US 11,679,776 B2
Autonomous vehicle safety platform system and method
Jason Ye, Ann Arbor, MI (US); John Cavicchio, Ann Arbor, MI (US); Andres Tamez, Ann Arbor, MI (US); Jacob Lucero, Ann Arbor, MI (US); Justin Tesmer, Ann Arbor, MI (US); Anush Gandra, Ann Arbor, MI (US); Yaxin Luan, Ann Arbor, MI (US); and Shane DeMeulenaere, Ann Arbor, MI (US)
Assigned to May Mobility, Inc., Ann Arbor, MI (US)
Filed by May Mobility, Inc., Ann Arbor, CA (US)
Filed on Jul. 26, 2022, as Appl. No. 17/873,637.
Application 17/873,637 is a continuation of application No. 17/846,963, filed on Jun. 22, 2022.
Application 17/846,963 is a continuation of application No. 17/550,461, filed on Dec. 14, 2021, granted, now 11,396,302, issued on Jul. 26, 2022.
Claims priority of provisional application 63/125,304, filed on Dec. 14, 2020.
Prior Publication US 2022/0355809 A1, Nov. 10, 2022
Int. Cl. B60W 50/029 (2012.01); B60W 60/00 (2020.01); B60W 30/095 (2012.01); B60W 40/04 (2006.01); G06V 20/58 (2022.01); B60W 30/09 (2012.01)
CPC B60W 50/029 (2013.01) [B60W 30/09 (2013.01); B60W 30/0956 (2013.01); B60W 40/04 (2013.01); B60W 60/0011 (2020.02); B60W 60/0015 (2020.02); B60W 60/00274 (2020.02); G06V 20/58 (2022.01); B60W 2050/0292 (2013.01); B60W 2554/40 (2020.02); B60W 2554/80 (2020.02); B60W 2556/50 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A method for determining and implementing a fallback plan for an autonomous vehicle, the method comprising:
producing a set of operational plans and a set of fallback plans, comprising, at each of a set of multiple intervals:
collecting sensor data from a set of sensors associated with the autonomous vehicle;
processing the sensor data at a computing system to:
determine an operational plan of the set of operational plans for the autonomous vehicle;
determine a fallback plan of the set of fallback plans for the autonomous vehicle; and
transmit the fallback plan to memory associated with a low level safety platform;
checking for a set of trigger conditions, the set of trigger conditions comprising at least one of:
a loss of communication between the computing system and the low level safety platform;
an error associated with a set of control commands generated by the computing system;
in response to determining that none of the set of trigger conditions is satisfied, navigating the autonomous vehicle according to a most recently determined operational plan of the set of operational plans;
while navigating the autonomous vehicle according to the most recently determined operational plan, checking for the set of trigger conditions, wherein in response to detecting satisfaction of a trigger condition of the set of trigger conditions, navigating the autonomous vehicle according to a most recently determined fallback plan of the set of fallback plans, wherein the fallback plan deviates from a path of the operational plan.