# US 2023/0176575 A1 · Autonomous Vehicle with Independent Auxiliary Control Units > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2023/0176575 A1 - Document ID: US20230176575A1 - Status: Published application - Kind: A1 - Application number: 18/162,249 - Filed: 2023-01-31 - Published: 2023-06-08 - Earliest claimed: 2015-09-28 - Assignees: Uatc, LLC - Applicants: Uatc, LLC - Inventors: Nicholas Letwin; Sean Kelly - Web page: https://patentgrep.com/patent/US20230176575A1 ## CPC - G05D 1/0077: {using redundant signals or controls} - B60T 8/17557: {specially adapted for lane departure prevention (road vehicle drive control systems for lane keeping otherwise than by controlling a particular sub-unit B60W30/12)} - B60T 8/17558: {specially adapted for collision avoidance or collision mitigation (road vehicle drive control systems for collision avoidance otherwise than by controlling a particular sub-unit B60W30/09)} - B60W 30/08: {Active safety systems} predicting or avoiding probable or impending collision {or attempting to minimise its consequences} - B60W 60/0011: {involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles} - G05D 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)} - G05D 1/86: Monitoring the performance of the system, e.g. alarm or diagnosis modules - B60T 2270/406: Test-mode; Self-diagnosis - B60W 2050/0215: {Sensor drifts or sensor failures} - B60Y 2302/05: Leading to automatic stopping of the vehicle - G05D 2105/20: for transportation - G05D 2107/13: Spaces reserved for vehicle traffic, e.g. roads, regulated airspace or regulated waters - G05D 2109/10: Land vehicles - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - B60T: VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL (electrodynamic brake systems for vehicle, in general B60L; brakes per se, i.e. devices where braking effect occurs, including ultimate brake actuators, F16D); ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES - 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 - B60Y: INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY ## Abstract An autonomous vehicle which includes multiple independent control systems that provide redundancy as to specific and critical safety situations which may be encountered when the autonomous vehicle is in operation. ## Claims ### Claim at position 1 -20. (canceled) ### Claim 21 An autonomous vehicle control system for controlling an autonomous vehicle, the autonomous vehicle control system comprising: one or more processors; and one or more tangible, non-transitory, computer readable media storing instructions that are executable by the one or more processors to cause the autonomous vehicle control system to perform operations, the operations comprising: receiving, from one or more first sensors, a first sensor input descriptive of an environment of the autonomous vehicle; determining, using a first control subsystem and based at least in part on the first sensor input, a first determined state of the environment, the first determined state associated with a confidence score; receiving, from one or more second sensors, a second sensor input descriptive of the environment; determining, using a second control subsystem and based at least in part on the second sensor input, a second determined state of the environment; and determining, based at least in part on the confidence score, to implement a vehicle response output of the second control subsystem, the vehicle response output based at least in part on the second determined state of the environment. ### Claim 22 (depends on 21) The autonomous vehicle control system of claim 21, wherein the vehicle response output of the second control subsystem is implemented in lieu of a vehicle response output of the first control subsystem. ### Claim 23 (depends on 21) The autonomous vehicle control system of claim 21, wherein the operations comprise: determining that the confidence score satisfies a threshold; and determining to use the vehicle response output of the second control subsystem based on the confidence score satisfying the threshold. ### Claim 24 (depends on 21) The autonomous vehicle control system of claim 21, wherein the one or more first sensors comprise camera sensors and the one or more second sensors comprise Lidar sensors. ### Claim 25 (depends on 21) The autonomous vehicle control system of claim 21, wherein the one or more first sensors consist of one or more camera sensors and the one or more second sensors consist of one or more Lidar sensors. ### Claim 26 (depends on 21) The autonomous vehicle control system of claim 21, wherein the operations comprise: determining, based on at least one of the first sensor input or the second sensor input, a particular confidence indicator associated with the environment; and determining, based at least in part on the particular confidence indicator, to implement the vehicle response output of the second control subsystem. ### Claim 27 (depends on 26) The autonomous vehicle control system of claim 26, wherein the particular confidence indicator comprises an event associated with a level of confidence indicative of an ability of the second control subsystem to respond to the event ### Claim 28 One or more tangible, non-transitory, computer readable media storing, instructions that are executable by one or more processors to cause an autonomous vehicle control system of an autonomous vehicle to perform operations, the operations comprising: receiving, from one or more first sensors, a first sensor input descriptive of an environment of the autonomous vehicle; determining, using a first control subsystem and based at least in part on the first sensor input, a first determined state of the environment, the first determined state associated with a confidence score; receiving, from one or more second sensors, a second sensor input descriptive of the environment; determining, using a second control subsystem and based at least in part on the second sensor input, a second determined state of the environment; and determining, based at least in part on the confidence score, to implement a vehicle response output of the second control subsystem, the vehicle response output based at least in part on the second determined state of the environment. ### Claim 29 (depends on 28) The one or more tangible, non-transitory, computer readable media of claim 28, wherein the vehicle response output of the second control subsystem is implemented in lieu of a vehicle response output of the first control subsystem. ### Claim 30 (depends on 28) The one or more tangible, non-transitory, computer readable media of claim 28, wherein the operations comprise: determining that the confidence score satisfies a threshold; and determining to use the vehicle response output of the second control subsystem based on the confidence score satisfying the threshold. ### Claim 31 (depends on 28) The one or more tangible, non-transitory, computer readable media of claim 28, wherein the one or more first sensors comprise camera sensors and the one or more second sensors comprise Lidar sensors. ### Claim 32 (depends on 28) The one or more tangible, non-transitory, computer readable media of claim 28, wherein the one or more first sensors consist of one or more camera sensors and the one or more second sensors consist of one or more Lidar sensors. ### Claim 33 (depends on 28) The one or more tangible, ion-transitory, computer readable media of claim 28, wherein the operations comprise: determining, based on at least one of the first sensor input or the second sensor input, a particular confidence indicator associated with the environment; and determining, based at least in part on the particular confidence indicator, to implement the vehicle response output of the second control subsystem. ### Claim 34 (depends on 33) The one or more tangible, non-transitory, computer readable media of claim 33, wherein the particular confidence indicator comprises an event associated with a lowered level of confidence. ### Claim 35 One or more tangible, non-transitory, computer readable media storing instructions that are executable by one or more processors to cause an autonomous vehicle control system of an autonomous vehicle to perform operations, the operations comprising: receiving, from one or more first sensors, a first sensor input descriptive of an environment of the autonomous vehicle; determining, using a first control subsystem and based at least in part on the first sensor input, a first determined state of the environment, the first determined state associated with a confidence score; receiving, from one or more second sensors, a second sensor input descriptive of the environment; determining, using a second control subsystem and based at least in part on the second sensor input, a second determined state of the environment; and determining, based at least in part on the confidence score, to implement a vehicle response output of the second control subsystem, the vehicle response output based at least in part on the second determined state of the environment. ### Claim 36 (depends on 35) The one or more tangible, non-transitory, computer readable media of claim 35, wherein the vehicle response output of the second control subsystem is implemented in lieu of a vehicle response output of the first control subsystem. ### Claim 37 (depends on 35) The one or more tangible, non-transitory, computer readable media of claim 35, wherein the operations comprise: determining that the confidence score satisfies a threshold; and determining to use the vehicle response output of the second control subsystem based on the confidence score satisfying the threshold. ### Claim 38 (depends on 35) The one or more tangible, non-transitory, computer readable media of claim 35, wherein the one or more first sensors comprise camera sensors and the one or more second sensors comprise Lidar sensors. ### Claim 39 (depends on 35) The one or more tangible, non-transitory, computer readable media of claim 35, wherein the one or more first sensors consist of one or more camera sensors and the one or more second sensors consist of one or more Lidar sensors. ### Claim 40 (depends on 35) The one or more tangible, non-transitory, computer readable media of claim 35, wherein the operations comprise: determining, based on at least one of the first sensor input or the second sensor input, a particular confidence indicator associated with the environment; and determining, based at least in part on the particular confidence indicator, to implement the vehicle response output of the second control subsystem.