DUAL CONTROL SYSTEMS AND METHODS FOR OPERATING AN AUTONOMOUS VEHICLE
Systems and methods for deployment on an autonomous vehicle are provided. In some example embodiments, the system includes a first compute unit and a second compute unit, in which the first compute unit is configured to receive first information of the vehicle and an environment of the vehicle, generate a first control command based on the first information, and transmit the first control command to a controller of the vehicle to effectuate an autonomous operation of the vehicle; and the second compute unit is configured to receive second information of the vehicle and the environment of the vehicle, generate a second control command based on the second information, and only when a fault or failure of the first compute unit is detected, transmits the second control command to the controller of the vehicle to effectuate the autonomous operation of the vehicle.
1 . A system for deployment on an autonomous vehicle, comprising:
a first compute unit configured to:
receive first information of the vehicle and an environment of the vehicle,
generate a first control command based on the first information, and
transmit the first control command to a controller of the vehicle to effectuate an autonomous operation of the vehicle; and
a second compute unit configured to:
receive second information of the vehicle and the environment of the vehicle,
generate a second control command based on the second information, and
only when a fault or failure of the first compute unit is detected, transmits the second control command to the controller of the vehicle to effectuate the autonomous operation of the vehicle.
2 . The system of claim 1 , wherein the first information is substantially equivalent to the second information.
3 . The system of claim 1 , wherein the first information and the second information include same sensor data acquired by at least one sensor.
4 . The system of claim 3 , wherein the at least one sensor comprises at least one of a camera, an audio sensor, a light detection and ranging (LiDAR) sensor, a radar sensor, or a navigation sensor.
5 . The system of claim 3 , further comprising:
a first sensor unit configured to receive a first portion of the sensor data from a first group of the at least one sensor, and
a second sensor unit configured to receive a second portion of the sensor data from a second group of the at least one sensor.
6 . The system of claim 5 , wherein the first sensor unit and the second sensor unit are implemented on a blade module, and the blade module comprises a front panel and a backplane, the front panel including at least one interface configured to facilitate communication of the first sensor unit and the second sensor unit with the at least one sensor, and the backplane including at least one connector configured to facilitate communication of the first sensor unit and the second sensor unit with at least one of the first compute unit or the second compute unit.
7 . The system of claim 5 , wherein
the first sensor unit and the second sensor unit are operably coupled to the first compute unit via a first sensor data interface, and
the first sensor unit and the second sensor unit are operably coupled to the second compute unit via a second sensor data interface that is independent of the first sensor data interface.
8 . The system of claim 1 , wherein the first compute unit or the second compute unit comprises at least one of a central processing unit (CPU) module, a graphics processing unit (GPU) module, or a vehicle control unit (VCU).
9 . The system of claim 1 , wherein a configuration of the first computer unit is substantially the same as a configuration of the second compute unit.
10 . The system of claim 1 , further comprising a master timer configured to synchronize the first compute unit and the second compute unit.
11 . The system of claim 1 , wherein
the system is configured as a blade server comprising a plurality of blade modules where at least one of the first compute unit or the second compute unit is implemented, and
the plurality of blade modules are operably connected with each other through a backplane.
12 . The system of claim 11 , wherein the system is scalable by at least one of:
adding an additional blade module,
replacing or removing one of the plurality of blade modules, or
modifying a configuration of one of the plurality of blade modules.
13 . The system of claim 1 , wherein at least one of the first compute unit or the second compute unit is implemented with at least one of a dynamic driving task (DDT) software (SW) module or a diagnostics monitor SW module.
14 . A method for deploying an autonomous vehicle, comprising:
on a first compute unit,
receiving first information of the vehicle and an environment of the vehicle,
generating a first control command based on the first information, and
transmitting the first control command to a controller of the vehicle to effectuate an autonomous operation of the vehicle; and
on a second compute unit,
receiving second information of the vehicle and the environment of the vehicle,
generating a second control command based on the second information, and
in response to detecting a fault or failure of the first compute unit, transmitting the second control command to the vehicle to effectuate the autonomous operation of the vehicle.
15 . The method of claim 14 , wherein the receiving of the first information on the first compute unit and the receiving of the second information on the second compute unit occur substantially simultaneously.
16 . The method of claim 14 , further comprising:
periodically comparing, on a VCU on the first compute unit or on the second compute unit, the first control command and the second control command; and
determining whether a difference between the first control command and the second control command exceeds a threshold.
17 . The method of claim 14 , further comprising:
detecting that the fault or failure of the first compute unit has occurred; and
terminating the transmission of the first control command to the vehicle.
18 . A system for deployment on an autonomous vehicle, comprising:
a vehicle controller,
a first compute unit configured to:
receive first information of the vehicle and an environment of the vehicle,
generate a first control command based on the first information, and
transmit the first control command to the vehicle controller,
a second compute unit configured to:
receive second information of the vehicle and the environment of the vehicle,
generate a second control command based on the second information, and
transmit the second control command to the vehicle controller, wherein
the vehicle controller is configured to receive the first control commands from the first compute unit and the second control commands from the second control unit and selectively use one of the first control commands or the second control commands according to a redundancy rule.
19 . The system of claim 18 , wherein the redundancy rule specifies to use the first control commands as a default option, and switch to the second control commands in response to detecting a fault or failure in the first compute unit.
20 . The system of claim 18 , further comprising an oversight sub-system, wherein the oversight sub-system is configured to
detect that fault or failure has occurred in both the first compute unit and the second compute unit; and
activate an emergency maneuver.