US 12,265,390 B2
Autonomous vehicle safe stop
Moslem Kazemi, Allison Park, PA (US); and Sameer Bardapurkar, Pittsburgh, PA (US)
Assigned to AURORA OPERATIONS, INC., Pittsburgh, PA (US)
Filed by Aurora Operations, Inc., Pittsburgh, PA (US)
Filed on Oct. 20, 2023, as Appl. No. 18/490,940.
Application 18/490,940 is a continuation of application No. 17/181,733, filed on Feb. 22, 2021, granted, now 11,835,950.
Application 17/181,733 is a continuation of application No. 15/995,285, filed on Jun. 1, 2018, granted, now 10,962,973, issued on Mar. 30, 2021.
Claims priority of provisional application 62/623,815, filed on Jan. 30, 2018.
Prior Publication US 2024/0045428 A1, Feb. 8, 2024
Int. Cl. G05D 1/00 (2024.01); B60T 7/22 (2006.01); B60W 30/09 (2012.01); B60W 30/095 (2012.01); B62D 1/28 (2006.01)
CPC G05D 1/0088 (2013.01) [B60T 7/22 (2013.01); B60W 30/09 (2013.01); B60W 30/0953 (2013.01); B60W 30/0956 (2013.01); B62D 1/286 (2013.01); G05D 1/0061 (2013.01); G05D 1/024 (2013.01); G05D 1/0246 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An autonomous vehicle, comprising:
a human-machine interface, wherein the human-machine interface comprises a display device or a microphone;
one or more processors; and
a non-transitory memory device storing computer-readable instructions that are executable by the one or more processors cause the autonomous vehicle to perform operations comprising:
obtaining state data comprising information associated with at least one of:
one or more states of the autonomous vehicle or
one or more states of an environment external to the autonomous vehicle;
determining, using data from the human-machine interface, that at least one condition of the following conditions is satisfied:
the human-machine interface received, via the display device or the microphone, a request that the autonomous vehicle stop, or
the human-machine interface received, via the display device or the microphone, a request for remote operator assistance;
responsive to determining that the at least one condition is satisfied, determining, based at least in part on the state data and using a machine-learned model, a severity level for the at least one condition, the severity level indicating an immediacy with which the autonomous vehicle is to respond to the at least one condition;
controlling, based at least in part on the severity level, driving of the autonomous vehicle to respond to the at least one condition.