US 12,093,058 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 May 31, 2023, as Appl. No. 18/204,135.
Application 18/204,135 is a continuation of application No. 17/712,760, filed on Apr. 4, 2022, granted, now 11,709,503.
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 2023/0305577 A1, Sep. 28, 2023
Int. Cl. B60W 60/00 (2020.01); G05D 1/00 (2024.01)
CPC G05D 1/0289 (2013.01) [G05D 1/0088 (2013.01); G05D 1/0223 (2013.01)] 19 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 safety-time-horizon (STH) for avoiding a potential collision with the object;
in response to a runtime exception determining, by the one or more processors, an exception handling speed profile based on a characteristic of the runtime exception; and
when the STH has passed and the 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.