US 12,134,405 B2
Responding to unsupported or degraded conditions for autonomous vehicles
Tucker Allen Paxton, San Mateo, CA (US); Lucio Otavio Marchioro Rech, San Mateo, CA (US); Yang Tian, San Mateo, CA (US); and Mikhail Chetin, Santa Cruz, CA (US)
Assigned to GM CRUISE HOLDINGS LLC
Filed by GM CRUISE HOLDINGS LLC, San Francisco, CA (US)
Filed on Apr. 19, 2022, as Appl. No. 17/724,013.
Prior Publication US 2023/0331257 A1, Oct. 19, 2023
Int. Cl. B60W 60/00 (2020.01); B60W 50/02 (2012.01); B60W 50/029 (2012.01)
CPC B60W 60/0018 (2020.02) [B60W 50/0205 (2013.01); B60W 50/029 (2013.01); B60W 60/0011 (2020.02); B60W 60/005 (2020.02); B60W 2050/021 (2013.01); B60W 2050/0292 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A method performed by an autonomous vehicle, the method comprising:
aggregating one or more trigger events generated across a software stack of the autonomous vehicle (AV) as aggregated trigger events, the one or more trigger events indicating at least one of unsupported or degraded conditions that bring the AV outside of allowable driving conditions of the AV;
ranking, by the software stack of the AV, the aggregated trigger events in accordance with priority levels corresponding to the aggregated trigger events;
determining, by the software stack of the AV, an AV maneuver to respond to a selected trigger event, wherein the selected trigger event is a highest ranked trigger event of the aggregated trigger events;
causing, by the software stack of the AV, the AV maneuver to be performed by the AV using, based on the AV maneuver, one or more of a primary planning system of the software stack of the AV and a secondary planning stack of the software stack of the AV, which provides fewer capabilities than the primary planning stack; and
determining, by the software stack of the AV, whether to cause the AV to enter a failure state or cause the AV to recover to a normal driving state in response to the selected trigger event.