Asymmetrical autonomous vehicle computing architecture
Disclosed herein are system, method, and computer program product embodiments for an asymmetrical Autonomous Vehicle Systems (AVS). A backup AVS is implemented on a vehicle to serve as a failover system for one or more of the primary AVS components or processes (e.g., steering, braking, etc.). In this way, during primary AVS failures, the backup AVS can dynamically handle a subset of vehicle operations in various component configuration levels based on a desired mission level.
1. A method, comprising:
detecting, by an asymmetrical Autonomous Vehicle System (AVS), that a failure of one or more AVS components has occurred for a vehicle;
determining, by the asymmetrical AVS, a level of criticality of the failure based on a severity of the failure and a minimal risk condition (MRC) for selected driving tasks of a vehicle mission;
determining, by the asymmetrical AVS, a subset of AVS backup components to complete the vehicle mission at the level of criticality;
activating, by the asymmetrical AVS, the AVS backup components necessary to complete the vehicle mission at the level of criticality, wherein the backup AVS components comprise one or more sensors and one or more vehicle controllers;
processing, by the asymmetrical AVS, data points received from the one or more sensors to determine an input to the one or more vehicle controllers; and
controlling, by the asymmetrical AVS and the vehicle controllers, the vehicle to complete the mission at the level of criticality.
2. The method of claim 1 , wherein the asymmetric AVS comprises a primary AVS with a first set of sensors and a backup AVS with a second set of sensors.
3. The method of claim 2 , further comprising: continuously sharing data points from the first set of sensors with the backup AVS; and continuously sharing data points from the second set of sensors with the primary AVS.
4. The method of claim 2 , further comprising periodically sharing a heartbeat message between the primary AVS and the backup AVS to indicate normal operation or to synchronize.
5. The method of claim 2 , wherein the level of criticality comprises a loss of communications between the primary AVS and the backup AVS, and the method further comprises initiating, using the backup AVS, autonomous driving of the vehicle to complete the mission.
6. The method of claim 2 , further comprising mapping the second set of sensors to the level of criticality.
7. The method of claim 2 , further comprising mapping the one or more vehicle controllers to the level of criticality.
8. An asymmetrical Autonomous Vehicle System (AVS), comprising:
a memory; and
at least one processor coupled to the memory and configured to:
detect, by an asymmetrical AVS, that a failure of one or more AVS components of a vehicle has occurred;
determine, by the asymmetrical AVS, a level of criticality of the failure based on a severity of the failure and a minimal risk condition (MRC) for selected driving tasks of a vehicle mission;
determine, by the asymmetrical AVS, a subset of AVS backup components to complete the vehicle mission at the level of criticality;
activate, by the asymmetrical AVS, the AVS backup components necessary to complete the vehicle mission at the level of criticality, wherein the backup AVS components comprise one or more sensors and one or more vehicle controllers;
process, by the asymmetrical AVS, data points received from the one or more sensors to determine an input to the one or more vehicle controllers; and
control, by the asymmetrical AVS and the vehicle controllers, the vehicle to complete the mission at the level of criticality.
9. The asymmetrical AVS of claim 8 , wherein the asymmetrical AVS comprises a primary AVS with a first set of sensors and a backup AVS with a second set of sensors.
10. The asymmetrical AVS of claim 9 , wherein the second set of sensors comprises different sensors from the first set of sensors.
11. The asymmetrical AVS of claim 9 , wherein the second set of sensors includes a different set of sensors than the first set of sensors.
12. The asymmetrical AVS of claim 9 , wherein the level of criticality comprises a loss of communications between the primary AVS and the backup AVS, and further comprises initiating, using the backup AVS, autonomous driving of the vehicle to complete the mission.
13. The asymmetrical AVS of claim 9 , further configured to map the second set of sensors to the level of criticality.
14. The asymmetrical AVS of claim 9 , further configured to share a heartbeat message as a periodic signal between the primary AVS and the backup AVS to indicate normal operation or to synchronize.
15. The asymmetrical AVS of claim 8 , wherein the one or more vehicle controllers is mapped to the level of criticality.
16. A non-transitory computer-readable medium having instructions stored thereon that, when executed by at least one computing device, cause the at least one computing device to perform operations comprising:
detecting, by an asymmetrical Autonomous Vehicle System (AVS), that a failure of one or more AVS components for a vehicle has occurred;
determining, by the asymmetrical AVS, a level of criticality of the failure based on a severity of the failure and a minimal risk condition (MRC) for selected driving tasks of a vehicle mission;
determining, by the asymmetrical AVS, AVS backup components to complete the vehicle mission at the level of criticality;
activating, by the asymmetrical AVS, a subset of the AVS backup components necessary to complete the vehicle mission at the level of criticality, wherein the backup AVS components comprise one or more sensors and one or more vehicle controllers;
processing, by the asymmetrical AVS, data points received from the one or more sensors to determine an input to the one or more vehicle controllers; and
controlling, by the asymmetrical AVS and the vehicle controllers, the vehicle to complete the mission at the level of criticality.
17. The non-transitory computer-readable medium of claim 15 , wherein the asymmetrical AVS comprises a primary AVS with a first set of sensors and a backup AVS with a second set of sensors.
18. The non-transitory computer-readable medium of claim 17 , wherein the level of criticality comprises a loss of communications between the primary AVS and the backup AVS, and further comprises initiating, using the backup AVS, autonomous driving of the vehicle to complete the mission.
19. The non-transitory computer-readable medium of claim 17 , the operations further comprising mapping the second set of sensors to the level of criticality.
20. The non-transitory computer-readable medium of claim 16 , the operations further comprising the primary AVS and backup AVS sharing a heartbeat message as a periodic signal to indicate normal operation or to synchronize.