US 12,228,938 B2
Failsafe behavior configuration for autonomous navigation
Arto Kristian Suvitie, Helsinki (FI)
Assigned to NOKIA TECHNOLOGIES OY, Espoo (FI)
Filed by Nokia Technologies Oy, Espoo (FI)
Filed on Sep. 30, 2022, as Appl. No. 17/936,901.
Claims priority of application No. 21200172 (EP), filed on Sep. 30, 2021.
Prior Publication US 2023/0100224 A1, Mar. 30, 2023
Int. Cl. G05D 1/00 (2024.01)
CPC G05D 1/0225 (2013.01) [G05D 1/0214 (2013.01)] 16 Claims
OG exemplary drawing
 
1. An apparatus comprising:
at least one processor; and
at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus to:
determine a location of an autonomous vehicle;
identify a plurality of failsafe homes associated with the autonomous vehicle, wherein respective ones of the plurality of failsafe homes comprise locations to which the autonomous vehicle is configured to return upon the determination that a fault has occurred with the autonomous vehicle;
identify one or more constraint areas with respect to the location, wherein the one or more constraint areas comprise areas through which the autonomous vehicle is unable to traverse;
determine whether a particular failsafe home of the plurality of failsafe homes associated with the autonomous vehicle satisfies a pre-determined condition with respect to the location of the autonomous vehicle and the one or more constraint areas, wherein the pre-determined condition is based at least in part on the location of the autonomous vehicle being within a visibility zone, the visibility zone representing an area within which the particular failsafe home is accessible by the autonomous vehicle via a direct route without intersecting with the one or more constraint areas;
in accordance with a determination that the particular failsafe home satisfies the pre-determined condition, establish the particular failsafe home as an active failsafe home for the autonomous vehicle and cause transmission of the active failsafe home to the autonomous vehicle, wherein the active failsafe home comprises a selected failsafe home to which the autonomous vehicle will navigate directly upon determining that a communication fault has occurred; and
configure the particular failsafe home to remain as the active failsafe home until the autonomous vehicle leaves the visibility zone associated with the particular failsafe home to another visibility zone such that the particular failsafe home no longer satisfies the pre-determined condition with respect to the determined location of the autonomous vehicle.