US 11,693,405 B2
Systems for implementing fallback behaviors for autonomous vehicles
Emily Chi, Los Angeles, CA (US); Ryan Joseph Andrade, Morgan Hill, CA (US); Michael James, Northville, MI (US); Ioan-Alexandru Sucan, Mountain View, CA (US); Christopher Kennedy Ludwick, Los Altos, CA (US); Joshua Seth Herbach, San Francisco, CA (US); Misha Balakhno, Mountain View, CA (US); and Andrew Barton-Sweeney, Oakland, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Sep. 30, 2020, as Appl. No. 17/37,924.
Application 17/037,924 is a continuation of application No. 16/180,267, filed on Nov. 5, 2018, granted, now 10,838,417.
Prior Publication US 2021/0048816 A1, Feb. 18, 2021
Int. Cl. G05D 1/00 (2006.01); G05D 1/02 (2020.01)
CPC G05D 1/0077 (2013.01) [G05D 1/0088 (2013.01); G05D 1/0212 (2013.01); G05D 1/0223 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A control system for controlling a vehicle in an autonomous driving mode, the control system comprising:
a plurality of sensors configured to generate sensor data;
a primary computing system configured to:
generate different behavior predictions based on each of different types of road users in the sensor data,
generate trajectories using the sensor data, and
send the generated trajectories to a secondary computing system configured to cause the vehicle to follow a received trajectory; and
a backup computing system configured to, when there is a failure of the primary computing system, generate and send one or more trajectories to the secondary computing system to control the vehicle to maneuver to a stopping location.