Wind gust detection by an autonomous vehicle

1 . A system, comprising:

an autonomous vehicle comprising:

a wind gust detection subsystem;

an in-vehicle control computer comprising:

a wind gust detection module, the wind gust detection module configured to receive information from the wind gust detection subsystem and to generate a determination of a wind gust and wind gust characteristics; and

a wind gust compensation module, the wind gust compensation module configured to accept the determination of a wind gust and wind gust characteristics from the wind gust detection module; and

an autonomous control subsystem;

wherein the wind gust detection module is further configured to determine a change of trajectory or route for the autonomous vehicle that is required to safely operate the autonomous vehicle, and to determine a course of action;

wherein the autonomous vehicle is further configured to:

modify a trajectory or route of the autonomous vehicle to comply with the course of action; and

select a mounting point for one or anemometers on the autonomous vehicle as part of the wind gust detection subsystem.

2 . The system of claim 1 wherein the wind gust detection subsystem comprises one or more wind sensors mounted, or located, on an external portion of the autonomous vehicle.

3 . The system of claim 2 , wherein the one or more wind sensors comprise any of the following:

a mechanical anemometer comprising rotating cups and a wind vane;

a pitot tube anemometer; and

an ultrasonic anemometer.

4 . The system of claim 2 wherein the one or more wind sensors comprise an ultrasonic anemometer.

5 . The system of claim 2 , wherein the one or more wind sensors are mounted on a sensor support bar or a sensor housing.

6 . The system of claim 5 , wherein the one or more wind sensors are mounted in one or more locations comprising any of:

over a cab portion of the autonomous vehicle;

on a roof portion of the autonomous vehicle;

toward a midline of the autonomous vehicle;

towards a passenger side of the autonomous vehicle; and

toward a driver's side of the autonomous vehicle.

7 . The system of claim 1 , further comprising an oversight system in communication with the autonomous vehicle, the oversight system configured to receive wind velocity information from any of:

the wind gust detection module;

sensors of the wind gust detection subsystems; and

the wind gust compensation module.

8 . The system of claim 7 , wherein the oversight system is further configured to send a minimal risk condition maneuver command to the autonomous vehicle when the oversight system determines that the autonomous vehicle is experiencing wind velocities that meet a predetermined threshold.

9 . The system of claim 8 , wherein the oversight system is further configured to relay wind gust information to one or more additional autonomous vehicles which may be impacted by wind velocities experienced by the autonomous vehicle that sent the wind velocity information.

10 . A method, comprising:

detecting, by a wind gust detection subsystem of an autonomous vehicle, a presence of a wind gust;

determining, by a wind gust detection module of the autonomous vehicle, characteristics of the wind gust;

determining, by a wind gust compensation module of the autonomous vehicle, that a change of trajectory or route for the autonomous vehicle is required to safely operate the autonomous vehicle;

determining, by the wind gust compensation module, a course of action; and

modifying a trajectory or route of the autonomous vehicle to comply with course of action determined by the wind gust compensation module;

wherein the method further comprises: selecting a mounting point for one or anemometers on the autonomous vehicle as part of the wind gust detection subsystem.

11 . The method of claim 10 , further comprising sending, by a network communications module of the autonomous vehicle, wind velocity information to an oversight system.

12 . The method of claim 11 , further comprising receiving, from the oversight system, a minimal risk condition maneuver command, the minimal risk condition maneuver command being issued by the oversight system to one or more autonomous vehicles in communication with the oversight system.

13 . The method of claim 12 , wherein the minimal risk condition maneuver command is received in response to the oversight system determining that each of the one or more autonomous vehicles meets a set of predetermined threshold conditions for the minimal risk condition maneuver.

14 . The method of claim 11 , further comprising receiving, from the oversight system, wind velocity information, the wind velocity information being sent by the oversight system to one or more autonomous vehicles in communication with the oversight system.

15 . The method of claim 10 , wherein selecting a mounting point for one or more anemometers comprises any of:

use of experimentally obtained data;

or use of computer modeling.

16 . The method of claim 10 , wherein modifying the trajectory or route of the autonomous vehicle to comply with a course of action determined by the wind gust compensation module comprises:

receiving, by an autonomous control unit, the course of action from the wind gust compensation module; and

signaling, by the autonomous control unit, changes to any of:

a steering subsystem;

a braking subsystem; and

an engine power output subsystem.

17 . The method of claim 16 , wherein the course of action determined by the wind gust compensation module comprises a minimal risk condition maneuver.

18 . An apparatus comprising:

at least one processor; and

at least one memory including instructions which, when executed by the at least one processor, cause the at least one processor to perform operations comprising:

detecting, by a wind gust detection subsystem of an autonomous vehicle, a presence of a wind gust;

determining, by a wind gust detection module of the autonomous vehicle, characteristics of the wind gust;

determining, by a wind gust compensation module of the autonomous vehicle, that a change of trajectory or route for the autonomous vehicle is required to safely operate the autonomous vehicle;

determining, by the wind gust compensation module, a course of action; and

modifying a trajectory or route of the autonomous vehicle to comply with the course of action determined by the wind gust compensation module;

wherein the operations further comprise: selecting a mounting point for one or anemometers on the autonomous vehicle as part of the wind gust detection subsystem.

19 . The apparatus of claim 18 further comprising:

a network communications unit; and

wherein the operations further comprise:

sending, by a network communications module of the autonomous vehicle, wind velocity information to an oversight system.