image (132) is less than a threshold light level. The control device (750) adjusts the headlight (110) to increase illumination on a particular part of the road that is shown in the particular portion of the image (132).
B60Q 1/08 - Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically
B60Q 1/14 - Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights having dimming means
B60Q 1/24 - Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments for lighting other areas than only the way ahead
G06V 20/58 - Recognition of moving objects or obstacles, e.g. vehicles or pedestriansRecognition of traffic objects, e.g. traffic signs, traffic lights or roads
An autonomous vehicle includes audio sensors configured to detect audio in an environment around the autonomous vehicle and to generate audio signals based on the detected audio. A processor in the autonomous vehicle receives the audio signals and compares a time domain or frequency domain representation of the audio signals to a corresponding representation of a known emergency vehicle siren. The comparison causes the processor to output a first determination indicating whether the audio signals are indicative of an emergency vehicle siren. The processor also applies a trained neural network to the audio signals that causes the processor to output a second determination indicating whether the audio signals are indicative of the emergency vehicle siren. If the first determination or the second determination indicates presence of an emergency vehicle siren in the environment around the autonomous vehicle, the autonomous vehicle is caused to perform an action.
G08G 1/0965 - Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages responding to signals from another vehicle, e.g. emergency vehicle
B60W 60/00 - Drive control systems specially adapted for autonomous road vehicles
37.
DETERMINING MECHANICAL HEALTH AND ROAD CONDITIONS ENCOUNTERED BY AUTONOMOUS VEHICLES
Disclosed are methods, apparatuses, and computer implemented methods to improve the reliability and safety of the autonomous vehicles. In one aspect, a method for determining an environmental exposure of an autonomous vehicle is disclosed. The method includes obtaining sensor data from one or more shock or vibration sensors mounted to the autonomous vehicle and determining a level of vibrations or a level of shock at the autonomous vehicle based on the obtained sensor data. The method further includes adding the level of vibrations of the autonomous vehicle to an accumulated level of vibrations of the autonomous vehicle and determining whether the accumulated level of vibrations of the autonomous vehicle exceeds a predetermined threshold value for the accumulated level of vibrations of the autonomous vehicle.
A method of operating an autonomous vehicle (105) includes determining, by the autonomous vehicle, whether a target (320, 350, 360) is in an intended maneuver zone (330) around the autonomous vehicle (105); generating, by the autonomous vehicle, a signal in response to determining that the target (320, 350, 360) is within the intended maneuver zone (330) around the autonomous vehicle (105); determining, by the autonomous vehicle (105) and based on perception information acquired by the autonomous vehicle, whether the target (320, 350, 360) has left the intended maneuver zone (330) around the autonomous vehicle (105); and determining, by the autonomous vehicle, that it is safe to perform the intended maneuver in response to determining, by the autonomous vehicle (105), that the target (320, 350, 360) is not in the intended maneuver zone (330) or in response to determining, by the autonomous vehicle (105), that the target (320, 350, 360) has left the intended maneuver zone (330).
B60W 30/095 - Predicting travel path or likelihood of collision
B60W 60/00 - Drive control systems specially adapted for autonomous road vehicles
B60Q 1/26 - Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
39.
SYSTEMS AND METHODS FOR OPERATING AN AUTONOMOUS VEHICLE
An autonomous vehicle (AV) includes features that allows the AV to comply with applicable regulations and statues for performing safe driving operation. An example system for an AV includes a communications gateway device. The communications gateway device includes a plurality of modules each configured for different communication mediums or applications. In particular, the plurality of modules includes a first module for communicating with a remote computer. Via the first module, vehicle operational data is reported to the remote computer, and instructional data is received from the remote computer. The modules further include a second module for communicating with devices located within a vicinity external to the vehicle, and a third module configured to communicate with subsystems located within the vehicle. The example AV system includes a second communications gateway device that is configured to be redundant.
H04W 4/44 - Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
B60W 30/00 - Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
B60W 50/00 - Details of control systems for road vehicle drive control not related to the control of a particular sub-unit
B60W 60/00 - Drive control systems specially adapted for autonomous road vehicles
40.
SYSTEMS AND METHODS FOR OPERATING AN AUTONOMOUS VEHICLE
An autonomous vehicle (AV) includes features that allows the AV to comply with applicable regulations and statues for performing safe driving operation. Example embodiments disclosed herein provide enhanced high-precision operation of an AV in low- speed environments, such as a toll booth facility or heavy traffic. One example method disclosed herein includes a control computer identifying a starting point of the toll booth facility on the roadway and a plurality of toll lanes associated with the toll booth facility; selecting a particular toll lane; determining a trajectory for the AV that extends through the particular toll lane; and in response to the autonomous vehicle arriving at the starting point for the toll booth facility, transmitting, over a subsystem interface to one or more drive subsystems of the AV, instructions configured to cause the drive subsystems to operate together to cause the AV to travel according to the trajectory.
An autonomous vehicle (AV) includes features that allows the AV to comply with applicable regulations and statues for performing safe driving operation. An example method for operating an AV includes receiving, from a sensor located on the AV, sensor data that captures a road sign located at a distance from the AV that is operating on a roadway; obtaining, from the sensor data, roadway information indicated by the road sign that corresponds to a segment of the roadway associated with the road sign that is ahead of a current position of the AV on the roadway; determining trajectory-related information for the AV for the distance that is based on the roadway information obtained from the sensor data; and causing the AV to travel in accordance with the trajectory-related information until a determination that the AV has arrived within the segment of the roadway associated with the road sign.
B60W 50/00 - Details of control systems for road vehicle drive control not related to the control of a particular sub-unit
B60W 60/00 - Drive control systems specially adapted for autonomous road vehicles
G06V 20/58 - Recognition of moving objects or obstacles, e.g. vehicles or pedestriansRecognition of traffic objects, e.g. traffic signs, traffic lights or roads
42.
SYSTEMS AND METHODS FOR OPERATING AN AUTONOMOUS VEHICLE
An autonomous vehicle (AV) includes features that allows the AV to comply with applicable regulations and statues for performing safe driving operation. An example method for operating the AV includes determining a trajectory related information of a vehicle operating on a roadway on which the AV is operating; receiving sensor data of a first area that includes the vehicle; determining an additional trajectory related information for the AV by comparing the trajectory related information of the vehicle to a current trajectory related information of the AV, wherein the additional trajectory related information is based on a category to which the vehicle belongs, and wherein the additional trajectory related information allows the AV to maintain at least a distance between the AV and the vehicle; and causing the AV to operate in accordance with the additional trajectory related information.
B60W 60/00 - Drive control systems specially adapted for autonomous road vehicles
B60W 30/16 - Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
G08G 1/0965 - Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages responding to signals from another vehicle, e.g. emergency vehicle
43.
SYSTEMS AND METHODS FOR OPERATING AN AUTONOMOUS VEHICLE
An autonomous vehicle (AV) includes features that allows the AV to comply with applicable regulations and statues for performing safe driving operation. An example method for operating an AV includes receiving, by a computer located in the AV, sensor data that indicates a condition of one or more devices in the AV or of a roadway on which the autonomous vehicle is operating; and causing, by the computer and based on the sensor data, the autonomous vehicle to operate in accordance with a maneuver by sending instructions to one or more devices in the autonomous vehicle, wherein the maneuver is configured to bring the autonomous vehicle to a complete stop. In some embodiments, the maneuver may be selected from a plurality of maneuvers in response to determining an occurrence of a fault condition based on the sensor data.
An autonomous vehicle (AV) includes features that allows the AV to comply with applicable regulations and statues for performing safe driving operation. An example system for an AV includes obtaining, by a computer located in the AV, an image from a camera located on the AV, where the image characterizes an area towards which the AV is driven on a lane on a road or a highway; determining, from the image, that a pedestrian or a cyclist is located next to the lane on the road or the highway; and in response to the determining, performing driving operations on the AV such as steering from a center of the lane to a first side of the lane that is away from the center of the lane and away from a location of the pedestrian or the cyclist, and/or slowing down the AV in response to certain conditions.
B60Q 1/34 - Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction
G06V 20/58 - Recognition of moving objects or obstacles, e.g. vehicles or pedestriansRecognition of traffic objects, e.g. traffic signs, traffic lights or roads
Various embodiments of the disclosed technology provide a system and method for iterative lane marking localization that may be utilized by autonomous or semi-autonomous vehicles traveling within the lane. In an embodiment, the system comprises a locating device to determine the vehicle's geographic location; a database; a region map; a response map; a plurality of cameras; and a computer connected to the locating device, database, and cameras. The computer is adapted to receive the region map corresponding to a specified geographic location; generate the response map by receiving, from the camera, information relating to the environment in which the vehicle is located, identifying lane markers observed by the camera, and plotting identified lane markers on the response map; compare the response map to the region map; and iteratively generate a predicted vehicle location based on the comparison of the response map and the region map.
A system and method for three-dimensional (3D) object detection is disclosed. A particular embodiment can be configured to: receive image data from at least one camera associated with an autonomous vehicle, the image data representing at least one image frame; use a trained deep learning module to determine pixel coordinates of a two-dimensional (2D) bounding box around an object detected in the image frame; use the trained deep learning module to determine vertices of a three-dimensional (3D) bounding box around the object; use a fitting module to obtain geological information related to a particular environment associated with the image frame and to obtain camera calibration information associated with the at least one camera; and use the fitting module to determine 3D attributes of the object using the 3D bounding box, the geological information, and the camera calibration information.
Disclosed are devices, systems and methods for securing wireless communications between a remote monitor center and a vehicle by using redundancy measures to increase the robustness of the system. In some embodiments, a system may include redundant communication channels, deploy redundant hardware and software stacks to enable switching to a backup in an emergency situation, and employ hypervisors at both the remote monitor center and the vehicle to monitor hardware and software resources and perform integrity checks. In other embodiments, message digests based on a cryptographic hash function and a plurality of predetermined commands are generated at both the remote monitor center and the vehicle, and compared to ensure the continuing integrity of the wireless communication system.
G06F 9/06 - Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
G08B 25/00 - Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
G05D 1/02 - Control of position or course in two dimensions
48.
MONITORING SYSTEM FOR AUTONOMOUS VEHICLE OPERATION
Disclosed are devices, systems and methods for a monitoring system for autonomous vehicle operation. In some embodiments, a vehicle may perform self-tests, generate a report based on the results, and transmit it to a remote monitor center over one or both of a high-speed channel for regular data transfers or a reliable channel for emergency situations. In other embodiments, the remote monitor center may determine that immediate intervention is required, and may transmit a control command with high priority, which when received by the vehicle, is implemented and overrides any local commands being processed. In yet other embodiments, the control command with high priority is selected from a small group of predetermined control commands the remote monitor center may issue.
G07C 5/00 - Registering or indicating the working of vehicles
B60W 40/00 - Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit
B60W 40/02 - Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit related to ambient conditions
patents
