US 12,330,682 B2
Autonomous vehicle navigation in response to an oncoming train on a railroad track
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. 18/048,941.
Claims priority of provisional application 63/273,868, filed on Oct. 29, 2021.
Prior Publication US 2023/0138981 A1, May 4, 2023
Int. Cl. B60W 60/00 (2020.01); B60W 30/18 (2012.01); 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) [B60W 30/18159 (2020.02); B60W 60/001 (2020.02); B60W 60/0011 (2020.02); B60W 60/00182 (2020.02); B60W 60/00274 (2020.02); G01C 21/3415 (2013.01); G01C 21/3815 (2020.08); G06V 20/582 (2022.01); G06V 20/588 (2022.01); B60W 2300/145 (2013.01); B60W 2530/201 (2020.02); B60W 2552/50 (2020.02); B60W 2552/53 (2020.02); B60W 2554/80 (2020.02); B60W 2555/60 (2020.02); B60W 2556/40 (2020.02)] 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 a target lane to travel while crossing the railroad, wherein the target lane is a lane that has available space with at least a length of the autonomous vehicle on another side of the railroad as opposed to a side of the railroad where the autonomous vehicle is currently traveling;
in response to the autonomous vehicle being on a lane different from the target lane, instruct the autonomous vehicle to change to the target lane before entering the railroad crossing;
determine that a train is approaching the railroad crossing from the sensor data, wherein determining that the train is approaching the railroad crossing comprises determining that crossing arms associated with the railroad are coming down or already at horizontal position;
instruct the autonomous vehicle to travel toward the railroad and stop within a threshold distance window from the railroad;
wait for the train to pass the railroad crossing;
determine that the train has passed the railroad crossing, wherein determining that the train has passed the railroad crossing comprises detecting that the sensor data comprises indicators indicating that the crossing arms have moved up to vertical position;
determine whether the target lane still provides available space with at least the length of the autonomous vehicle on the other side of the railroad; and
in response to determining that the target lane still provides available space with at least the length of the autonomous vehicle on the other side of the railroad, instruct the autonomous vehicle to cross the railroad.