US 11,853,068 B1 · Vehicle trajectory controller safety margin

Abstract

Techniques for determining a safety margin by which to limit trajectory(ies) generated by a vehicle control system such that the vehicle will not exceed the safety margin more than a target occurrence rate. The techniques may include determining a first spectrum associated with trajectory data generated by one or more vehicles, generating a model of a vehicle, and determining a spectrum of an error signal based at least in part on the model and the first spectrum. Determining the safety margin may be based at least in part on the spectrum of the error signal and a target occurrence rate. Operation characteristics of components of the vehicle (e.g., controller, steering actuator) may be tuned based at least in part on the model, first spectrum, and/or second spectrum. The techniques enable determining safety margins for untested vehicles and/or for different operating states of a vehicle.

Claims20

Dependent claims

A method comprising:

receiving, from a vehicle, trajectory data comprising one or more reference trajectories;
determining a first spectrum associated with the trajectory data indicative of frequencies of the one or more reference trajectories;
generating a model of a component of an autonomous vehicle system;
determining, based at least in part on the model and the first spectrum, a second spectrum associated with an error;
receiving an occurrence rate indicative of the occurrence of an event and a time period defined by one or more of an amount of time between successive events or an amount of time prior to the first occurrence of the event;
determining a safety margin based at least in part on the error and the event occurring at a rate less than or equal to the occurrence rate;
transmitting the safety margin to the vehicle or another vehicle to cause the vehicle or the other vehicle to generate a trajectory;
and controlling the vehicle or the other vehicle based at least in part on the safety margin.

5 more elements

A system comprising:

one or more processors;
and a memory storing processor-executable instructions that, when executed by the one or more processors, cause the system to perform operations comprising:
receiving trajectory data from a vehicle;
converting, as a first spectrum, the trajectory data into an s-domain or a frequency domain;
generating a model of the vehicle;
determining, based at least in part on the model and the first spectrum, an error;
and determining, based at least in part on an occurrence rate and the error, a safety margin, wherein the safety margin is configured to constrain a trajectory generated by the vehicle for controlling the vehicle.

4 more elements

Dependencies are inferred from the claim text.

Vehicle trajectory controller safety margin

Life of this patent

Vehicle trajectory controller safety margin

Life of this patent

Abstract

Claims20