US 12,093,042 B2
Event data recordation to identify and resolve anomalies associated with control of driverless vehicles
Mauro Della Penna, San Francisco, CA (US)
Assigned to NIO USA, INC., San Jose, CA (US)
Filed by NIO Technology (Anhui) Co., Ltd., Anhui (CN)
Filed on May 27, 2021, as Appl. No. 17/331,841.
Application 17/331,841 is a continuation of application No. 15/872,555, filed on Jan. 16, 2018, granted, now 11,022,971.
Prior Publication US 2021/0286359 A1, Sep. 16, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/00 (2024.01); G06F 8/65 (2018.01); G06N 3/08 (2023.01); G06V 20/58 (2022.01); G07C 5/00 (2006.01); G07C 5/08 (2006.01)
CPC G05D 1/0088 (2013.01) [G05D 1/0212 (2013.01); G06F 8/65 (2013.01); G06N 3/08 (2013.01); G06V 20/58 (2022.01); G07C 5/008 (2013.01); G07C 5/0841 (2013.01); G07C 5/085 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A method comprising:
computing, by an autonomy controller, a vehicular drive parameter that a vehicle controller applies to one or more control devices of a vehicle to autonomously drive the vehicle coextensive with a path of travel;
monitoring, in real-time and while the vehicle controller is controlling the one or more control devices according to the vehicular drive parameter to autonomously drive the vehicle along the path of travel, data representing a control input applied by a driver of the vehicle to the one or more control devices, wherein the control input applied to the one or more control devices by the driver and the vehicular drive parameter applied to the one or more control devices by the vehicle controller are for a same type of driving operation for the vehicle;
detecting, during the monitoring, that a difference between a value of the control input as indicated by the monitored data and a value of the vehicular drive parameter exceeds a threshold;
determining, in response to detecting the difference, that an event has occurred, the event indicating that a type of anomaly has occurred along the path of travel that caused the driver to take an action that changed the value of the vehicular drive parameter to the value of the control input; and
storing event data about the event.