US 12,372,971 B2
Exception handling for autonomous vehicles
Dong Li, Los Gatos, CA (US); Matthew McNaughton, Mountain View, CA (US); Shir Yehoshua, San Francisco, CA (US); Aida Khosroshahi, San Jose, CA (US); and Ioan-Alexandru Sucan, East Palo Alto, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Jul. 9, 2024, as Appl. No. 18/766,734.
Application 18/766,734 is a continuation of application No. 18/204,135, filed on May 31, 2023, granted, now 12,093,058.
Application 18/204,135 is a continuation of application No. 17/712,760, filed on Apr. 4, 2022, granted, now 11,709,503, issued on Jul. 25, 2023.
Application 17/712,760 is a continuation of application No. 16/383,096, filed on Apr. 12, 2019, granted, now 11,327,507, issued on May 10, 2022.
Prior Publication US 2024/0361770 A1, Oct. 31, 2024
Int. Cl. B60W 30/09 (2012.01); G05D 1/00 (2024.01); G05D 1/65 (2024.01); G05D 1/693 (2024.01); G05D 1/81 (2024.01)
CPC G05D 1/0289 (2013.01) [G05D 1/0088 (2013.01); G05D 1/0223 (2013.01); G05D 1/65 (2024.01); G05D 1/693 (2024.01); G05D 1/81 (2024.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
receiving, by one or more processors, sensor data corresponding to an object in an environment of a vehicle;
determining, by the one or more processors, a point in time for avoiding a potential collision with the object;
determining, by the one or more processors, an exception handling speed profile; and
when the point in time has passed and a runtime exception is unresolved, controlling, by the one or more processors, the vehicle according to the exception handling speed profile to avoid the potential collision with the object.