US 12,482,303 B2
System for recording event data of autonomous vehicle
Keon Chang Lee, Seoul (KR); Wha Pyeong Lim, Hwaseong-si (KR); and Seung Wook Park, Yongin-si (KR)
Assigned to HYUNDAI MOTOR COMPANY, Seoul (KR); and KIA COROPATION, Seoul (KR)
Appl. No. 17/778,521
Filed by HYUNDAI MOTOR COMPANY, Seoul (KR); and Kia Corporation, Seoul (KR)
PCT Filed Nov. 20, 2020, PCT No. PCT/KR2020/016445
§ 371(c)(1), (2) Date May 20, 2022,
PCT Pub. No. WO2021/101302, PCT Pub. Date May 27, 2021.
Claims priority of application No. 10-2019-0151529 (KR), filed on Nov. 22, 2019; and application No. 10-2020-0155377 (KR), filed on Nov. 19, 2020.
Prior Publication US 2023/0040552 A1, Feb. 9, 2023
Int. Cl. G07C 5/08 (2006.01); B60W 60/00 (2020.01); G07C 5/00 (2006.01); H04W 4/44 (2018.01)
CPC G07C 5/008 (2013.01) [B60W 60/005 (2020.02); G07C 5/0808 (2013.01); G07C 5/085 (2013.01); H04W 4/44 (2018.02)] 16 Claims
OG exemplary drawing
 
1. A method performed by a vehicle operating fully or partially in an autonomous driving mode for collecting and recording event data, the method comprising:
detecting, by an autonomous driving system, an occurrence of an event from a plurality of predefined events based on a trigger condition;
transmitting, by the autonomous driving system, a trigger signal to an event data recorder (EDR) system, the trigger signal indicating the occurrence of the event that satisfies the trigger conditions;
receiving, by the EDR system, the trigger signal;
collecting, by the EDR system, event data comprising autonomous driving data including recognition data, judgment data and control data generated before and after the occurrence of the event, wherein the recognition data, the judgment data and the control data are related to processes of recognizing an environment, determining actions and controlling actuators; and
recording, by the EDR system, the event data in a storage and uploading the event data to a remote server communicatively linked with the vehicle,
wherein, during a Minimal Risk Maneuver (MRM), the detecting of the occurrence of the event is performed, by the autonomous driving system, based on a relaxed threshold of the trigger condition, the MRM being a procedure performed automatically by the autonomous driving system for minimizing traffic risk when a driver fails to respond to a control transition demand, and
wherein the relaxed trigger condition includes at least one trigger condition with a lowered threshold.