# US 2025/0095412 A1 · Autonomous vehicles detecting and reporting degraded states of peers

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- Number: US 2025/0095412 A1
- Document ID: US20250095412A1
- Status: Published application
- Kind: A1
- Application number: 18/467,542
- Filed: 2023-09-14
- Published: 2025-03-20
- Earliest claimed: 2023-09-14
- Assignees: GM Cruise Holdings LLC
- Applicants: GM Cruise Holdings LLC
- Inventors: Domenico Rusciano; Omair Siddiqui; Arshad Zaman; Jose Maciel Torres; Kunal Mehta; Miles Avery Bowman; Mamoon Masud
- Web page: https://patentgrep.com/patent/US20250095412A1

## CPC

- G07C 5/008: {communicating information to a remotely located station (transmission systems for measured values G08C)}
- G07C 5/0816: {Indicating performance data, e.g. occurrence of a malfunction}
- G07C: TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE

## Abstract

An AV may detect degraded states of other AVs. For instance, the AV may use its sensors to detect one or more other vehicles in the local area. The AV may determine whether any of these vehicles is a peer of the AV based on features of these vehicles captured by its sensors. Alternatively, the AV may determine if any vehicle is a peer based on encrypted communication with the vehicle. The AV may also determine whether any peer AV has a state that deviates from an expected or desirable state. The AV may communicate with an online system and request the online system to provide information for identifying the vehicle or detecting degraded states. The AV may also report degradations in peer AVs to the online system. The online system may recover the degraded AV or dispatch another AV to complete a task assigned to the degraded AV.

## Claims

### Claim 1

A method, comprising:
detecting, by a first vehicle, a second vehicle based on one or more sensors of the first vehicle;
determining whether the second vehicle is in a fleet of vehicles that includes the first vehicle;
after determining that the second vehicle is in the fleet of vehicles, detecting, by the first vehicle, whether there is a degradation in a state of the second vehicle; and
after detecting degradation in the state of the second vehicle, transmitting, by the first vehicle, information of the degradation in the state of the second vehicle to an online system managing the fleet of vehicles, the online system to address the degradation in the state of the second vehicle.

### Claim 2 (depends on 1)

The method of claim 1, wherein determining whether the second vehicle is in the fleet of vehicles comprises:
inputting data from the one or more sensors into a machine learning model, the machine learning model outputting a determination whether the second vehicle is in the fleet of vehicles.

### Claim 3 (depends on 2)

The method of claim 2, wherein determining whether the second vehicle is in the fleet of vehicles further comprises:
determining whether a confidence of the machine learning model for the determination is lower than a threshold;
in response to determining that the confidence is lower than the thresholding, sending, to the online system, a request for determining whether the second vehicle is in the fleet of vehicles; and
determining whether the second vehicle is in the fleet of vehicles based on a response from the online system.

### Claim 4 (depends on 3)

The method of claim 3, wherein the request comprises information of one or more features of the second vehicle that are captured by the first vehicle, and the online system is to determine an identity of the second vehicle based on the one or more features of the second vehicle.

### Claim 5 (depends on 1)

The method of claim 1, wherein determining whether the second vehicle is in the fleet of vehicles comprises:
sending, by the first vehicle to the second vehicle, a request for establishing wireless communication, wherein the wireless communication is based on an encrypted communication protocol; and
after the wireless communication is established, determining that the second vehicle is in the fleet of vehicle.

### Claim 6 (depends on 1)

The method of claim 1, wherein detecting whether there is any degradation in the state of the second vehicle comprises:
determining whether the state of the second vehicle matches a reference state.

### Claim 7 (depends on 6)

The method of claim 6, wherein detecting whether there is any degradation in the state of the second vehicle further comprises:
receiving information indicating the reference state of the second vehicle from the online system; and
determining the reference state of the second vehicle based on the information.

### Claim 8 (depends on 6)

The method of claim 6, wherein detecting whether there is any degradation in the state of the second vehicle further comprises:
retrieving information of a reference state of the second vehicle from a memory of the first vehicle; and
determining the reference state of the second vehicle based on the information.

### Claim 9 (depends on 6)

The method of claim 6, wherein:
the state of the second vehicle comprises a location of the second vehicle,
the information indicating the reference state of the second vehicle comprises information of a travelling route of the second vehicle, and
detecting whether there is any degradation in the state of the second vehicle further comprises determining whether the second vehicle deviates from the travelling route based on the location of the second vehicle.

### Claim 10 (depends on 1)

The method of claim 1, wherein the online system is to send a message to a client device associated with a passenger of the second vehicle based on the degradation in the state of the second vehicle.

### Claim 11

One or more non-transitory computer-readable media storing instructions executable to perform operations, the operations comprising:
detecting, by a first vehicle, a second vehicle based on one or more sensors of the first vehicle;
determining whether the second vehicle is in a fleet of vehicles that includes the first vehicle;
after determining that the second vehicle is in the fleet of vehicles, detecting, by the first vehicle, whether there is a degradation in a state of the second vehicle; and
after detecting degradation in the state of the second vehicle, transmitting, by the first vehicle, information of the degradation in the state of the second vehicle to an online system managing the fleet of vehicles, the online system to address the degradation in the state of the second vehicle.

### Claim 12 (depends on 11)

The one or more non-transitory computer-readable media of claim 11, wherein determining whether the second vehicle is in the fleet of vehicles comprises:
inputting data from the one or more sensors into a machine learning model, the machine learning model outputting a determination whether the second vehicle is in the fleet of vehicles.

### Claim 13 (depends on 12)

The one or more non-transitory computer-readable media of claim 12, wherein determining whether the second vehicle is in the fleet of vehicles further comprises:
determining whether a confidence of the training model for the determination is lower than a threshold;
in response to determining that the confidence is lower than the thresholding, sending, to the online system, a request for determining whether the second vehicle is in the fleet of vehicles; and
determining whether the second vehicle is in the fleet of vehicles based on a response from the online system.

### Claim 14 (depends on 11)

The one or more non-transitory computer-readable media of claim 11, wherein determining whether the second vehicle is in the fleet of vehicles comprises:
sending, by the first vehicle to the second vehicle, a request for establishing wireless communication, wherein the wireless communication is based on an encrypted communication protocol; and
after the wireless communication is established, determining that the second vehicle is in the fleet of vehicle.

### Claim 15 (depends on 11)

The one or more non-transitory computer-readable media of claim 11, wherein detecting whether there is any degradation in the state of the second vehicle comprises:
identifying the state of the second vehicle; and
determining whether the state of the second vehicle matches a reference state.

### Claim 16 (depends on 15)

The one or more non-transitory computer-readable media of claim 15, wherein detecting whether there is any degradation in the state of the second vehicle further comprises:
receiving information indicating a reference state of the second vehicle from the online system; or
retrieving information of a reference state of the second vehicle from a memory of the first vehicle.

### Claim 17

A computer system, comprising:
a computer processor for executing computer program instructions; and
one or more non-transitory computer-readable media storing computer program instructions executable by the computer processor to perform operations comprising:
detecting, by a first vehicle, a second vehicle based on one or more sensors of the first vehicle,
determining whether the second vehicle is in a fleet of vehicles that includes the first vehicle,
after determining that the second vehicle is in the fleet of vehicles, detecting, by the first vehicle, whether there is a degradation in a state of the second vehicle, and
after detecting degradation in the state of the second vehicle, transmitting, by the first vehicle, information of the degradation in the state of the second vehicle to an online system managing the fleet of vehicles, the online system to address the degradation in the state of the second vehicle.

### Claim 18 (depends on 17)

The computer system of claim 17, wherein determining whether the second vehicle is in the fleet of vehicles comprises:
inputting data from the one or more sensors into a machine learning model, the machine learning model outputting a determination whether the second vehicle is in the fleet of vehicles;
determining whether a confidence of the training model for the determination is lower than a threshold;
in response to determining that the confidence is lower than the thresholding, sending, to the online system, a request for determining whether the second vehicle is in the fleet of vehicles; and
determining whether the second vehicle is in the fleet of vehicles based on a response from the online system.

### Claim 19 (depends on 17)

The computer system of claim 17, wherein determining whether the second vehicle is in the fleet of vehicles comprises:
sending, by the first vehicle to the second vehicle, a request for establishing wireless communication, wherein the wireless communication is based on an encrypted communication protocol; and
after the wireless communication is established, determining that the second vehicle is in the fleet of vehicle.

### Claim 20 (depends on 17)

The computer system of claim 17, wherein detecting whether there is any degradation in the state of the second vehicle comprises:
identifying the state of the second vehicle; and
determining whether the state of the second vehicle matches a reference state.