Uber Technologies, Inc.

Uatc, LLC

Morgan D Jones

Mark Sibenac

Daniel Leland Strother

Daniel Joseph Tascione

Jordan Peter Brindza

Nicholas G Letwin

Brian Thomas Kirby

Michael John Dacko

Justin Waters

Michael Knoll Sergi-Curfman

Systems and methods for controlling a failover response of an autonomous vehicle are provided. In one example embodiment, a method includes determining, by one or more computing devices on-board an autonomous vehicle, an operational mode of the autonomous vehicle. The autonomous vehicle is configured to operate in at least a first operational mode in which a human driver is present in the autonomous vehicle and a second operational mode in which the human driver is not present in the autonomous vehicle. The method includes detecting a triggering event associated with the autonomous vehicle. The method includes determining actions to be performed by the autonomous vehicle in response to the triggering event based at least in part on the operational mode. The method includes providing one or more control signals to one or more of the systems on-board the autonomous vehicle to perform the one or more actions in response to the triggering event.

Vehicle control system

A sensor synchronization system for an autonomous vehicle is described. Upon initializing a master clock on a master processing node for a sensor apparatus of the autonomous vehicle, the system determines whether an external timing signal is available. If the signal is available, the system synchronizes the master clock with the external timing signal. Based on a clock cycle of the master clock, the system propagates timestamp messages to the sensors of the sensor apparatus, receives sensor data, and formats the sensor data based on the timestamp messages.

Formatting sensor data for use in autonomous vehicle communications platform

A sensor triggering system for a sensor apparatus including a plurality of sensors. The system detects a first sensor pulse and determines a memory address of a lookup table based on the first sensor pulse. In response to the first sensor pulse, the system selectively triggers one or more of the plurality of sensors based at least in part on a codeword stored at the first memory address. For example, the codeword may comprise a number of bits such that each bit of the codeword indicates an activation state for a respective one of the plurality of sensors.

System and method of sensor triggering for synchronized operation

A user interface device for an autonomous vehicle (AV) can include an autonomy engage selector and a plurality of vehicle interfaces connected in series. Each of the plurality of vehicle interfaces can correspond to a respective vehicle operation and can include a relay that engages when the vehicle interface is in a ready state. The user interface device can also include a drive-by-wire controller to autonomously operate each of the plurality of vehicle interfaces in response to an engage input on the autonomy engage selector when the user interface device is in a ready condition.

Drive-by-wire control system

System and method for sensor triggering for synchronized operation

An autonomous-capable vehicle which can be operated in a transitional state from manual vehicle operation to autonomous vehicle operation. In the transitional state, the vehicle operates autonomously and overrides manual interaction of the user. To maintain the transitional state, the driver performs a continuous action, such as providing a continuous interaction with a switching mechanism.

Control system for autonomous-capable vehicles

A sensor synchronization system for an autonomous vehicle is described. Upon initializing a master clock on a master processing node for a sensor apparatus of the autonomous vehicle, the system determines whether an external timing signal is available. If the signal is not available, the system sets the master clock using a local timing signal from a low-power clock on the autonomous vehicle. Based on a clock cycle of the master clock, the system propagates timestamp messages to the sensors of the sensor apparatus, receives sensor data, and formats the sensor data based on the timestamp messages.

A sensor interface for an autonomous vehicle. The sensor interface generates a plurality of sensor pulses that are each offset in phase relative to a local clock signal by a respective amount. The sensor interface receives sensor data from a sensor apparatus and formats the sensor data based at least in part on the plurality of sensor pulses to enable the sensor data to be used for navigating the autonomous vehicle. For example, the sensor interface may add a timestamp to the sensor data indicating a timing of the sensor data in relation to the local clock signal.

A control interface for a first vehicle operation of an autonomous vehicle. The control interface detects an autonomy activation signal to enable a first automated controller to control the first vehicle operation. The control interface then couples the first automated controller to a vehicle control platform configured to manage the first vehicle operation in response to input signals. For example, the control inter face may include a double-throw electromechanical relay that switchably couples the vehicle control platform to one of the first automated controller or a manual input mechanism. The control interface then provides the input signals to the vehicle control platform from the first automated controller.

System for switching control of an autonomous vehicle

A sensor synchronization system for a sensor apparatus. The system synchronizes a local clock signal with an external timing signal. For example, the external timing signal may correspond to a pulse per second (PPS) signal received from a global positioning system (GPS) receiver. The system further generates a plurality of sensor pulses that are each offset in phase relative to the local clock signal by a respective amount. The system then receives sensor data from the sensor apparatus, and determines a timing of the sensor data in relation to the local clock signal based at least in part on the plurality of sensor pulses.

System for processing asynchronous sensor data

An autonomy controller for a vehicle. The autonomy controller detects a user input to enable an autonomous driving mode for the vehicle. In response to the user input, the autonomy controller determines a condition of one or more control interfaces configured to control respective vehicle operations. The autonomy controller may then selectively enable the autonomous driving mode based at least in part on the condition of each of the one or more control interfaces. For example, the autonomy controller may enable the autonomous driving mode only if each of the one or more control interfaces is in a ready condition.

A sensor synchronization system for a sensor apparatus. The system synchronizes a local clock signal with an external timing signal. For example, the external timing signal may correspond to a pulse per second (PPS) signal received from a global positioning system (GPS) receiver. The system further generates a plurality of sensor pulses that are each offset in phase relative to the local clock signal by a respective amount. The system then activates a plurality of sensors of the sensor apparatus based at least in part on the plurality of sensor pulses.

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Pittsburgh, PA, United States of America

Morgan D Jones