A method for controlling a vehicle 100 includes generating, by a primary computing system 110, a nominal trajectory from a location in order to achieve a mission goal and a fall back trajectory from the location in order to safely stop the vehicle. The nominal and the fall back are identical between the location and a divergent point and where the nominal and the fall back diverge after the divergent point. The fall back is sent to and received by a secondary computing system 210. The secondary computing system waits for an updated trajectory from the primary computing system while controlling the vehicle according to the fall back. When the vehicle reaches a threshold point on the fall back, or a predetermined threshold period of time from a time when the fall back trajectory was received has passed, and an updated trajectory has not yet been received by the secondary computing system, the secondary computing system continues to control the vehicle according to the fall back in order to safely stop the vehicle.
FALL BACK TRAJECTORY SYSTEMS FOR AUTONOMOUS VEHICLES
FALLBACK-TRAJEKTORIENSYSTEME FÜR AUTONOME FAHRZEUGE
SYSTÈMES DE TRAJECTOIRE DE REPLI POUR VÉHICULES AUTONOMES
2020-09-09
Patent
Electronic Resource
English
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS |
Method for handling Fall-Back of unmaned and low-velocity autonomous vehicles
European Patent Office | 2023