# US 10,308,242 B2 · System and method for using human driving patterns to detect and correct abnormal driving behaviors of autonomous vehicles > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,308,242 B2 - Document ID: US10308242B2 - Status: Granted - Kind: B2 - Application number: 15/640,521 - Filed: 2017-07-01 - Published: 2019-01-03 - Granted: 2019-06-04 - Earliest claimed: 2017-07-01 - Assignees: Tusimple, Inc. - Applicants: TuSimple - Inventors: Wutu Lin; Liu Liu; Xing Sun - Web page: https://patentgrep.com/patent/US10308242B2 ## CPC - B60W 30/02: Control of vehicle driving stability - B60W 30/10: Path keeping {(cruise control for automatically following a preceding vehicle B60W30/165)} - B60W 50/04: Monitoring the functioning of the control system - B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention - B60W 60/0015: {specially adapted for safety} - G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00) - G05D 1/81: Handing over between on-board automatic and on-board manual control - G06N 3/09: Supervised learning - G06N 20/00: Machine learning - B60W 2050/0062: {Adapting control system settings} - B60W 2050/0075: {Automatic parameter input, automatic initialising or calibrating means} - B60W 2540/30: Driving style - B60W 2556/10: Historical data - B60W 2710/18: Braking system - B60W 2710/20: Steering systems - G06N 3/08: Learning methods - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G06N: COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS ## Abstract A system and method for using human driving patterns to detect and correct abnormal driving behaviors of autonomous vehicles are disclosed. A particular embodiment includes: generating data corresponding to a normal driving behavior safe zone; receiving a proposed vehicle control command; comparing the proposed vehicle control command with the normal driving behavior safe zone; and issuing a warning alert if the proposed vehicle control command is outside of the normal driving behavior safe zone. Another embodiment includes modifying the proposed vehicle control command to produce a modified and validated vehicle control command if the proposed vehicle control command is outside of the normal driving behavior safe zone. ## Claims ### Claim 1 A system comprising: a data processor; and a vehicle control module, executable by the data processor, the vehicle control module being configured to perform a vehicle control command validation operation for autonomous vehicles, the vehicle control command validation operation being configured to: generate data corresponding to a normal driving behavior safe zone; receive a proposed vehicle control command; compare the proposed vehicle control command with the normal driving behavior safe zone; and issue a warning alert and modify the proposed vehicle control command to produce a modified and validated vehicle control command if the proposed vehicle control command is outside of the normal driving behavior safe zone. ### Claim 2 (depends on 1) The system of claim 1 being further configured to capture data through vehicle sensor subsystems and driving simulation data to model typical human driving behaviors. ### Claim 3 (depends on 1) The system of claim 1 being further configured to plot data corresponding to typical human driving behaviors on a graph. ### Claim 4 (depends on 1) The system of claim 1 being further configured to determine a distance from a point on a graph corresponding to the proposed vehicle control command to a nearest point on or within the normal driving behavior safe zone. ### Claim 5 (depends on 1) The system of claim 1 being further configured to replace the proposed vehicle control command with a modified vehicle control command corresponding to a point, which is the closest point of the normal driving behavior safe zone to the proposed vehicle control command. ### Claim 6 (depends on 1) The system of claim 1 wherein the normal driving behavior safe zone is configured to retain information corresponding to human driving behaviors as mathematical or data representations. ### Claim 7 (depends on 1) The system of claim 1 wherein the modified and validated vehicle control command is output to a vehicle control subsystem causing the autonomous vehicle to follow a trajectory corresponding to the modified and validated vehicle control command. ### Claim 8 A method comprising: generating data corresponding to a normal driving behavior safe zone using a vehicle control module, executable by a data processor, the vehicle control module being configured to perform a vehicle control command validation operation for autonomous vehicles; receiving a proposed vehicle control command; comparing the proposed vehicle control command with the normal driving behavior safe zone; and issuing a warning alert and modify the proposed vehicle control command to produce a modified and validated vehicle control command if the proposed vehicle control command is outside of the normal driving behavior safe zone. ### Claim 9 (depends on 8) The method of claim 8 including capturing data through vehicle sensor subsystems and driving simulation data to model typical human driving behaviors. ### Claim 10 (depends on 8) The method of claim 8 including plotting data corresponding to typical human driving behaviors on a graph. ### Claim 11 (depends on 8) The method of claim 8 including determining a distance from a point on a graph corresponding to the proposed vehicle control command to a nearest point on or within the normal driving behavior safe zone. ### Claim 12 (depends on 8) The method of claim 8 including replacing the proposed vehicle control command with a modified vehicle control command corresponding to a point, which is the closest point of the normal driving behavior safe zone to the proposed vehicle control command. ### Claim 13 (depends on 8) The method of claim 8 wherein the normal driving behavior safe zone is configured to retain information corresponding to human driving behaviors as mathematical or data representations. ### Claim 14 (depends on 8) The method of claim 8 wherein the modified and validated vehicle control command is output to a vehicle control subsystem causing the autonomous vehicle to follow a trajectory corresponding to the modified and validated vehicle control command. ### Claim 15 A non-transitory machine-usable storage medium embodying instructions which, when executed by a machine, cause the machine to: generate data corresponding to a normal driving behavior safe zone using a vehicle control module, executable by a data processor, the vehicle control module being configured to perform a vehicle control command validation operation for autonomous vehicles; receive a proposed vehicle control command; compare the proposed vehicle control command with the normal driving behavior safe zone; and issue a warning alert and modify the proposed vehicle control command to produce a modified and validated vehicle control command if the proposed vehicle control command is outside of the normal driving behavior safe zone. ### Claim 16 (depends on 15) The non-transitory machine-useable storage medium of claim 15 wherein the instructions are further configured to capture data through vehicle sensor subsystems and driving simulation data to model typical human driving behaviors. ### Claim 17 (depends on 15) The non-transitory machine-useable storage medium of claim 15 wherein the instructions are further configured to determine a distance from a point on a graph corresponding to the proposed vehicle control command to a nearest point on or within the normal driving behavior safe zone. ### Claim 18 (depends on 15) The non-transitory machine-useable storage medium of claim 15 wherein the instructions are further configured to use data mining techniques to project aggregated human driver behavior sensor data from a high dimensional space to a low dimensional space.