Detection of anomalous trailer behavior
AssigneeWaymo LLC
InventorChristopher Bowen
Life of this patent
Estimating the term…
Abstract
The technology relates to determining whether a vehicle operating in an autonomous driving mode is experiencing an anomalous condition, for instance due to a loss of tire pressure, a mechanical failure, or a shift or loss of cargo. The actual current pose of the vehicle is compared to an expected pose of the vehicle, where the expected pose is based on a model of the vehicle. If a pose discrepancy is identified, the anomalous condition is determined from information associated with the pose discrepancy. The vehicle is then able to take corrective action based on the nature of the anomalous condition. The corrective action may include making a real-time driving change, modifying a planned route, alerting a remote operations center, or communicating with one or more other vehicles.
Claims22
A vehicle configured to operate in an autonomous driving mode, comprising:
- memory including a vehicle model stored therein, the vehicle model being calibrated to account for at least one real-world condition or driving situation;
- a driving system including a steering subsystem, an acceleration subsystem and a deceleration subsystem to control driving of the vehicle in the autonomous driving mode;
- a perception system including one or more sensors, each sensor being positioned along the vehicle and configured to detect objects in an environment around the vehicle, the one or more sensors including at least one of a lidar sensor, a camera sensor or a radar sensor;
- and
- a control system operatively connected to the driving system and the perception system, the control system having one or more computer processors configured to:
- receive sensor data from the one or more sensors of the perception system while operating in the autonomous driving mode;
- identify an actual pose of the vehicle along a roadway at a particular point in time based upon the received sensor data;
- determine, using the vehicle model, a predicted pose of the vehicle at the particular point in time;
- determine that there is an anomalous condition of the vehicle upon identification of a discrepancy between the actual pose of the vehicle along the roadway at the particular point in time and the predicted pose of the vehicle along the roadway at the particular point in time;
- and
- effect a corrective action in response to the anomalous condition.
A method of operating a vehicle in an autonomous driving mode, the method comprising:
- receiving, by one or more processors of a control system of the vehicle, sensor data from a perception system while operating in the autonomous driving mode;
- identifying, by the one or more processors, an actual pose of the vehicle along a roadway at a particular point in time based upon the received sensor data;
- determining, by the one or more processors using a vehicle model stored in memory, a predicted pose of the vehicle at the particular point in time, the vehicle model being calibrated to account for at least one real-world condition or driving situation;
- determining, by the one or more processors, that there is an anomalous condition of the vehicle upon identifying a discrepancy between the actual pose of the vehicle along the roadway at the particular point in time and the predicted pose of the vehicle along the roadway at the particular point in time;
- and
- effecting, by the one or more processors, a corrective action in response to the anomalous condition.
Dependencies are inferred from the claim text.