US 11,673,578 B2
Method and system for safe handling of an autonomous vehicle during emergency failure situation
Arnik Sarkar, Murshidabad (IN); Pranab Ghosh, Kolkata (IN); and Dipanjan Choudhury, Kolkata (IN)
Assigned to Wipro Limited, Bangalore (IN)
Filed by Wipro Limited, Bangalore (IN)
Filed on Jul. 16, 2020, as Appl. No. 16/930,474.
Claims priority of application No. 202041014301 (IN), filed on Mar. 31, 2020.
Prior Publication US 2021/0300417 A1, Sep. 30, 2021
Int. Cl. B60W 60/00 (2020.01); G05D 1/00 (2006.01); G05D 1/02 (2020.01); B60W 50/02 (2012.01); B60W 30/095 (2012.01); B60W 30/09 (2012.01)
CPC B60W 60/0015 (2020.02) [B60W 30/09 (2013.01); B60W 30/0956 (2013.01); B60W 50/0205 (2013.01); G05D 1/0055 (2013.01); G05D 1/0214 (2013.01); B60W 2420/42 (2013.01); B60W 2554/80 (2020.02); B60W 2555/00 (2020.02); B60W 2556/45 (2020.02); G05D 2201/0213 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A method of safe handling an autonomous vehicle during emergency failure situation, the method comprising:
establishing, by a road assistance system, a network connection with an autonomous vehicle, wherein a request for the network connection is transmitted by the autonomous vehicle on detection of one or more operation failures;
upon establishing the network connection with the autonomous vehicle, receiving, by the road assistance system, vehicle failure information from the autonomous vehicle;
determining, by the road assistance system, a type of failure to be at least one of an Environment Perception Error (EPE), wherein the autonomous vehicle is unable to perceive the surrounding environment, a Decision Making Error (DME), wherein one or more hardware units fail and a Driving Control Error (DCE) wherein the autonomous vehicle fails to switch from an autonomous mode to a manual mode based on the vehicle failure information;
loading, by the road assistance system, a list of a plurality of sensing devices associated with the road assistance system;
sending, by the road assistance system, a selective multicast discovery request to each sensing device of the plurality of sensing devices;
receiving, by the road assistance system, a location coordinate and a diagnostic trouble code (DTC) of each sensing device of one or more sensing devices from the plurality of sensing device;
establishing, by the road assistance system, a network connection with the one or more sensing devices based on the location coordinate and the DTC;
obtaining, by the road assistance system, current surrounding environment information for the autonomous vehicle from one of, the autonomous vehicle and the one or more sensing devices located in proximity to the autonomous vehicle;
generating, by the road assistance system, at least one control instruction based on the type of failure being at least one of an EPE, DME and a DCE and the current surrounding environment information, wherein the at least one control instruction is generated by determining trajectory information for the autonomous vehicle, and wherein the trajectory information for the autonomous vehicle is determined by:
(a) calculating a relative position of the autonomous vehicle with respect to each of the one or more sensing devices:
(b) determining a relative distance of at least one obstacle from the autonomous vehicle;
(c) determining a distance between one of the one or more sensing devices and the autonomous vehicle based on the calculated relative position using a predefined technique;
(d) obtaining an image captured by the sensing device and determine a first distance between the autonomous vehicle and the sensing device and a second distance between the obstacle and the sensing device;
(e) matching the first distance and the second distance with relative distance to identify the autonomous vehicle;
(f) performing steps (a-e) for remaining of the one or more sensing devices located in proximity to the autonomous vehicle; and
(g) combining output from each of the one or more sensing devices to obtain the trajectory information of the autonomous vehicle; and
providing, by the road assistance system, the at least one control instruction to the autonomous vehicle for execution during the emergency failure situation.