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 |
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.
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