Patent SG-11201805625Y-A (SG)
Title: Fall back trajectory systems for autonomous vehicles
Inventor: BARTON-SWEENEY ANDREW
IPC: G05D1/00
Filed: 2016-12-22
Abstract: ComputiroSystem Computing Devices Processor(s) Memory Instructions I Data I User input I Internal Electronic Display I SpeaKers I 'Wreless Network Co tion(s) I Posi,!oring System I— _ I Perception Syser - i 120 130 - 150 - 152 154 - 170 -- 172 Computing System Computing Device(s) Processor(s) Memory I Instructions _ I Data - 210 -, 212 220 Deceleration System I 160 162 AccelerationSystem I - 164 t Sysram 166 100 FIGURE 1 Power System 1E , I - 174 W O 20 17 / 120057 Al (12) INTERNATIONAL APPLICATION PUBLISHED UNDER THE PATENT COOPERATION TREATY (PCT) (19) World Intellectual Property Organization International Bureau (10) International Publication Number (43) International Publication Date WO 2017/120057 Al 13 July 2017 (13.07.2017) WIPO I PCT 1111111111111011011111111111010111110110110101111111111111111111111111111110111111 (51) International Patent Classification: G05D 1/00 (2006.01) G05D 1/02 (2006.01) (21) International Application Number: PCT/US2016/068233 (22) International Filing Date: 22 December 2016 (22.12.2016) (25) Filing Language: English (26) Publication Language: English (30) Priority Data: 14/991,150 8 January 2016 (08.01.2016) US 15/371,595 7 December 2016 (07.12.2016) US (71) Applicant: WAYMO LLC [US/US]; 1600 Amphitheatre Parkway, Mountain View, California 94043 (US). (72) Inventors: BARTON-SWEENEY, Andrew; 1608 Har- mon St., Apt.2, Berkeley, California 94703 (US). EGNOR, Daniel, Trawick; 1600 Amphitheatre Parkway, Mountain View, California 94043 (US). FAIRFIELD, Nathaniel; 1600 Amphitheatre Parkway, Mountain View, California 94043 (US). (74) Agents: CACCIABEVE, Noelle, L. et al.; Lerner, David, Littenberg, Krumholz & Mentlik, LLP, 600 South Avenue West, Westfield, New Jersey 07090 (US). (81) Designated States (unless otherwise indicated, for every kind of national protection available): AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW. (84) Designated States (unless otherwise indicated, for every kind of regional protection available): ARIPO (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, [Continued on next page] (54) Title: FALL BACK TRAJECTORY SYSTEMS FOR AUTONOMOUS VEHICLES (57) : A method for controlling a vehicle (100) includes generat- ing, 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 and an updated trajectory has not yet been received by the secondary comput- ing system, the secondary computing system continues to control the vehicle according to the fall back in order to safely stop the vehicle. WO 2017/120057 Al MIDEDIMOMOIDIONOIDEMOMOHOIONIMINERVOIMIE TZ, UG, ZM, ZW), Eurasian (AM, AZ, BY, KG, KZ, RU, as to the applicant's entitlement to claim the priority of TJ, TM), European (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, the earlier application (Rule 4.17(iii)) LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, Published: SI, SK, SM, TR), OAPI (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG). with international search report (Art. 21(3)) Declarations under Rule 4.17: with amended claims (Art. 19(1)) as to applicant's entitlement to apply for and be granted a patent (Rule 4.17(0)