Motional Ad LLC

Disney Enterprises, Inc.

Aptiv Technologies Limited

Zachary Thomas Batts

Ludong Sun

Junqing Wei

Jarrod M Snider

Qian Wang

Yiming Zhao

Ky Woodard

Stephanie Lee

Lin Zhao

Junsung Kim

Ali Israr

Katsu Yamane

Hans Andersen

Ning Wu

Marc Dominik Heim

Joohyung Kim

Lixun Lin

Juraj Kabzan

Boaz Cornelis Floor

Jesse Adam Miller

Zachary T Schwemler

Xiyuan Liu

Nobuhisa Hanamitsu

Among other things, we describe techniques for implementing a vehicle response to sensor failure. In general, one innovative aspect of the subject matter described in this specification can be embodied in methods that include receiving information from a plurality of sensors coupled to a vehicle, determining that a level of confidence of the received information from at least one sensor of a first subset of sensors of the plurality of sensors is less than a first threshold, comparing a number of sensors in the first subset of sensors to a second threshold, and adjusting the driving capability of the vehicle to rely on information received from a second subset of sensors of the plurality of sensors, wherein the second subset of sensors excludes the at least one sensor of the first subset of sensors.

Systems and methods for implementing an autonomous vehicle response to sensor failure

The subject matter described in this specification is generally directed control architectures for an autonomous vehicle. In one example, a reference trajectory, a set of lateral constraints, and a set of speed constraints are received using a control circuit. The control circuit determines a set of steering commands based at least in part on the reference trajectory and the set of lateral constraints and a set of speed commands based at least in part on the set of speed constraints. The vehicle is navigated, using the control circuit, according to the set of steering commands and the set of speed commands.

Control architectures for autonomous vehicles

An operating system for an automated vehicle includes a failure-detector and a controller. The failure-detector detects a component-failure on a host-vehicle. Examples of the component-failure include a flat-tire and engine trouble that reduces engine-power. The controller operates the host-vehicle based on a dynamic-model. The dynamic-model is varied based on the component-failure detected by the failure-detector.

Adaptive dynamic model for automated vehicle

A system includes one or more sensor systems, a controller-circuit, a first module, and a second module. The sensor systems are configured to determine position relationship data between a roadway and a host vehicle. The sensor system includes at least one of a computer-vision system, a radar system, and a LIDAR system. The controller-circuit is configured to receive and transform the position relationship data to effect steering control of the host vehicle. The first module is controlled by the controller-circuit to effect the steering control when the steering control transitions from a manual-mode to an automated mode. The second module is controlled by the controller-circuit to effect steering control of the host vehicle after control by the first module and upon meeting a prescribed condition.

Automated vehicle steering control for transitioning from manual mode to automated mode

An apparatus is provided which includes a processing circuit and a plurality of sensors connected to a vehicle, where at least one of the plurality of sensors is positioned on an undercarriage of the vehicle. The plurality of sensors can detect variations in a road on which the vehicle is traveling. The plurality of sensors can also generate information corresponding to the variations of the road. The plurality of sensors can also transmit the information corresponding to the variations in the road to the processing circuit. The information collected by the plurality of sensors may then be used to augment a driving capability of the vehicle.

Detecting road anomalies

A rumble-strip following system for automated vehicle steering includes a vibration-detector, a steering-device, and a controller-circuit. The vibration-detector is configured to detect vibration experienced by a host-vehicle traveling a roadway. The steering-device is configured to steer the host-vehicle. The controller-circuit is in communication with the vibration-detector and the steering-device. The controller-circuit is configured to determine that the vibration is indicative of a tire of the host-vehicle contacting a rumble-strip arranged parallel to a heading of the roadway, and operate the steering-device so the tire follows the rumble-strip.

Rumble strip following for automated vehicle steering

An intent communication system includes one or more sensors, a controller-circuit, and a broadcast device. The sensors may include one or more of a Light Detection and Ranging (LiDAR), a radar, and a computer vision system. The controller-circuit is disposed in a host vehicle. The controller-circuit is configured to determine, based one or more signals from the one or more sensors, an impending vehicle maneuver. The broadcast device is located in the host vehicle, and is configured to broadcast a broadcast signal containing information directed to the impending vehicle maneuver to at least one vehicle determined to be in a vicinity of the impending vehicle maneuver.

Vehicle intent communication system

A tire-wear detection system for an automated vehicle includes a steering-angle-sensor, a vehicle-path-detector, and a controller. The steering-angle-sensor indicates a steering-angle of a host-vehicle. The vehicle-path-detector indicates a turning-radius of the host-vehicle. The controller is in communication with the steering-angle-sensor and the vehicle-path-detector. The controller determines a wear-status of a tire of the host-vehicle based on the turning-radius and the steering-angle.

Tire wear detection system for automated vehicle

A haptic effects generator includes a circuit configured to generate a drive signal, and a haptic actuator coupled to the circuit. The haptic actuator includes a casing having first and second axial ends, a coil configured to receive the drive signal from the circuit and situated within the casing, and a mass designed to move between the first and second axial ends in response to a magnetic field generated by the coil. The haptic actuator also includes a first spring configured to damp the movement by the mass, situated between the mass and the first axial end of the casing, and a second spring configured to damp the movement by the mass, situated between the mass and the second axial end of the casing. The haptic effects generator can cause the mass to oscillate in a range of frequencies.

Dynamic haptic effects generator

A brake control system for operating brakes of an automated vehicle at slow speed includes a motion-detector and a controller. The motion-detector detects relative-movement of a host-vehicle relative to a stationary-feature located apart from the host-vehicle. The controller is configured to operate brakes of the host-vehicle. The controller determines a vehicle-speed of the host-vehicle based on the relative-movement when the vehicle-speed is less than a speed-threshold, and regulates brake-pressure of the brakes based on the vehicle-speed.

Slow speed automated vehicle brake pressure control system

A prismatic actuator for imparting a hopping motion to a supported load such as a leg of robot. The apparatus includes a direct drive motor, such as a voice coil, operable to provide translational motion. The apparatus includes a spring element and a prismatic guide assembly. The guide assembly is configured to support the direct drive motor to constrain the translational motion to be along a drive axis and support the spring element to constrain compression and expansion of the spring element along a longitudinal axis parallel to the drive axis. The apparatus includes a controller that: (1) first controls the direct drive motor to compress the spring element during a first time period beginning when the apparatus initially contacts a surface; and (2) second controls the direct drive motor to expand the spring element when the apparatus has zero velocity while contacting the surface.

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Pittsburgh, PA, United States of America

Zachary Thomas Batts