# US 12,594,963 B2 · Detecting an unknown object by a lead autonomous vehicle (AV) and updating routing plans for following AVs

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- Number: US 12,594,963 B2
- Document ID: US12594963B2
- Status: Granted
- Kind: B2
- Application number: 17/021,981
- Filed: 2020-09-15
- Published: 2022-03-17
- Granted: 2026-04-07
- Earliest claimed: 2020-09-15
- Assignees: CreateAI, Inc.
- Applicants: TuSimple, Inc.
- Inventors: Robert Patrick Brown; Scott Douglas Foster; Joyce Tam
- Web page: https://patentgrep.com/patent/US12594963B2

## CPC

- B60W 60/001: {Planning or execution of driving tasks}
- B60W 60/0015: {specially adapted for safety}
- B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering
- B60W 30/0956: {the prediction being responsive to traffic or environmental parameters}
- B60W 30/143: {Speed control (B60W30/16 takes precedence)}
- B60W 30/16: Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- G01C 21/32: Structuring or formatting of map data
- 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 21/3815: {Road data}
- G01C 21/3822: {Road feature data, e.g. slope data}
- G01C 21/3833: {characterised by the source of data}
- G01C 21/3841: {Data obtained from two or more sources, e.g. probe vehicles}
- G01C 21/3848: {Data obtained from both position sensors and additional sensors}
- G01C 21/3859: {Differential updating map data}
- G01C 21/3889: {Transmission of selected map data, e.g. depending on route}
- G08G 1/09623: {Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle (G08G1/0967 takes precedence)}
- G08G 1/162: {event-triggered}
- G08G 1/165: {for passive traffic, e.g. including static obstacles, trees}
- G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes}
- G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection}
- G08G 1/22: {Platooning, i.e. convoy of communicating vehicles}
- B60W 2420/40: Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W 2420/403: Image sensing, e.g. optical camera
- B60W 2420/408: Radar; Laser, e.g. lidar
- B60W 2556/45: External transmission of data to or from the vehicle
- B60W 2556/50: of positioning data, e.g. GPS [Global Positioning System] data
- B60W 2556/65: Data transmitted between vehicles
- B60W 2720/10: Longitudinal speed
- G01S 13/865: {Combination of radar systems with lidar systems}
- G01S 13/867: {Combination of radar systems with cameras}
- G01S 13/89: for mapping or imaging
- G01S 13/931: of land vehicles
- G01S 17/42: Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46)
- G01S 17/87: Combinations of systems using electromagnetic waves other than radio waves
- G01S 17/89: for mapping or imaging
- G01S 17/931: of land vehicles
- G01S 2013/9316: {combined with communication equipment with other vehicles or with base stations}
- G01S 2013/9323: {Alternative operation using light waves}
- G01S 2013/93271: {in the front of the vehicles}
- 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)
- 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})
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES

## Abstract

A lead autonomous vehicle (AV) includes a sensor configured to observe a field of view in front of the lead AV. Following AVs are on the same road behind the lead AV. A processor of the lead AV is configured to detect an unknown object within the field of view by comparing sensor data received from the sensor and a map data. The processor determines a lane occupied by the unknown object. The processor sends a first message to the following AVs comprising location coordinates of the unknown object and instructions to divert the lane. The processor instructs the lead AV to navigate around the unknown object. While navigating around the unknown object, the processor sends a plurality of second messages to an operation server, comprising sensor data related to the unknown object. The operation server updates the map data, indicating the unknown object at the location coordinates.

## Claims

### Claim 1

A system, comprising:
a lead autonomous vehicle comprising at least one vehicle sensor located on the lead autonomous vehicle and configured to observe a first field-of-view comprising a region in front of the lead autonomous vehicle;
one or more following autonomous vehicle, different from the lead autonomous vehicle, wherein:
the lead autonomous vehicle is on a particular road heading toward a destination using a routing plan and map data previously received from an operation server;
the one or more following autonomous vehicle are on the particular road behind the lead autonomous vehicle; and
the lead autonomous vehicle and the one or more following autonomous vehicles are communicatively coupled with the operation server;
a first control subsystem, associated with the lead autonomous vehicle, communicatively coupled with the lead autonomous vehicle, the one or more following autonomous vehicles, and the operation server, the first control subsystem comprising a first processor configured to:
receive sensor data from the at least one vehicle sensor of the lead autonomous vehicle, wherein the sensor data comprises location coordinates of any object on the particular road within the first field-of-view of the lead autonomous vehicle;
compare the sensor data with a first portion of the map data, wherein the first portion of the map data comprises location coordinates of expected objects on the particular road within the first field-of-view of the lead autonomous vehicle;
based at least in part upon comparing the sensor data with the first portion of the map data, determine whether there is an unknown object on the particular road which is not among the expected objects, wherein the unknown object corresponds to an object that is previously not classified;
in response to a determination that there is the unknown object on the particular road:
determine a particular lane on which the unknown object is located;
send a first message to the one or more following autonomous vehicle, comprising particular location coordinates of the unknown object and instructions to divert from the particular lane;
update driving instructions of the lead autonomous vehicle to navigate around the unknown object by diverting the particular lane;
while navigating around the unknown object, send a plurality of second messages to the operation server, comprising sensor data related to the unknown object; and
the operation server comprising a second processor configured to:
based at least in part upon the plurality of second messages, confirm whether there is the unknown object located at the particular location coordinates on the particular lane;
if it is confirmed that the unknown object is located at the particular location coordinates:
update the first portion of the map data, such that the updated map data comprises the unknown object located at the particular location coordinates; and
send the updated map data to the one or more following autonomous vehicle.

### Claim 2 (depends on 1)

The system of claim 1, wherein the second processor is further configured to, if it is determined that there are no unknown objects on the particular lane at the particular location coordinates, notify the one or more following autonomous vehicle that there are no said unknown objects on the particular lane at the particular location coordinates.

### Claim 3 (depends on 1)

The system of claim 1, wherein updating the driving instructions of the lead autonomous vehicle to navigate around the unknown object further comprises entering a safety mode by:
reducing a speed of the lead autonomous vehicle according to speeds of surrounding vehicles;
increasing distances from the surrounding vehicles; or
avoiding autonomous driving parallel to the surrounding vehicles.

### Claim 4 (depends on 1)

The system of claim 1, wherein the first message is sent to the one or more following autonomous vehicles at a first time after detecting the unknown object.

### Claim 5 (depends on 1)

The system of claim 1, wherein the second processor is further configured to send an alert message to a local authority, indicating that there is the unknown object located at the particular location coordinates.

### Claim 6 (depends on 1)

The system of claim 1, further comprising:
a second control subsystem, associated with any of the one or more following autonomous vehicles, comprising a third processor configured to:
determine whether the unknown object is removed; and
in response to a determination that the unknown object is removed, send a third message to other autonomous vehicles from the one or more following autonomous vehicles and the operation server, indicating that the unknown object is removed, wherein in response to receiving the third message, the operation server updates the first portion of the map data, indicating that the unknown object is removed and sends the updated map data to the other autonomous vehicles.

### Claim 7 (depends on 1)

The system of claim 1, wherein the at least one vehicle sensor comprises one or more of cameras, LiDAR sensors, motion sensors, and infrared sensors.

### Claim 8

A method, comprising:
receiving sensor data from at least one vehicle sensor of a lead autonomous vehicle, wherein:
the sensor data comprises location coordinates of any object on a particular road within a first field-of-view of the lead autonomous vehicle;
the lead autonomous vehicle is on a particular road heading toward a destination using a routing plan and map data previously received from an operation server; and
one or more following autonomous vehicles, different from the lead autonomous vehicle, are on the particular road behind the lead autonomous vehicle;
comparing the sensor data with a first portion of the map data, wherein the first portion of the map data comprises location coordinates of expected objects on the particular road within the first field-of-view of the lead autonomous vehicle;
based at least in part upon comparing the sensor data with the first portion of the map data, determining whether there is an unknown object on the particular road which is not among the expected objects, wherein the unknown object corresponds to an object that is previously not classified;
in response to determining that there is the unknown object on the particular road:
determining a particular lane on which the unknown object is located;
sending a first message to the one or more following autonomous vehicles, comprising particular location coordinates of the unknown object and instructions to divert from the particular lane;
updating driving instructions of the lead autonomous vehicle to navigate around the unknown object by diverting the particular lane;
while navigating around the unknown object, sending a plurality of second messages to the operation server, comprising sensor data related to the unknown object;
based at least in part upon the plurality of second messages, confirming, by a processor associated with the operation server, whether there is the unknown object located at the particular location coordinates on the particular lane;
in response to confirming that the unknown object is located at the particular location coordinates:
updating the first portion of the map data, such that the updated map data comprises the unknown object located at the particular location coordinates; and
sending the updated map data to the one or more following autonomous vehicles.

### Claim 9 (depends on 8)

The method of claim 8, wherein the method further comprises in response to determining that there are no unknown objects on the particular lane at the particular location coordinates, notify the one or more following autonomous vehicles that there are no said unknown objects on the particular lane at the particular location coordinates.

### Claim 10 (depends on 8)

The method of claim 8, wherein updating the driving instructions of the lead autonomous vehicle to navigate around the unknown object further comprises entering a safety mode by:
reducing a speed of the lead autonomous vehicle according to speeds of surrounding vehicles;
increasing distances from the surrounding vehicles; or
avoiding autonomous driving parallel to the surrounding vehicles.

### Claim 11 (depends on 8)

The method of claim 8, wherein the first message is sent to the one or more following autonomous vehicles at a first time after detecting the unknown object.

### Claim 12 (depends on 8)

The method of claim 8, wherein the method further comprises sending an alert message to a local authority, indicating that there is the unknown object located at the particular location coordinates.

### Claim 13 (depends on 8)

The method of claim 8, wherein the method further comprises:
determining whether the unknown object is removed; and
in response to determining that the unknown object is removed, sending a third message to other autonomous vehicles from the one or more following autonomous vehicles and the operation server, indicating that the unknown object is removed, wherein in response to receiving the third message, the operation server updates the first portion of the map data, indicating that the unknown object is removed and sends the updated map data to the other autonomous vehicles.

### Claim 14 (depends on 8)

The method of claim 8, wherein the at least one vehicle sensor comprises one or more of cameras, LiDAR sensors, motion sensors, and infrared sensors.

### Claim 15

A computer program comprising executable instructions stored in a non-transitory computer-readable medium that when executed by one or more processors causes the one or more processors to:
receive sensor data from at least one vehicle sensor of a lead autonomous vehicle, wherein:
the sensor data comprises location coordinates of any object on a particular road within a first field-of-view of the lead autonomous vehicle;
the lead autonomous vehicle is on a particular road heading toward a destination using a routing plan and map data previously received from an operation server; and
one or more following autonomous vehicles, different from the lead autonomous vehicle, are on the particular road behind the lead autonomous vehicle;
compare the sensor data with a first portion of the map data, wherein the first portion of the map data comprises location coordinates of expected objects on the particular road within the first field-of-view of the lead autonomous vehicle;
based at least in part upon comparing the sensor data with the first portion of the map data, determine whether there is an unknown object on the particular road which is not among the expected objects, wherein the unknown object corresponds to an object that is previously not classified;
in response to a determination that there is the unknown object on the particular road:
determine a particular lane on which the unknown object is located;
send a first message to the one or more following autonomous vehicles, comprising particular location coordinates of the unknown object and instructions to divert from the particular lane;
update driving instructions of the lead autonomous vehicle to navigate around the unknown object by diverting the particular lane;
while navigating around the unknown object, send a plurality of second messages to the operation server, comprising sensor data related to the unknown object; and
based at least in part upon the plurality of second messages, confirm whether there is the unknown object located at the particular location coordinates on the particular lane;
if it is confirmed that the unknown object is located at the particular location coordinates:
update the first portion of the map data, such that the updated map data comprises the unknown object located at the particular location coordinates; and
send the updated map data to the one or more following autonomous vehicles.

### Claim 16 (depends on 15)

The computer program of claim 15, wherein the one or more processors are further configured to, if it is determined that there are no unknown objects on the particular lane at the particular location coordinates, notify the one or more following autonomous vehicles that there are no said unknown objects on the particular lane at particular location coordinates.

### Claim 17 (depends on 15)

The computer program of claim 15, wherein updating the driving instructions of the lead autonomous vehicle to navigate around the unknown object further comprises entering a safety mode by:
reducing a speed of the lead autonomous vehicle according to speeds of surrounding vehicles;
increasing distances from the surrounding vehicles; or
avoiding autonomous driving parallel to the surrounding vehicles.

### Claim 18 (depends on 15)

The computer program of claim 15, wherein the one or more processors are further configured to send an alert message to a local authority, indicating that there is the unknown object located at the particular location coordinates.

### Claim 19 (depends on 15)

The computer program of claim 15, wherein the one or more processors are further configured to:
determine whether the unknown object is removed; and
in response to a determination that the unknown object is removed, send a third message to other autonomous vehicles from the one or more following autonomous vehicles and the operation server, indicating that the unknown object is removed, wherein in response to receiving the third message, the operation server updates the first portion of the map data, indicating that the unknown object is removed and sends the updated map data to the other autonomous vehicles.

### Claim 20 (depends on 15)

The computer program of claim 15, wherein the at least one vehicle sensor comprises one or more of cameras, LiDAR sensors, motion sensors, and infrared sensors.