# US 10,373,265 B1 · Accident fault determination for autonomous vehicles > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,373,265 B1 - Document ID: US10373265B1 - Status: Granted - Kind: B1 - Application number: 15/907,380 - Filed: 2018-02-28 - Granted: 2019-08-06 - Earliest claimed: 2014-05-20 - Assignees: State Farm Mutual Automobile Insurance Company - Applicants: State Farm Mutual Automobile Insurance Company - Inventors: Blake Konrardy; Scott T. Christensen; Gregory L. Hayward; Scott Farris - Web page: https://patentgrep.com/patent/US10373265B1 ## CPC - G06Q 40/08: Insurance - B60W 50/0205: {Diagnosing or detecting failures; Failure detection models} - G06Q 40/00: Finance; Insurance; Tax strategies; Processing of corporate or income taxes - G07C 5/008: {communicating information to a remotely located station (transmission systems for measured values G08C)} - G07C 5/08: Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time - G07C 5/0808: {Diagnosing performance data (testing of vehicles G01M17/00; testing of electrical installation on vehicles G01R31/005)} - G07C 5/085: {using electronic data carriers} - G06Q: INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR - 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 - G07C: TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE ## Abstract Methods and systems for determining fault for an accident involving a vehicle having one or more autonomous and/or semi-autonomous operation features are provided. According to certain aspects, performance data indicative of the performance of the features may be used to determine fault for a vehicle accident, such as a collision, by allocating fault for the accident between a vehicle operator, the autonomous operation features, or a third party. The allocation of fault may be used to determine an adjustment to an insurance policy and/or adjust coverage levels for an insurance policy. The allocation of fault may further be used to adjust risk levels or profiles associated with the autonomous or semi-autonomous operation features, which may be applied to other vehicles having the same or similar features. ## Claims ### Claim 1 A computer system for determining fault for a vehicle collision involving a vehicle, the computer system comprising one or more processors or transceivers of a server configured to: receive, at the server via a communication network, a vehicle data log including (a) vehicle-mounted sensor data generated by one or more sensors of the vehicle, and (b) autonomous feature data regarding use, configuration, or settings of one or more autonomous features before or during the vehicle collision, the autonomous feature data including a plurality of control signals generated by one or more autonomous vehicle technologies to control the vehicle; analyze, by the server, entries in the vehicle data log regarding (a) the vehicle-mounted sensor data, and (b) autonomous feature data regarding the use, configuration, or settings of the one or more autonomous features before or during the vehicle collision to determine an operating control status of the vehicle at a time of the vehicle collision; and when the vehicle was operating in an autonomous mode before or during the vehicle collision: evaluate, by the server, the plurality of control signals indicated by entries of the vehicle data log to identify control actions attempted by the one or more autonomous vehicle technologies; determine, by the server, responses of the vehicle to the control actions attempted by the one or more autonomous vehicle technologies based upon the vehicle-mounted sensor data of the vehicle log; determine, by the server and based upon the identified control actions and responses of the vehicle to the control actions, fault contributions for the vehicle collision for each of (i) one or more autonomous features that failed to generate control signals to control the vehicle to avoid the vehicle collision, and (ii) one or more hardware components of the vehicle that failed to implement the control signals generated by the one or more autonomous features; and determine and assign, by the server, a percentage of fault for the vehicle collision to the one or more autonomous features that were in control of the vehicle at the time of the vehicle collision based upon the determined fault contributions. ### Claim 2 (depends on 1) The computer system of claim 1, the computer system further configured to: perform, by the server, one or more of the following actions based upon the assigned percentage of fault: adjust an insurance policy associated with the vehicle, determine a coverage level associated with the insurance policy, present the determination to a reviewer to verify the assigned percentage of fault, or present the determination to a customer for review of the assigned percentage of fault. ### Claim 3 (depends on 1) The computer system of claim 1, wherein the percentage of fault for the vehicle collision is assigned to the one or more autonomous features only after the one or more processors determine that the one or more autonomous features attempted to return control of the vehicle to a vehicle operator prior to the vehicle collision, but failed to provide sufficient time to transfer control. ### Claim 4 (depends on 1) The computer system of claim 1, wherein determining the percentage of fault for the vehicle collision that is assigned to the one or more autonomous features involves the one or more processors determining a point of impact on the vehicle. ### Claim 5 (depends on 1) The computer system of claim 1, wherein determining the percentage of fault for the vehicle collision that is assigned to the one or more autonomous features involves the one or more processors determining, based upon control signals or outputs from the one or more autonomous vehicle technologies operation features before or during the vehicle collision, whether the one or more autonomous features were ineffective in controlling the vehicle. ### Claim 6 (depends on 1) The computer system of claim 1, wherein determining the percentage of fault for the vehicle collision that is assigned to the one or more autonomous features involves the one or more processors determining the vehicle collision resulted from physical defects in physical components of the one or more autonomous features or systems. ### Claim 7 (depends on 1) The computer system of claim 1, wherein determining the percentage of fault for the vehicle collision that is assigned to the one or more autonomous features involves the one or more processors determining that the one or more autonomous features had a chance to avoid the vehicle collision, but no action was taken. ### Claim 8 (depends on 1) The computer system of claim 1, wherein determining the percentage of fault for the vehicle collision that is assigned to the one or more autonomous features involves the one or more processors determining the vehicle's environmental conditions associated with the vehicle before or during the vehicle collision, and using the one or more autonomous features' test or known performance of the one or more autonomous features in such environmental conditions. ### Claim 9 A computer-implemented method of determining fault for a vehicle collision involving a vehicle, the method comprising: receiving, at one or more processors or transceivers of a server via a communication network, a vehicle data log including (a) vehicle-mounted sensor data generated by one or more sensors of the vehicle, and (b) autonomous feature data regarding use, configuration, or settings of one or more autonomous features before or during the vehicle collision, at the one or more processors or transceivers, the autonomous feature data including a plurality of control signals generated by one or more autonomous vehicle technologies to control the vehicle; analyzing, by the one or more processors of the server, entries in the vehicle data log regarding (a) the vehicle-mounted sensor data, and (b) autonomous feature data regarding the use, configuration, or settings of the one or more autonomous features before or during the vehicle collision, at the one or more processors, to determine an operating control status of the vehicle at a time of the accident vehicle collision; and when the vehicle was operating in an autonomous mode before or during the vehicle collision: evaluating, by the one or more processors of the server, the plurality of control signals indicated by the entries of the vehicle data log to identify control actions attempted by the one or more autonomous vehicle technologies; determine, by the one or more processors of the server, responses of the vehicle to the control actions attempted by the one or more autonomous vehicle technologies based upon the vehicle-mounted sensor data of the vehicle log; determining, by the one or more processors of the server and based upon the identified control actions and responses of the vehicle to the control actions, fault contributions for the vehicle collision for each of (i) one or more autonomous features that failed to generate control signals to control the vehicle to avoid the accident vehicle collision, and (ii) one or more hardware components of the vehicle that failed to implement the control signals generated by the one or more autonomous features; and determining and assigning, by the one or more processors of the server, a percentage of fault for the vehicle collision to the one or more autonomous features that were in control of the vehicle at the time of the vehicle collision based upon the determined fault contributions. ### Claim 10 (depends on 9) The computer-implemented method of claim 9, the method further comprising: performing, by the one or more processors of the server, one or more of the following actions based upon the assigned percentage of fault: adjust an insurance policy associated with the vehicle, determine a coverage level associated with the insurance policy, present the determination to a reviewer to verify the assigned percentage of fault, or present the determination to a customer for review of the assigned percentage of fault. ### Claim 11 (depends on 9) The computer-implemented method of claim 9, wherein the percentage of fault for the vehicle collision is assigned to the one or more autonomous features only after the one or more processors determine that the one or more autonomous features attempted to return control of the vehicle to a vehicle operator prior to the vehicle collision, but failed to provide sufficient time to transfer control. ### Claim 12 (depends on 9) The computer-implemented method of claim 9, wherein determining the percentage of fault for the vehicle collision that is assigned to the one or more autonomous features involves the one or more processors determining a point of impact on the vehicle. ### Claim 13 (depends on 9) The computer-implemented method of claim 9, wherein determining the percentage of fault for the vehicle collision that is assigned to the one or more autonomous features involves the one or more processors determining, based upon control signals or outputs from the one or more autonomous vehicle technologies operation features before or during the vehicle collision, whether the one or more autonomous features were ineffective in controlling the vehicle. ### Claim 14 (depends on 9) The computer-implemented method of claim 9, wherein determining the percentage of fault for the vehicle collision that is assigned to the one or more autonomous features involves the one or more processors determining the vehicle collision resulted from physical defects in physical components of the one or more autonomous features. ### Claim 15 (depends on 9) The computer-implemented method of claim 9, wherein determining the percentage of fault for the vehicle collision that is assigned to the one or more autonomous features involves the one or more processors determining that the one or more autonomous features had a chance to avoid the vehicle collision, but no action was taken. ### Claim 16 (depends on 9) The computer-implemented method of claim 9, wherein determining the percentage of fault for the vehicle collision that is assigned to the one or more autonomous features involves the one or more processors determining the vehicle's environmental conditions associated with the vehicle before or during the vehicle collision, and using the one or more autonomous features' test or known performance of the one or more autonomous features in such environmental conditions. ### Claim 17 A computer system for determining fault for a vehicle collision involving a vehicle, the computer system comprising one or more processors or transceivers of a server configured to: receive, at the server via a communication network, an indication of the vehicle collision involving a vehicle having one or more autonomous vehicle technologies, the indication being transmitted via wireless communication or data transmission; receive, at the server via the communication network, a vehicle data log including (a) autonomous feature data regarding use, configuration, or settings of one or more autonomous features before or during the vehicle collision, and (b) communication data from one or more external sources, the autonomous feature data including a plurality of control signals generated by one or more autonomous vehicle technologies to control the vehicle; analyze, by the server, entries in the vehicle data log regarding the autonomous feature data regarding the use, configuration, or settings of the one or more autonomous features before or during the vehicle collision to determine an operating control status of the vehicle at a time of the vehicle collision; and when the vehicle was operating in an autonomous mode before or during the vehicle collision: evaluate, by the server, the plurality of control signals to identify control actions attempted by the one or more autonomous vehicle technologies; determine, by the server, responses of the vehicle to the control actions attempted by the one or more autonomous vehicle technologies based upon the vehicle-mounted sensor data of the vehicle log; determine, by the server and based upon the identified control actions and responses of the vehicle to the control actions, fault contributions for the vehicle collision for each of (i) one or more autonomous features that failed to generate control signals to control the vehicle to avoid the vehicle collision, and (ii) one or more hardware components of the vehicle that failed to implement the control signals generated by the one or more autonomous features; and determine and assign, by the server, a percentage of fault for the vehicle collision to the one or more autonomous features that were in control of the vehicle at the time of the vehicle collision based upon the determined fault contributions. ### Claim 18 (depends on 17) The computer system of claim 17, the computer system further configured to: perform, by the server, one or more of the following actions based upon the assigned percentage of fault: adjust an insurance policy associated with the vehicle, determine a coverage level associated with the insurance policy, present the determination to a reviewer to verify the assigned percentage of fault, or present the determination to a customer for review of the assigned percentage of fault. ### Claim 19 (depends on 17) The computer system of claim 17, wherein the percentage of fault for the vehicle collision that is assigned to the one or more autonomous features by the one or more processors determining that the one or more autonomous vehicle technologies had a chance to avoid the vehicle collision, but no action was taken. ### Claim 20 (depends on 17) The computer system of claim 17, wherein the percentage of fault for the vehicle collision that is assigned to the one or more autonomous vehicle technologies by the one or more processors determining the vehicle collision resulted from physical defects in physical components of the one or more autonomous vehicle technologies.