# US 10,481,605 B1 · Autonomous vehicle technology for facilitating safe stopping according to separate paths

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- Number: US 10,481,605 B1
- Document ID: US10481605B1
- Status: Granted
- Kind: B1
- Application number: 16/138,427
- Filed: 2018-09-21
- Granted: 2019-11-19
- Earliest claimed: 2018-09-21
- Assignees: Luminar Technologies, Inc.
- Applicants: Luminar Technologies, Inc.
- Inventors: Tomi P. Maila; Vahid R. Ramezani; Benjamin Englard
- Web page: https://patentgrep.com/patent/US10481605B1

## CPC

- B60W 60/0015: {specially adapted for safety}
- G01C 21/3407: {specially adapted for specific applications}
- G01C 21/3492: {employing speed data or traffic data, e.g. real-time or historical (traffic control systems for road vehicles involving transmission of navigation instructions to the vehicle G08G1/0968)}
- 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 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)}
- G08G 1/0112: {from the vehicle, e.g. floating car data [FCD]}
- G01C 21/3697: {Output of additional, non-guidance related information, e.g. low fuel level (G01C21/3679 takes precedence)}
- 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
- G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S)
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})

## Abstract

Various software techniques for managing operation of autonomous vehicles based on sensor data are disclosed herein. A computing system may generate, based on a set of signals descriptive of a current state of an environment in which the autonomous vehicle is operating, a normal path plan separate from a safe path plan, or a hybrid path plan including a normal path plan and a safe path plan. In generating the safe path plan, the computing system may generate and concatenate a set of motion primitives. When a fault condition occurs, the computing device may transition from executing the normal path plan to executing the safe path plan to safely stop the autonomous vehicle.

## Claims

### Claim 1

A computer-implemented method of managing operation of an autonomous vehicle moving toward a destination, the method comprising:
generating, by one or more processors processing a set of signals descriptive of a current state of an environment in which the autonomous vehicle is operating, a normal path plan to (i) move the autonomous vehicle toward the destination during a first time period, and (ii) begin execution at a first time of the first time period;
generating, by the one or more processors processing the set of signals descriptive of the current state of the environment in which the autonomous vehicle is operating, a safe path plan to (i) safely stop the autonomous vehicle during the first time period, and (ii) begin execution at a second time of the first time period after the first time;
causing, by the one or more processors and during a first portion of the first time period, the autonomous vehicle to follow a first portion of the normal path plan;
detecting, by the one or more processors and within a predetermined initial portion of the first time period, a fault condition associated with operation of the autonomous vehicle;
after detecting the fault condition, causing, by the one or more processors, the autonomous vehicle to follow the safe path plan;
subsequent to causing the autonomous vehicle to follow the safe path plan, generating, by the one or more processors processing an updated set of signals descriptive of an updated current state of the environment in which the autonomous vehicle is operating, (i) an updated normal path plan to move the autonomous vehicle toward the destination during a second time period, and (ii) an updated safe path plan to safely stop the autonomous vehicle during the second time period; and
causing, by the one or more processors and during a first portion of the second time period, the autonomous vehicle to cease following the safe path plan and return to normal operation by following a first portion of the updated normal path plan.

### Claim 2 (depends on 1)

The computer-implemented method of claim 1, further comprising:
subsequent to causing the autonomous vehicle to follow the first portion of the updated normal path plan, generating, by the one or more processors processing a second updated set of signals descriptive of a second updated current state of the environment in which the autonomous vehicle is operating, (i) a second updated normal path plan to move the autonomous vehicle toward the destination during a third time period, and (ii) a second updated safe path plan to safely stop the autonomous vehicle during the third time period; and
causing, by the one or more processors and during a first portion of the third time period, the autonomous vehicle to follow a first portion of the second updated normal path plan.

### Claim 3 (depends on 1)

The computer-implemented method of claim 1, wherein detecting the fault condition comprises:
failing to access, within the predetermined initial portion of the first time period, an additional set of signals descriptive of another updated current state of the environment in which the autonomous vehicle is operating.

### Claim 4 (depends on 1)

The computer-implemented method of claim 1, wherein detecting the fault condition comprises:
accessing an additional set of signals descriptive of another updated current state of the environment in which the autonomous vehicle is operating; and
determining that the additional set of signals is insufficient to generate an additional updated normal path plan and an additional updated safe path plan.

### Claim 5 (depends on 1)

The computer-implemented method of claim 1, wherein detecting the fault condition comprises:
generating, by the one or more processors processing an additional set of signals descriptive of another updated current state of the environment in which the autonomous vehicle is operating, (i) an additional updated normal path plan to move the autonomous vehicle toward the destination during a third time period, and (ii) an additional updated safe path plan to safely stop the autonomous vehicle during the third time period; and
determining that at least one of the additional updated normal path plan and the additional updated safe path plan is malformatted.

### Claim 6 (depends on 1)

The computer-implemented method of claim 1, wherein after detecting the fault condition, causing, by the one or more processors, the autonomous vehicle to follow the safe path plan comprises:
at an expiration of the predetermined initial portion of the first time period, causing, by the one or more processors, the autonomous vehicle to follow the safe path plan.

### Claim 7 (depends on 1)

The computer-implemented method of claim 1, further comprising, after causing the autonomous vehicle to follow the safe path plan:
determining that the fault condition has ceased, wherein the autonomous vehicle is caused to cease following the safe path plan and return to normal operation in response to determining that the fault condition has ceased.

### Claim 8

A non-transitory computer-readable medium storing thereon instructions executable by one or more processors to implement a control architecture for controlling an autonomous vehicle, comprising:
instructions for receiving sensor data generated by one or more sensors of the autonomous vehicle, wherein the one or more sensors are configured to sense an environment in which the autonomous vehicle is operating;
instructions for generating, based on the sensor data, a set of signals descriptive of a current state of the environment;
instructions for generating, based on the set of signals descriptive of the current state of the environment, a normal path plan to move the autonomous vehicle toward a destination during a first time period;
instructions for generating, based on the set of signals, a safe path plan to safely stop the autonomous vehicle during the first time period;
instructions for causing, during a first portion of the first time period, the autonomous vehicle to follow a first portion of the normal path plan;
instructions for, in response to a fault condition associated with operation of the autonomous vehicle being detected within a predetermined initial portion of the first time period, causing the autonomous vehicle to follow the safe path plan;
instructions for generating, subsequent to causing the autonomous vehicle to follow the safe path plan and based on an updated set of signals descriptive of an updated current state of the environment in which the autonomous vehicle is operating, (i) an updated normal path plan to move the autonomous vehicle toward the destination during a second time period, and (ii) an updated safe path plan to safely stop the autonomous vehicle during the second time period; and
instructions for causing, during a first portion of the second time period, the autonomous vehicle to cease following the safe path plan and return to normal operation by following a first portion of the updated normal path plan.

### Claim 9 (depends on 8)

The non-transitory computer-readable medium of claim 8, further comprising:
instructions for generating, subsequent to causing the autonomous vehicle to follow the first portion of the updated normal path plan and based on a second updated set of signals descriptive of a second updated current state of the environment in which the autonomous vehicle is operating, (i) a second updated normal path plan to move the autonomous vehicle toward the destination during a third time period, and (ii) a second updated safe path plan to safely stop the autonomous vehicle during the third time period; and
instructions for causing, during a first portion of the third time period, the autonomous vehicle to follow a first portion of the second updated normal path plan.

### Claim 10 (depends on 8)

The non-transitory computer-readable medium of claim 8, further comprising:
instructions for detecting the fault condition when, within the predetermined initial portion of the first time period, an additional set of signals descriptive of another updated current state of the environment in which the autonomous vehicle is operating is not accessed.

### Claim 11 (depends on 8)

The non-transitory computer-readable medium of claim 8, further comprising:
instructions for detecting the fault condition when (i) an additional set of signals descriptive of another updated current state of the environment in which the autonomous vehicle is operating is accessed, and (ii) the additional set of signals is insufficient to generate an additional updated normal path plan and an additional updated safe path plan.

### Claim 12 (depends on 8)

The non-transitory computer-readable medium of claim 8, further comprising instructions for detecting the fault condition comprising:
instructions for generating, based on an additional set of signals descriptive of another updated current state of the environment in which the autonomous vehicle is operating, (i) an additional updated normal path plan to move the autonomous vehicle toward the destination during a third time period, and (ii) an additional updated safe path plan to safely stop the autonomous vehicle during the third time period, and
instructions for determining that at least one of the additional updated normal path plan and the additional updated safe path plan is malformatted.

### Claim 13 (depends on 8)

The non-transitory computer-readable medium of claim 8, wherein the instructions for causing the autonomous vehicle to follow the safe path plan comprise:
instructions for causing the autonomous vehicle to follow the safe path plan at an expiration of the predetermined initial portion of the first time period.

### Claim 14 (depends on 8)

The non-transitory computer-readable medium of claim 8, further comprising:
instructions for determining, after causing the autonomous vehicle to follow the safe path plan, that the fault condition has ceased, wherein the instructions for causing the autonomous vehicle to cease following the safe path plan and return to normal operation are executed in response to determining that the fault condition has ceased.

### Claim 15

A system within an autonomous vehicle, the system comprising:
a set of sensors configured to generate a set of sensor data associated with operation of the autonomous vehicle; and
a computing system configured to:
generate, based on the set of sensor data, a set of signals descriptive of a current state of an environment in which the autonomous vehicle is operating,
process the set of signals to:
generate a normal path plan to (i) move the autonomous vehicle toward a destination during a first time period, and (ii) begin execution at a first time of the first time period, and
generate a safe path plan to (i) safely stop the autonomous vehicle during the first time period, and (ii) begin execution at a second time of the first time period after the first time,
cause, during a first portion of the first time period, the autonomous vehicle to follow a first portion of the normal path plan,
detect, within a predetermined initial portion of the first time period, a fault condition associated with operation of the autonomous vehicle,
after detecting the fault condition, cause the autonomous vehicle to follow the safe path plan,
subsequent to causing the autonomous vehicle to follow the safe path plan, generate an updated set of signals descriptive of an updated current state of the environment in which the autonomous vehicle is operating, and process the updated set of signals to:
generate an updated normal path plan to move the autonomous vehicle toward the destination during a second time period, and
generate an updated safe path plan to safely stop the autonomous vehicle during the second time period, and
cause, during a first portion of the second time period, the autonomous vehicle to cease following the safe path plan and return to normal operation by following a first portion of the updated normal path plan.

### Claim 16 (depends on 15)

The system of claim 15, wherein the computing system is further configured to:
subsequent to causing the autonomous vehicle to follow the first portion of the updated normal path plan, generate, based on a second updated set of signals descriptive of a second updated current state of the environment in which the autonomous vehicle is operating, (i) a second updated normal path plan to move the autonomous vehicle toward the destination during a third time period, and (ii) a second updated safe path plan to safely stop the autonomous vehicle during the third time period, and
cause, during a first portion of the third time period, the autonomous vehicle to follow a first portion of the second updated normal path plan.

### Claim 17 (depends on 15)

The system of claim 15, wherein to detect the fault condition, the computing system is configured to:
detect that the set of sensors fails to generate an updated set of sensor data associated with operation of the autonomous vehicle.

### Claim 18 (depends on 15)

The system of claim 15, wherein to detect the fault condition, the computing system is configured to:
generate, based on an updated set of sensor data, an additional set of signals descriptive of another updated current state of the environment in which the autonomous vehicle is operating, and
determine that the additional set of signals is insufficient to generate an additional updated normal path plan and an additional updated safe path plan.

### Claim 19 (depends on 15)

The system of claim 15, wherein to detect the fault condition, the computing system is configured to:
generate, based on an additional set of signals descriptive of another updated current state of the environment in which the autonomous vehicle is operating, (i) an additional updated normal path plan to move the autonomous vehicle toward the destination during a third time period, and (ii) an additional updated safe path plan to safely stop the autonomous vehicle during the third time period, and
determine that at least one of the additional updated normal path plan and the additional updated safe path plan is malformatted.

### Claim 20 (depends on 15)

The system of claim 15, wherein to cause the autonomous vehicle to follow the safe path plan, the computing system is configured to:
at an expiration of the predetermined initial portion of the first time period, cause the autonomous vehicle to follow the safe path plan.