US 11,710,153 B2
Autonomy first route optimization for autonomous vehicles
Abhishek Singhal, Santa Clara, CA (US); Gautam Muralidhar, San Jose, CA (US); Christopher F. Pouliot, San Mateo, CA (US); Edward H. Baik, Mountain View, CA (US); and Jonathan A. Cox, San Jose, CA (US)
Assigned to NIO Technology (Anhui) Co., Ltd., Hefei (CN)
Filed by NIO Technology (Anhui) Co., Ltd., Anhui (CN)
Filed on Mar. 16, 2021, as Appl. No. 17/202,823.
Application 17/202,823 is a continuation of application No. 15/395,952, filed on Dec. 30, 2016, granted, now 10,970,746.
Claims priority of provisional application 62/424,976, filed on Nov. 21, 2016.
Prior Publication US 2021/0201357 A1, Jul. 1, 2021
Int. Cl. G06Q 30/02 (2023.01); G06Q 30/0251 (2023.01); G06F 16/29 (2019.01); G01S 13/86 (2006.01); G01S 15/02 (2006.01); G08G 1/16 (2006.01); G06F 16/95 (2019.01); B62D 15/02 (2006.01); G01C 21/34 (2006.01); G01S 13/87 (2006.01); B60S 1/56 (2006.01); G01C 21/36 (2006.01); B60R 11/04 (2006.01); B60S 1/62 (2006.01); G01S 7/40 (2006.01); G01S 7/497 (2006.01); G01S 17/89 (2020.01); G02B 27/00 (2006.01); B60W 30/09 (2012.01); B60W 50/00 (2006.01); G05D 1/00 (2006.01); G05D 1/02 (2020.01); A61B 5/01 (2006.01); A61B 5/024 (2006.01); A61B 5/08 (2006.01); A61B 5/16 (2006.01); A61B 5/18 (2006.01); B60W 40/09 (2012.01); B60W 50/08 (2020.01); B60W 10/18 (2012.01); B60W 10/20 (2006.01); B60W 10/04 (2006.01); B60W 40/04 (2006.01); B60W 40/08 (2012.01); B60W 40/105 (2012.01); B62D 15/00 (2006.01); G01S 13/931 (2020.01)
CPC G06Q 30/0266 (2013.01) [A61B 5/01 (2013.01); A61B 5/024 (2013.01); A61B 5/08 (2013.01); A61B 5/165 (2013.01); A61B 5/18 (2013.01); B60R 11/04 (2013.01); B60S 1/56 (2013.01); B60S 1/62 (2013.01); B60W 10/04 (2013.01); B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 30/09 (2013.01); B60W 40/04 (2013.01); B60W 40/08 (2013.01); B60W 40/09 (2013.01); B60W 40/105 (2013.01); B60W 50/0097 (2013.01); B60W 50/0098 (2013.01); B60W 50/08 (2013.01); B60W 50/082 (2013.01); B62D 15/00 (2013.01); B62D 15/0265 (2013.01); G01C 21/3407 (2013.01); G01C 21/3461 (2013.01); G01C 21/3469 (2013.01); G01C 21/3484 (2013.01); G01C 21/3492 (2013.01); G01C 21/3682 (2013.01); G01C 21/3691 (2013.01); G01C 21/3697 (2013.01); G01S 7/4021 (2013.01); G01S 7/497 (2013.01); G01S 13/862 (2013.01); G01S 13/865 (2013.01); G01S 13/867 (2013.01); G01S 13/87 (2013.01); G01S 15/02 (2013.01); G01S 17/89 (2013.01); G02B 27/0006 (2013.01); G05D 1/0061 (2013.01); G05D 1/0088 (2013.01); G05D 1/0212 (2013.01); G05D 1/0214 (2013.01); G05D 1/0221 (2013.01); G05D 1/0276 (2013.01); G06F 16/29 (2019.01); G06F 16/95 (2019.01); G06Q 30/0269 (2013.01); G08G 1/161 (2013.01); G08G 1/163 (2013.01); G08G 1/164 (2013.01); G08G 1/165 (2013.01); G08G 1/166 (2013.01); B60W 2040/0809 (2013.01); B60W 2050/0004 (2013.01); B60W 2050/0014 (2013.01); B60W 2300/34 (2013.01); B60W 2510/08 (2013.01); B60W 2510/18 (2013.01); B60W 2520/04 (2013.01); B60W 2520/105 (2013.01); B60W 2540/043 (2020.02); B60W 2540/18 (2013.01); B60W 2540/22 (2013.01); B60W 2540/30 (2013.01); B60W 2554/00 (2020.02); B60W 2554/80 (2020.02); B60W 2710/18 (2013.01); B60W 2710/20 (2013.01); B60W 2756/10 (2020.02); B60W 2900/00 (2013.01); G01S 7/4043 (2021.05); G01S 2007/4977 (2013.01); G01S 2013/932 (2020.01); G01S 2013/9316 (2020.01); G01S 2013/9318 (2020.01); G01S 2013/9319 (2020.01); G01S 2013/9322 (2020.01); G01S 2013/9325 (2013.01); G01S 2013/93185 (2020.01); G01S 2013/93271 (2020.01); G01S 2013/93272 (2020.01); G01S 2013/93273 (2020.01); G01S 2013/93274 (2020.01); G01S 2013/93275 (2020.01); G05D 2201/0212 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A vehicle, comprising:
a first set of sensors to sense an environment surrounding the vehicle;
a second set of sensors to sense an activity of an occupant in the vehicle;
a third set of sensors to sense a state of the vehicle;
a vehicle control system for autonomously controlling driving functions of the vehicle;
a navigation system in communication with the first, second, and third sets of sensors and the vehicle control system, to provide a selected route to the vehicle control system for autonomously controlling the vehicle along the selected route; and
a processor in communication with the first, second, and third sets of sensors, the navigation system, and the vehicle control system, the processor:
receiving static route characteristics that are not anticipated to change for each of the two or more routes;
receiving dynamic route characteristics that change for each of the two or more routes;
selecting a level of autonomy, from among a plurality of levels of autonomy, based on the sensed activity of the occupant;
selecting, based on the static route characteristics, the dynamic route characteristics, and occupant route preferences for each of the two or more routes, a route of the two or more routes that best fits the selected level of autonomy, the sensed environment surrounding the vehicle, and the sensed state of the vehicle; and
providing the selected route to the navigation system.