# US 12,005,923 B2 · Blockage routing and maneuver arbitration > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,005,923 B2 - Document ID: US12005923B2 - Status: Granted - Kind: B2 - Application number: 17/002,404 - Filed: 2020-08-25 - Published: 2022-03-03 - Granted: 2024-06-11 - Earliest claimed: 2020-08-25 - Assignees: GM Cruise Holdings LLC - Applicants: GM Cruise Holdings LLC - Inventors: Nitin Passa; Beini Jiang; Tucker Paxton; Lucio Otavio Marchioro Rech - Web page: https://patentgrep.com/patent/US12005923B2 ## CPC - B60W 60/0011: {involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles} - G01C 21/3415: {Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents} - G01C 21/3438: {Rendezvous; Ride sharing} - G01C 21/3461: {Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types or segments such as motorways, toll roads or ferries} - 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)} - G06V 20/58: Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads - G06V 20/588: {Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road} - G08G 1/0112: {from the vehicle, e.g. floating car data [FCD]} - G08G 1/0133: {for classifying traffic situation} - G08G 1/0141: {for traffic information dissemination} - G08G 1/0145: {for active traffic flow control} - G08G 1/04: using optical or ultrasonic detectors - G08G 1/096725: {where the received information generates an automatic action on the vehicle control} - G08G 1/096775: {where the origin of the information is a central station} - G08G 1/096827: {where the route is computed onboard} - H04W 4/44: for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H] - B60W 2420/408: Radar; Laser, e.g. lidar - G06N 20/00: Machine learning - G08G 1/202: {Dispatching vehicles on the basis of a location, e.g. taxi dispatching} - 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) - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - 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}) - H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72) - G06N: COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS ## Abstract The subject disclosure relates to solutions for arbitrating traffic blockages along vehicle routes. In some aspects, the disclosed technology encompasses a method including steps for determining a vehicle route, wherein the vehicle route comprises at least one lane plan to be followed by an autonomous vehicle (AV), identifying a blockage along the vehicle route, analyzing the blockage to determine if the blockage constitutes a persistent blockage, and if the blockage constitutes a persistent blockage, associating a time value with the blockage. Systems and machine-readable media are also provided. ## Claims ### Claim 1 A computer-implemented method comprising: determining a vehicle route, wherein the vehicle route comprises at least one lane plan to be followed by an autonomous vehicle (AV) in an AV fleet; identifying, in a map database for the AV fleet, a blockage along the vehicle route; determining that the blockage constitutes a persistent blockage, wherein the persistent blockage is a blockage that persists beyond a predetermined time threshold; associating the blockage in the map database with a predetermined persistence duration, wherein the predetermined persistence duration determines how long the persistent blockage is stored in the map database for the AV fleet, wherein the predetermined persistence duration is a predetermined amount of time that is determined based on one or more characteristics of the blockage including a classification of the blockage and a severity of the blockage associated with the vehicle route, wherein the severity is determined based on a location and a geometry of the blockage with respect to the at least one lane plan; and effectuating operation of the AV along an alternate vehicle route by communicating with an internal computing system of the AV, wherein the alternate vehicle route avoids the persistent blockage during the predetermined persistence duration. ### Claim 2 (depends on 1) The computer-implemented method of claim 1, wherein the predetermined persistence duration indicates an amount of time that the persistent blockage is used to inform routing decisions. ### Claim 3 (depends on 1) The computer-implemented method of claim 1, wherein determining that the blockage constitutes the persistent blockage further comprises: determining that the blockage is closer to at least one lane associated with the at least one lane plan than an edge of a roadway associated with the at least one lane plan. ### Claim 4 (depends on 1) The computer-implemented method of claim 1, wherein determining that the blockage constitutes the persistent blockage further comprises: classifying the blockage with a blockage classification based on the one or more characteristics of the blockage. ### Claim 5 (depends on 1) The computer-implemented method of claim 1, further comprising: collecting environmental data for a map area associated with the blockage; determining the blockage no longer exists; and indicating a removal of the blockage based on the determination that the blockage no longer exists. ### Claim 6 (depends on 1) The computer-implemented method of claim 1, wherein determining that the blockage constitutes a persistent blockage further comprises: incrementing a counter for tick in which the blockage is observed; and comparing the counter to a predetermined number of ticks, wherein the blockage is confirmed to be the persistent blockage when the counter exceeds the predetermined number of ticks. ### Claim 7 (depends on 1) The computer-implemented method of claim 1, further comprising: updating the predetermined persistence duration based on subsequent observations by other AVs in the AV fleet. ### Claim 8 A system comprising: one or more processors; and a computer-readable medium comprising instructions stored therein, which when executed by the one or more processors, cause the one or more processors to perform operations comprising: determining a vehicle route, wherein the vehicle route comprises at least one lane plan to be followed by an autonomous vehicle (AV) in an AV fleet; identifying, in a map database for the AV fleet, a blockage along the vehicle route wherein the map database is accessible by a plurality of AVs in the AV fleet including the AV; determining that the blockage constitutes a persistent blockage; associating the blockage in the map database with a predetermined persistence duration, wherein the predetermined persistence duration determines how long the persistent blockage is stored in the map database for the AV fleet, wherein the predetermined persistence duration is a predetermined amount of time that is determined based on one or more characteristics of the blockage including a classification of the blockage and a severity of the blockage associated with the vehicle route, wherein the severity is determined based on a location and a geometry of the blockage with respect to the at least one lane plan; and effectuating operation of the AV along an alternate vehicle route by communicating with an internal computing system of the AV, wherein the alternate vehicle route avoids the persistent blockage during the predetermined persistence duration. ### Claim 9 (depends on 8) The system of claim 8, wherein the predetermined persistence duration indicates an amount of time that the persistent blockage is used to inform routing decisions. ### Claim 10 (depends on 8) The system of claim 8, wherein determining that the blockage constitutes the persistent blockage further comprises: determining that the blockage is closer to at least one lane associated with the at least one lane plan than an edge of a roadway associated with the at least one lane plan. ### Claim 11 (depends on 8) The system of claim 8, wherein determining that the blockage constitutes the persistent blockage further comprises: classifying the blockage with a blockage classification based on the one or more characteristics of the blockage. ### Claim 12 (depends on 8) The system of claim 8, further comprising: collecting environmental data for a map area associated with the blockage; determining the blockage no longer exists; and indicating a removal of the blockage based on the determination that the blockage no longer exists. ### Claim 13 A non-transitory computer-readable storage medium comprising instructions stored therein, which when executed by one or more processors, cause the one or more processors to perform operations comprising: determining a vehicle route, wherein the vehicle route comprises at least one lane plan to be followed by an autonomous vehicle (AV) in an AV fleet; identifying, in a map database for the AV fleet, a blockage along the vehicle route; determining that the blockage constitutes a persistent blockage, wherein the persistent blockage is a blockage that persists beyond a predetermined time threshold; associating the blockage in the map database with a predetermined persistence duration, wherein the predetermined persistence duration determines how long the persistent blockage is stored in the map database for the AV fleet, wherein the predetermined persistence duration is a predetermined amount of time that is determined based on one or more characteristics of the blockage including a classification of the blockage and a severity of the blockage associated with the vehicle route, wherein the severity is determined based on a location and a geometry of the blockage with respect to the at least one lane plan; and effectuating operation of the AV along an alternate vehicle route by communicating with an internal computing system of the AV, wherein the alternate vehicle route avoids the persistent blockage during the predetermined persistence duration. ### Claim 14 (depends on 13) The non-transitory computer-readable storage medium of claim 13, wherein the predetermined persistence duration indicates an amount of time that the persistent blockage is used to inform routing decisions. ### Claim 15 (depends on 13) The non-transitory computer-readable storage medium of claim 13, wherein determining that the blockage constitutes the persistent blockage further comprises: determining that the blockage is closer to at least one lane associated with the at least one lane plan than an edge of a roadway associated with the at least one lane plan. ### Claim 16 (depends on 13) The non-transitory computer-readable storage medium of claim 13, wherein determining that the blockage constitutes the persistent blockage further comprises: classifying the blockage with a blockage classification based on the one or more characteristics of the blockage.