US 11,702,087 B2
Autonomous driving monitoring system
Fan Zhu, Sunnyvale, CA (US)
Assigned to BAIDU USA LLC, Sunnyvale, CA (US)
Filed by Baidu USA LLC, Sunnyvale, CA (US)
Filed on Sep. 17, 2019, as Appl. No. 16/573,365.
Prior Publication US 2021/0078588 A1, Mar. 18, 2021
Int. Cl. B60W 50/02 (2012.01); G07C 5/08 (2006.01); G07C 5/00 (2006.01); G05D 1/00 (2006.01)
CPC B60W 50/0205 (2013.01) [G05D 1/0088 (2013.01); G07C 5/008 (2013.01); G07C 5/0808 (2013.01); B60W 2050/021 (2013.01); B60W 2510/18 (2013.01); B60W 2510/20 (2013.01); B60W 2556/45 (2020.02); G05D 2201/0213 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for monitoring an autonomous driving vehicle (ADV), the method comprising:
receiving, at a control module, planning and control data from a planning module, the planning and control data representing a path generated by the planning module based on perception data perceiving driving environment surrounding the ADV; and
in response to the planning and control data, performing by the control module,
generating a control command to control the ADV to move according to the path,
sensing feedback of the ADV in response to the control command,
determining a difference between an expected response to the control command by the ADV and the feedback corresponding to the control command,
if the difference satisfies a threshold, generating a fault response including,
providing a visual indication of a fault, and
controlling the ADV with a remedial control command; and
if a control difference between a first control command generated by an MPC controller and a second control command generated by a proportional integral derivative (PID) controller satisfies a control threshold, then controlling the ADV with the second control command.