Dual path ethernet-based sensor device fault monitoring
View Patent ↗In an embodiment, an autonomous driving vehicle (ADV) processes a set of sensor data concurrently by both a first computing unit and a second computing unit, wherein the set of sensor data is generated by a sensor. The first computing unit formats the set of sensor data into a set of message data. The second computing unit determines whether the set of sensor data indicates a control path fault. The second computing unit reports the control path fault responsive to determining that the set of sensor data indicates the control path fault.
1 . A computer-implemented method for operating an autonomous driving vehicle, the method comprising:
receiving, at both a first computing unit and a second computing unit, a set of sensor data generated by a sensor, wherein the set of sensor data comprises raw data;
formatting, by the first computing unit, the raw data into a set of message data;
determining, by the second computing unit, whether the set of sensor data indicates a control path fault, the control path fault being independent from the raw data; and
reporting, by the second computing unit, the control path fault responsive to determining that the set of sensor data indicates the control path fault.
2 . The method of claim 1 , further comprising:
receiving, at an Ethernet switch, the set of sensor data from the sensor; and
transmitting, from the Ethernet switch, the set of sensor data to both the first computing unit and the second computing unit over a dedicated virtual LAN.
3 . The method of claim 2 wherein the autonomous driving vehicle comprises an autonomous driving system that includes the first computing unit, the second computing unit, and the Ethernet switch.
4 . The method of claim 1 , further comprising:
determining, by the first computing unit, whether the set of sensor data indicates a data path fault; and
reporting, by the first computing unit, the data path fault based determining that the set of sensor data indicates the data path fault.
5 . The method of claim 4 , wherein the first computing unit reports the data path fault to a central system monitor, and wherein the second computing unit reports the control path fault to the central system monitor.
6 . The method claim 1 , further comprising:
determining, by the second computing unit, whether the set of sensor data indicates a link layer fault; and
reporting, by the second computing unit, the link layer fault based determining that the set of sensor data indicates the link layer fault.
7 . The method of claim 1 , further comprising:
generating, by the second computing unit, a set of sensor data statistics in response to evaluating the set of sensor data.
8 . A non-transitory machine-readable medium having instructions stored therein, which when executed by at least one processor comprised in a system, cause the system to:
receive, at both a first computing unit and a second computing unit, a set of sensor data generated by a sensor, wherein the at least one processor comprises the first computing unit and the second computing unit, and wherein the set of sensor data comprises raw data;
format, by the first computing unit, the raw data into a set of message data;
determine, by the second computing unit, whether the set of sensor data indicates a control path fault, the control path fault being independent from the raw data; and
report, by the second computing unit, the control path fault responsive to determining that the set of sensor data indicates the control path fault.
9 . The non-transitory machine-readable medium of claim 8 , wherein the system is further to:
receive, at an Ethernet switch, the set of sensor data from the sensor; and
transmit, from the Ethernet switch, the set of sensor data to both the first computing unit and the second computing unit over a dedicated virtual LAN.
10 . The non-transitory machine-readable medium of claim 9 , wherein an autonomous driving system comprises the first computing unit, the second computing unit, and the Ethernet switch.
11 . The non-transitory machine-readable medium of claim 8 , wherein the system is further to:
determine, by the first computing unit, whether the set of sensor data indicates a data path fault; and
report, by the first computing unit, the data path fault based determining that the set of sensor data indicates the data path fault.
12 . The non-transitory machine-readable medium of claim 11 , wherein the first computing unit reports the data path fault to a central system monitor, and wherein the second computing unit reports the control path fault to the central system monitor.
13 . The non-transitory machine-readable medium of claim 8 , wherein the system is further to:
determine, by the second computing unit, whether the set of sensor data indicates a link layer fault; and
report, by the second computing unit, the link layer fault based determining that the set of sensor data indicates the link layer fault.
14 . The non-transitory machine-readable medium of claim 8 , wherein the system is further to:
generate, by the second computing unit, a set of sensor data statistics in response to evaluating the set of sensor data.
15 . A system comprising:
at least one processing device, comprising:
a first computing unit; and
a second computing unit; and
a memory to store instructions that, when executed by the at least one processing device cause the at least one processing device to:
receive, at both the first computing unit and the second computing unit, a set of sensor data generated by a sensor, wherein the set of sensor data comprises raw data;
format, by the first computing unit, the raw data into a set of message data;
determine, by the second computing unit, whether the set of sensor data indicates a control path fault, the control path fault being independent from the raw data; and
report, by the second computing unit, the control path fault responsive to determining that the set of sensor data indicates the control path fault.
16 . The system of claim 15 , wherein the at least one processing device is further to:
receive, at an Ethernet switch, the set of sensor data from the sensor; and
transmit, from the Ethernet switch, the set of sensor data to both the first computing unit and the second computing unit over a dedicated virtual LAN.
17 . The system of claim 16 wherein an autonomous driving system comprises the first computing unit, the second computing unit, and the Ethernet switch.
18 . The system of claim 15 , wherein the at least one processing device is further to:
determine, by the first computing unit, whether the set of sensor data indicates a data path fault; and
report, by the first computing unit, the data path fault based determining that the set of sensor data indicates the data path fault.
19 . The system of claim 18 , wherein the first computing unit reports the data path fault to a central system monitor, and wherein the second computing unit reports the control path fault to the central system monitor.
20 . The system of claim 15 , wherein the at least one processing device is further to:
determine, by the second computing unit, whether the set of sensor data indicates a link layer fault; and
report, by the second computing unit, the link layer fault based determining that the set of sensor data indicates the link layer fault.