US 11,145,146 B2 · Self-diagnosis of faults in an autonomous driving system

Abstract

This application discloses a computing system to self-diagnosis of faults for an assisted or automated driving system of a vehicle. The computing system can populate measurement data collected by sensors mounted in the vehicle into an environmental model, and detect an object proximate to the vehicle based on the measurement data in the environmental model. The computing system can identify a fault in at least one of the sensors by performing one or more safety cross-checks including one or more of comparing the environmental modal against one or more data models populated with sensor measurements or objects detected by different sensors, analyzing estimated motion of the vehicle or the object for aberrant movement, identifying missing measurement data, identifying divergent object classifications, or identifying operational sensor characteristics. A control system for the vehicle can configured to control operation of the vehicle based, at least in part, on the identified fault.

Claims17

Dependent claims

A method comprising:

populating, by a computing system, measurement data collected by a sensor system having sensors mounted in a vehicle into an environmental model associated with the vehicle;
detecting, by the computing system, an object proximate to the vehicle based on the measurement data populated in the environmental model by fusing at least a portion of the measurement data into a detection event corresponding to the object;
identifying, by the computing system, a fault in at least one of the sensors in the sensor system based, at least in part, on the detection of the object proximate to the vehicle by identifying the measurement data from the at least one of the sensors that was not fused in the detection event even though the at least one of the sensors had visibility to a location associated with the detection event;
and
recalibrating, by the computing system, at least a portion of the sensor system based, at least in part, on the identified fault in the at least one of the sensors.

2 more elements

An apparatus comprising at least one memory device storing instructions configured to cause one or more processing devices to perform operations comprising:

populating measurement data collected by a sensor system having sensors mounted in a vehicle into an environmental model associated with the vehicle;
detecting an object proximate to the vehicle based on the measurement data populated in the environmental model by fusing at least a portion of the measurement data into a detection event corresponding to the object;
and
identifying a fault in at least one of the sensors in the sensor system based, at least in part, on the detection of the object proximate to the vehicle by identifying the measurement data from the at least one of the sensors that was not fused in the detection event even though the at least one of the sensors had visibility to a location associated with the detection event;
and
recalibrating at least a portion of the sensor system based, at least in part, on the identified fault in the at least one of the sensors.

3 more elements

A system comprising:

a memory device configured to store machine-readable instructions;
and
a computing system including one or more processing devices, in response to executing the machine-readable instructions, configured to:
populate measurement data collected by a sensor system having sensors mounted in a vehicle into an environmental model associated with the vehicle;
detect an object proximate to the vehicle based on the measurement data populated in the environmental model by fusing at least a portion of the measurement data into a detection event corresponding to the object;
and
identify a fault in at least one of the sensors in the sensor system based, at least in part, on the detection of the object proximate to the vehicle by identifying the measurement data from the at least one of the sensors that was not fused in the detection event even though the at least one of the sensors had visibility to a location associated with the detection event;
and
recalibrate at least a portion of the sensor system based, at least in part, on the identified fault in the at least one of the sensors.

6 more elements

Dependencies are inferred from the claim text.

Self-diagnosis of faults in an autonomous driving system

Life of this patent

Self-diagnosis of faults in an autonomous driving system

Life of this patent

Abstract

Claims17