US 11,673,566 B2
Autonomous vehicle safety platform system and method
Jason Ye, Ann Arbor, MI (US); John Cavicchio, Ann Arbor, MI (US); Andres Tamez, Ann Arbor, MI (US); Jacob Lucero, Ann Arbor, MI (US); Justin Tesmer, Ann Arbor, MI (US); Anush Gandra, Ann Arbor, MI (US); Yaxin Luan, Ann Arbor, MI (US); and Shane DeMeulenaere, Ann Arbor, MI (US)
Assigned to May Mobility, Inc., Ann Arbor, MI (US)
Filed by May Mobility, Inc., Ann Arbor, MI (US)
Filed on Jul. 26, 2022, as Appl. No. 17/873,584.
Application 17/873,584 is a continuation of application No. 17/846,963, filed on Jun. 22, 2022.
Application 17/846,963 is a continuation of application No. 17/550,461, filed on Dec. 14, 2021, granted, now 11,396,302, issued on Jul. 26, 2022.
Claims priority of provisional application 63/125,304, filed on Dec. 14, 2020.
Prior Publication US 2022/0355808 A1, Nov. 10, 2022
Int. Cl. B60W 50/029 (2012.01); B60W 60/00 (2020.01); B60W 30/095 (2012.01); B60W 40/04 (2006.01); G06V 20/58 (2022.01); B60W 30/09 (2012.01)
CPC B60W 50/029 (2013.01) [B60W 30/09 (2013.01); B60W 30/0956 (2013.01); B60W 40/04 (2013.01); B60W 60/0011 (2020.02); B60W 60/0015 (2020.02); B60W 60/00274 (2020.02); G06V 20/58 (2022.01); B60W 2050/0292 (2013.01); B60W 2554/40 (2020.02); B60W 2554/80 (2020.02); B60W 2556/50 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A method for repeatedly generating a fallback plan for an autonomous vehicle, the method comprising:
generating a set of fallback plans, comprising, at each of a set of multiple times during operation of the autonomous vehicle:
generating a fallback plan of the set of fallback plans, comprising:
based on a location of the autonomous vehicle, determining a set of safe state candidates for the autonomous vehicle;
evaluating each of the set of safe state candidates to determine an available subset of the set of safe state candidates;
selecting a safe state from the available subset; and
generating a polynomial path from the location to the selected safe state, wherein the fallback plan comprises the polynomial path;
operating the autonomous vehicle according to a primary plan, the primary plan separate and distinct from the fallback plan; and
checking for a trigger condition, wherein in an event that the trigger condition is satisfied, utilizing a most recently generated fallback plan.