US 12,325,449 B1
Safe vehicle operation using log data
Kshitij Agarwal, Redwood City, CA (US); Thomas Bernard Gacka, Redwood City, CA (US); Pengzhi Tian, Dublin, CA (US); Julia A. Wyatt, Sudbury, MA (US); and Gerrit Bagschik, Foster City, CA (US)
Assigned to Zoox, Inc., Foster City, CA (US)
Filed by Zoox, Inc., Foster City, CA (US)
Filed on Feb. 28, 2023, as Appl. No. 18/176,370.
Int. Cl. B60W 30/095 (2012.01); B60W 50/02 (2012.01); B60W 60/00 (2020.01); G07C 5/04 (2006.01)
CPC B60W 60/0015 (2020.02) [B60W 30/0956 (2013.01); B60W 50/0225 (2013.01); G07C 5/04 (2013.01); B60W 2520/10 (2013.01); B60W 2520/105 (2013.01); B60W 2554/4042 (2020.02); B60W 2554/804 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
receiving a driving log comprising driving data associated with a plurality of trips of vehicles in an environment;
determining a driving scenario associated with a malfunction of an autonomous vehicle in the environment;
determining, from the driving log, a plurality of instances of the driving scenario associated with the malfunction and having a threshold probability of causing a hazardous event involving the autonomous vehicle and an object in the driving scenario;
determining, based on the plurality of instances, an exposure metric associated with the driving scenario in the environment;
determining, based at least in part on the driving data from the driving log associated with the instances, a severity metric associated with severity of the hazardous event;
determining, based at least in part on the driving data from the driving log associated with the instances, a controllability metric associated with a likelihood that the object can mitigate an outcome of the hazardous event;
determining, based on the exposure metric, the severity metric, and the controllability metric, a safety goal for an autonomous vehicle operating in the environment;
determining one or more vehicle control parameters associated with the safety goal; and
configuring the autonomous vehicle for travelling in the environment in accordance with the one or more vehicle control parameters.