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US 2026/0308885 A1Published application
Decoupled safety system
AssigneeBedrock Robotics Inc.
InventorsMatthieu Guilbert, Boris Sofman, Ajay Gummalla
Life of this patent
Estimating the term…
Abstract
In variants, the method can include: sampling a set of sensor measurements; determining a world representation from the set of sensor measurements; determining a set of buffer volumes; determining position set volumes based on a set of control instructions; evaluating collisions between the position set volume and the set of buffer volumes; and determining a set of final control instructions based on the collision evaluation.
Claims20
A method for off-highway vehicle control, comprising:
- at non-safety-qualified compute:
- generating a set of primary control instructions comprising a trajectory for an end effector of the vehicle;
- generating a set of buffer volumes based on a world representation of an environment surrounding the vehicle;
- determining whether the trajectory collides with the set of buffer volumes using a geometric intersection check;
- and
- sending a set of final control instructions to a safety-qualified compute, wherein the set of final control instructions comprise the set of primary control instructions when no collision is detected, and do not comprise the primary control instructions when a collision is detected;
- and
- at the safety-qualified compute:
- generating a set of actuator commands based on the set of final control instructions;
- and
- controlling vehicle actuators based on the set of actuator commands.
8 more elements
A method comprising:
- generating a trajectory for an end effector of an ego vehicle;
- generating a set of buffer volumes based on a 3D model of the ego vehicle, wherein the set of buffer volumes comprises:
- a first buffer volume associated with a body of the ego vehicle, wherein the body of the ego vehicle comprises a cabin;
- and
- a second buffer volume associated with the end effector of the ego vehicle;
- determining a trajectory volume for the end effector based on the trajectory and the second buffer volume;
- evaluating whether the trajectory volume intersects the first buffer volume;
- generating a set of actuator commands based on the trajectory when the trajectory volume does not intersect the first buffer volume;
- and
- controlling the ego vehicle based on the set of actuator commands.
7 more elements
Dependencies are inferred from the claim text.