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.
Claims20
A vehicle configured to operate in an autonomous driving mode, comprising:
- 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;
- and
- a control system operatively connected to the driving system, the control system having one or more processors configured to:
- receive sensor data from one or more sensors of a perception system of the vehicle;
- determine, using a vehicle model, a predicted pose of the vehicle at a particular point in time while the vehicle is operating in the autonomous driving mode;
- determine that there is an anomalous condition of the vehicle based on a discrepancy between an actual pose of the vehicle at the particular point in time and the predicted pose of the vehicle at the particular point in time;
- and
- cause the driving system to perform a driving action in the autonomous driving mode in response to the anomalous condition.
A method of operating a vehicle in an autonomous driving mode, the method comprising:
- receiving, by a computing system of the vehicle, sensor data from one or more sensors of a perception system of the vehicle;
- determining, by the computing system using a vehicle model, a predicted pose of the vehicle at a particular point in time while the vehicle is operating in the autonomous driving mode;
- determining, by the computing system, that there is an anomalous condition of the vehicle based on a discrepancy between an actual pose of the vehicle at the particular point in time and the predicted pose of the vehicle at the particular point in time;
- and
- causing, by the computing system, a driving system of the vehicle to perform a driving action in response to the anomalous condition.
Dependencies are inferred from the claim text.