Autonomous Vehicle Brake Architecture With Redundant Command Arbitration
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Solution Overview
Problem
Current braking systems for autonomous vehicles, especially Level 4 systems, lack the necessary robustness and precision to ensure safety in case of failures, as they are not designed to handle complex failure scenarios effectively, which is critical for fully autonomous operations.
Innovation Solution
The implementation of a redundant braking system architecture with multiple vehicle control units and brake controllers configured in a master/slave architecture, providing multiple paths for braking commands and using arbitration logic to select the operational set of commands, ensuring fail-operational and safe vehicle control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a single braking system is used in autonomous vehicles, then the device complexity is low, but the reliability is insufficient to handle complex failure scenarios
Solution Approach 1:
The braking control system is segmented into multiple independent control units (primary VCU, secondary VCU, primary brake controller, secondary brake controller) that can operate independently. Each unit has its own processing capabilities and can generate braking commands separately, allowing the system to maintain functionality even when some segments fail.
Solution Approach 2:
The system implements redundant braking control paths that are prepared in advance to cushion against potential failures. Multiple command generation paths and arbitration mechanisms are pre-configured so that when a failure occurs, the system can immediately switch to备用 paths without loss of braking capability.
2Reliability
If multiple redundant braking control paths are implemented, then the reliability improves, but the device complexity increases
Solution Approach 1:
The arbitration logic is pre-programmed with failure detection and command selection algorithms that automatically execute when failures are detected. The system performs preliminary health checks and maintains ready-to-use alternative command paths, eliminating the need for complex real-time decision-making during failure scenarios.
Solution Approach 2:
The arbitration logic acts as an intermediary component that receives braking commands from multiple sources, evaluates their validity, and selects appropriate commands for execution. This mediator simplifies the overall system architecture by centralizing the complexity of managing multiple redundant paths in a single dedicated component.
3Reliability
If redundant components are configured in master/slave architecture, then the fail-operational capability is achieved, but the ease of operation decreases
Solution Approach 1:
The redundant braking control system operates autonomously with self-diagnosis and self-selection capabilities. The arbitration logic continuously monitors the health of all control units and automatically selects valid braking commands without requiring external intervention or complex manual operation, making the system self-sufficient in maintaining safe operation.
Data Source
AI summary
Devices, systems, and methods for redundant braking systems and architectures are described. An example method for controlling a vehicle includes receiving, by a braking system, a first set of commands generated by a primary brake controller and a primary vehicle control unit (VCU) comprising multiple processors, receiving a second set of commands generated by the primary VCU and a secondary brake controller, receiving a third set of commands generated by a secondary VCU and the primary brake controller, receiving a fourth set of commands generated by the secondary VCU and the secondary brake controller, and selecting, based on an arbitration logic, exactly one of the first, second, third, and fourth sets of commands to operate the braking system, wherein the primary VCU and the secondary VCU are configured in a master/slave architecture.