US 12,221,120 B2
Method and device for monitoring operations of an automated driving system of a vehicle
Magnus Gyllenhammar, Pixbo (SE); Carl Zandén, Lindome (SE); and Majid Khorsand Vakilzadeh, Mölndal (SE)
Assigned to ZENSEACT AB, Gothenburg (SE)
Filed by ZENSEACT AB, Gothenburg (SE)
Filed on Sep. 1, 2022, as Appl. No. 17/901,127.
Claims priority of application No. 21195114 (EP), filed on Sep. 6, 2021.
Prior Publication US 2023/0071569 A1, Mar. 9, 2023
Int. Cl. B60W 50/029 (2012.01); B60W 60/00 (2020.01); B60W 50/00 (2006.01)
CPC B60W 50/029 (2013.01) [B60W 60/00186 (2020.02); B60W 2050/0028 (2013.01); B60W 2050/0292 (2013.01); B60W 2540/18 (2013.01); B60W 2556/45 (2020.02)] 15 Claims
OG exemplary drawing
 
1. A method for monitoring operations of an automated driving system (ADS) of a vehicle, the method comprising, for each monitored operation:
determining a geographical position of the vehicle;
determining an intended path of the vehicle;
determining one or more intended parameters associated with performing a driving manoeuvre of said vehicle from the determined geographical position along said determined intended path;
obtaining one or more parameters associated with performing the driving manoeuvre of said vehicle from said determined geographical position;
retrieving, from a statistical model, data indicative of a statistical distribution related to one or more corresponding intended and/or obtained parameters for said determined intended path;
based on said retrieved data, said determined intended path and at least one of the obtained parameters and the determined intended parameters, determining whether there is an anomaly associated with said monitored operation; and
responsive to an anomaly being determined, controlling the vehicle to move by performing at least one action of a set of predefined actions.