US 12,240,496 B2
Autonomous vehicle navigation in response to a closed railroad crossing
Hunter Scott Willoughby, San Diego, CA (US); Dishi Li, Ann Arbor, MI (US); and Yufei Zhao, San Diego, CA (US)
Assigned to TUSIMPLE, INC., San Diego, CA (US)
Filed by TuSimple, Inc., San Diego, CA (US)
Filed on Oct. 24, 2022, as Appl. No. 18/048,999.
Claims priority of provisional application 63/273,868, filed on Oct. 29, 2021.
Prior Publication US 2023/0138325 A1, May 4, 2023
Int. Cl. B60W 60/00 (2020.01); B60Q 1/46 (2006.01); B60Q 5/00 (2006.01); B60W 10/04 (2006.01); B60W 10/10 (2012.01); B60W 10/18 (2012.01); B60W 10/20 (2006.01); B60W 30/09 (2012.01); B60W 30/095 (2012.01); B60W 30/12 (2020.01); B60W 30/14 (2006.01); B60W 30/18 (2012.01); B60W 40/02 (2006.01); B60W 40/04 (2006.01); B60W 40/06 (2012.01); B60W 40/076 (2012.01); B60W 40/105 (2012.01); B60W 50/02 (2012.01); B60W 50/14 (2020.01); G01C 21/00 (2006.01); G01C 21/34 (2006.01); G06V 20/56 (2022.01); G06V 20/58 (2022.01)
CPC B60W 60/0015 (2020.02) [B60Q 1/46 (2013.01); B60Q 5/005 (2013.01); B60W 10/04 (2013.01); B60W 10/10 (2013.01); B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 30/09 (2013.01); B60W 30/0956 (2013.01); B60W 30/12 (2013.01); B60W 30/143 (2013.01); B60W 30/146 (2013.01); B60W 30/18159 (2020.02); B60W 30/18163 (2013.01); B60W 40/02 (2013.01); B60W 40/04 (2013.01); B60W 40/06 (2013.01); B60W 40/076 (2013.01); B60W 40/105 (2013.01); B60W 50/0205 (2013.01); B60W 50/0225 (2013.01); B60W 50/14 (2013.01); B60W 60/001 (2020.02); B60W 60/0011 (2020.02); B60W 60/0017 (2020.02); B60W 60/00182 (2020.02); B60W 60/00274 (2020.02); G01C 21/3415 (2013.01); G01C 21/3469 (2013.01); G01C 21/3815 (2020.08); G01C 21/3848 (2020.08); G01C 21/3885 (2020.08); G01C 21/3889 (2020.08); G06V 20/582 (2022.01); G06V 20/588 (2022.01); B60W 2300/145 (2013.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2420/54 (2013.01); B60W 2510/18 (2013.01); B60W 2520/30 (2013.01); B60W 2530/10 (2013.01); B60W 2530/201 (2020.02); B60W 2552/05 (2020.02); B60W 2552/15 (2020.02); B60W 2552/30 (2020.02); B60W 2552/50 (2020.02); B60W 2552/53 (2020.02); B60W 2554/20 (2020.02); B60W 2554/402 (2020.02); B60W 2554/4041 (2020.02); B60W 2554/4046 (2020.02); B60W 2554/80 (2020.02); B60W 2555/20 (2020.02); B60W 2555/60 (2020.02); B60W 2556/40 (2020.02); B60W 2556/45 (2020.02); B60W 2710/18 (2013.01); B60W 2710/20 (2013.01); B60W 2720/10 (2013.01); B60W 2720/125 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
a memory configured to store sensor data that provides information about an environment in front of an autonomous vehicle; and
a control device associated with the autonomous vehicle, the control device comprising a processor operably coupled to the memory, and configured to:
receive the sensor data from at least one sensor associated with the autonomous vehicle;
detect that the autonomous vehicle is approaching a railroad crossing based at least in part upon the sensor data;
determine that the railroad crossing is closed from the sensor data, wherein determining that the railroad crossing is closed comprises detecting a closed railroad crossing sign from the sensor data;
determine one or more re-routing options from map data, wherein the map data comprises at least a portion of a virtual map that shows routes that reach a predetermined destination of the autonomous vehicle;
determine whether at least one re-routing option from among the one or more re-routing options reaches the predetermined destination;
in response to determining that the at least one re-routing option from among the one or more re-routing options reaches the predetermined destination:
select a particular re-routing option from among the at least one re-routing option, wherein the particular re-routing option is selected based at least in part upon determining that the autonomous vehicle is able to travel according to the particular re-routing option autonomously;
instruct the autonomous vehicle to re-route according to the particular re-routing option; and
in response to determining that none of the one or more re-routing options leads to the predetermined destination, instruct the autonomous vehicle to perform a minimal risk condition maneuver comprising:
pulling the autonomous vehicle over to a side of a road traveled by the autonomous vehicle, by gradually applying brakes at a suitable obstacle-free location such that the autonomous vehicle does not cause traffic or disturb traveling of other vehicles.