US 11,673,565 B1
Recoverable fail-safe trajectory
Robert Joseph Dingli, Cupertino, CA (US); Wenbin Wang, Cupertino, CA (US); and Mohammadhussein Rafieisakhaei, Foster City, CA (US)
Assigned to PlusAI, Inc., Santa Clara, CA (US)
Filed by PlusAI, Inc., Santa Clara, CA (US)
Filed on Jun. 30, 2022, as Appl. No. 17/855,451.
Int. Cl. B60W 50/029 (2012.01); B60W 50/02 (2012.01); B60W 50/14 (2020.01); B60W 60/00 (2020.01)
CPC B60W 50/029 (2013.01) [B60W 50/0205 (2013.01); B60W 50/14 (2013.01); B60W 60/0011 (2020.02); B60W 60/0015 (2020.02); B60W 2050/0292 (2013.01); B60W 2556/25 (2020.02); B60W 2556/30 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
receiving, by a control module of a vehicle computer, data associated with a first trajectory and data associated with a second trajectory, wherein the first trajectory and the second trajectory are updated a plurality of times in one second;
generating, by the control module of the vehicle computer, a first set of commands for a vehicle to follow the first trajectory, and a second set of commands for the vehicle to follow the second trajectory;
transmitting, by the control module of the vehicle computer, the first set of commands to one or more actuators of the vehicle for the vehicle to follow the first trajectory;
determining, by the control module of the vehicle computer, that updated data associated with the first trajectory is missing at a first time;
providing, by the control module of the vehicle computer, the second set of commands to the vehicle for the vehicle to follow the second trajectory at a second time after the first time, wherein the second trajectory diverges from the first trajectory at the second time when the vehicle starts following the second trajectory;
when updated data associated with the first trajectory is received at a third time before a fourth time after the second time:
controlling, by the control module of the vehicle computer, the vehicle to follow an updated first trajectory instead of the second trajectory; and
when updated data associated with the first trajectory is not received before the fourth time:
generating, by the control module of the vehicle computer, an alert at the fourth time while providing the second set of commands to the vehicle for the vehicle to continue following the second trajectory, wherein the alert is generated when a speed of the vehicle is reduced by a speed offset threshold compared to the speed of the vehicle at the second time.