# US 11,993,264 B2 · Systems and methods for autonomous vehicle control based upon observed acceleration > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,993,264 B2 - Document ID: US11993264B2 - Status: Granted - Kind: B2 - Application number: 16/216,405 - Filed: 2018-12-11 - Published: 2020-06-11 - Granted: 2024-05-28 - Earliest claimed: 2018-12-11 - Assignees: GM Cruise Holdings LLC - Applicants: GM Global Technology Operations LLC - Inventors: Kevin Danford - Web page: https://patentgrep.com/patent/US11993264B2 ## CPC - B60W 30/18172: {Preventing, or responsive to skidding of wheels} - B60W 10/18: including control of braking systems - B60W 10/20: including control of steering systems - B60W 40/06: Road conditions - B60W 40/068: Road friction coefficient - G01C 21/3407: {specially adapted for specific applications} - G01C 21/3602: {Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera} - G01C 21/3822: {Road feature data, e.g. slope data} - G01C 21/3841: {Data obtained from two or more sources, e.g. probe vehicles} - G01C 21/3896: {Transmission of map data from central databases} - B60W 2520/105: Longitudinal acceleration - B60W 2530/10: Weight - B60W 2552/15: Road slope, i.e. the inclination of a road segment in the longitudinal direction - B60W 2552/40: Coefficient of friction - B60W 2554/402: Type - B60W 2554/4026: Cycles - B60W 2554/4042: Longitudinal speed - B60W 2556/05: Big data - B60W 2556/45: External transmission of data to or from the vehicle - B60W 2556/65: Data transmitted between vehicles - B60W 2720/106: Longitudinal acceleration - 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) ## Abstract Described herein are various technologies that pertain to controlling an AV based upon forward-looking observations of road surface behavior. With more specificity, technologies described herein pertain to controlling maneuvering of an AV in a region of a driving environment based upon an observed acceleration of an object in that region of the driving environment. A plurality of positions of an object in the driving environment are determined from output of sensors mounted on the AV. An acceleration of the object is computed based upon the positions. The AV is subsequently controlled based upon the computed acceleration. ## Claims ### Claim 1 An autonomous vehicle (AV), comprising: a plurality of sensor systems that generate a plurality of sensor signals, the plurality of sensor signals indicative of a different vehicle in a driving environment of the AV, the different vehicle being separate from the AV in the driving environment of the AV; and a computing system that is in communication with the plurality of sensor systems, wherein the computing system comprises: a processor; and memory that stores computer-executable instructions that, when executed by the processor, cause the processor to perform acts comprising: generating, based upon the sensor signals, a plurality of position solutions for the different vehicle in the driving environment, the position solutions indicative of positions of the different vehicle over a period of time, the positions being included in a region in the driving environment in a forward path of the AV; computing a magnitude of acceleration of the different vehicle observed by the AV in the forward path of the AV within the region in the driving environment during the period of time based upon the position solutions; computing a coefficient of traction of a driving surface in the region based upon the computed magnitude of acceleration of the different vehicle observed by the AV in the forward path of the AV within the region, an object type classification of the different vehicle, and an approximate weight of the different vehicle corresponding to the object type classification of the different vehicle; and controlling acceleration of the AV while the AV traverses the region based upon the computed coefficient of traction of the driving surface in the region computed based upon the computed magnitude of acceleration of the different vehicle observed by the AV in the forward path of the AV within the region. ### Claim 2 (depends on 1) The AV of claim 1, wherein controlling the acceleration of the AV comprises controlling the acceleration of the AV based upon a maximum allowable acceleration value, the maximum allowable acceleration value based upon the computed magnitude of the acceleration of the different vehicle observed by the AV in the forward path of the AV within the region. ### Claim 3 (depends on 1) The AV of claim 1, wherein the object type classification indicates that an object detected in the driving environment based on the plurality of sensor signals is the different vehicle. ### Claim 4 (depends on 1) The AV of claim 1, wherein computing the coefficient of traction of the driving surface in the region is further based upon labeled data pertaining to the driving surface in the region. ### Claim 5 (depends on 4) The AV of claim 4, wherein the labeled data is indicative of a grade of the driving surface in the region. ### Claim 6 (depends on 4) The AV of claim 4, wherein the labeled data is indicative of a surface material of the driving surface in the region. ### Claim 7 (depends on 1) The AV of claim 1, wherein controlling the acceleration of the AV further comprises: computing a potential tractive force of a driving surface in the region based upon the computed magnitude of acceleration of the different vehicle observed by the AV in the forward path of the AV within the region; and controlling the acceleration of the AV while the AV traverses the region based upon the computed potential tractive force of the driving surface in the region. ### Claim 8 (depends on 7) The AV of claim 7, wherein computing the potential tractive force is further based upon the approximate weight of the different vehicle. ### Claim 9 (depends on 1) The AV of claim 1, the acts further comprising transmitting surface data pertaining to a driving surface in the region of the driving environment to a server computing device, the surface data based upon the computed acceleration and indicative of a measure of traction of the driving surface. ### Claim 10 (depends on 9) The AV of claim 9, wherein the transmitting the surface data is configured to cause the server computing device to transmit updated map data to a second AV, the updated map data including the surface data. ### Claim 11 (depends on 1) The AV of claim 1, the acts further comprising evaluating whether the magnitude of the acceleration of the different vehicle in the region is anomalous relative to an expected acceleration for an object in the region. ### Claim 12 (depends on 1) The AV of claim 1, wherein controlling the acceleration of the AV while the AV traverses the region comprises controlling the AV to decelerate while the AV traverses the region. ### Claim 13 (depends on 1) The AV of claim 1, wherein the acceleration of the AV is further controlled such that a maximum acceleration of the AV while the AV traverses the region is less than or equal to the computed magnitude of the acceleration of the different vehicle observed by the AV in the forward path of the AV within the region. ### Claim 14 A method executed by an autonomous vehicle (AV), the method comprising: receiving sensor signals from a plurality of sensor systems mounted on the AV; generating, based upon the sensor signals, a plurality of position solutions for a different vehicle in the driving environment, the position solutions indicative of positions of the different vehicle over a period of time as the different vehicle traverses a region of the driving environment in a forward path of the AV, the different vehicle being separate from the AV in the driving environment; computing an acceleration of the different vehicle observed by the AV in the forward path of the AV within the region of the driving environment as the different vehicle traverses the region during the period of time based upon the position solutions; generating a measure of traction of a driving surface in the region of the driving environment based upon the computed acceleration of the different vehicle observed by the AV in the forward path of the AV within the region, an object type classification of the different vehicle, and an approximate weight of the different vehicle corresponding to the object type classification of the different vehicle; and controlling at least one of a braking system, a steering system, or a propulsion system of the AV based upon the measure of traction of the driving surface in the region generated based upon the computed acceleration of the different vehicle observed by the AV in the forward path of the AV within the region. ### Claim 15 (depends on 14) The method of claim 14, wherein the measure of traction of the driving surface in the region is one of a coefficient of traction of the driving surface or a potential tractive force of the driving surface with respect to a wheel of the AV. ### Claim 16 (depends on 14) The method of claim 14, wherein at least one of the braking system, the steering system, or the propulsion system of the AV is further controlled based on the acceleration of the different vehicle observed by the AV in the forward path of the AV within the region such that a maximum acceleration of the AV while the AV traverses the region is less than or equal to a magnitude of the acceleration of the different vehicle observed by the AV in the forward path of the AV within the region. ### Claim 17 (depends on 14) The method of claim 14, wherein computing the measure of traction of the driving surface in the region is further based upon labeled data pertaining to the driving surface in the region, and wherein the labeled data is indicative of at least one of a grade of the driving surface in the region or a surface material of the driving surface in the region. ### Claim 18 A system comprising: a first autonomous vehicle (AV); and a server computing device in communication with a fleet of AVs, the first AV included in the fleet of AVs, the server computing device configured to perform the following acts: updating map data pertaining to an operational region of the fleet of AVs responsive to receiving surface data indicative of a measure of traction of a driving surface in the operational region, wherein the surface data is received from a second AV in the fleet of AVs, wherein the second AV generates the surface data based on an acceleration of a differing vehicle observed by the second AV in the operational region based on sensor signals generated by at least one sensor system of the second AV, and wherein the second AV further generates the surface data based an object type classification of the differing vehicle and an approximate weight of the differing vehicle corresponding to the object type classification of the differing vehicle; and transmitting the updated map data to the first AV, wherein the updated map data includes the surface data, wherein subsequent to the first AV receiving the updated map data, the first AV controls acceleration of the first AV when the first AV is traveling on the driving surface based upon the surface data, and wherein the acceleration of the first AV is controlled such that a maximum acceleration of the first AV is set based on the measure of traction of the driving surface in an area in which the first AV is traveling. ### Claim 19 (depends on 18) The system of claim 18, wherein the updated map data is indicative of a future time, wherein subsequent to the future time the first AV controls acceleration of the first AV based upon a second measure of traction of the driving surface. ### Claim 20 (depends on 18) The system of claim 18, the measure of traction comprising at least one of an acceleration of a vehicle while the vehicle traversed the driving surface, a coefficient of traction of the driving surface, or a potential tractive force between the driving surface and wheels of the vehicle.