Autonomous Vehicle Multi-Lane Control for Fault-Tolerant Operation
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Solution Overview
Problem
Autonomous vehicles with single-lane control architectures are unable to effectively handle faults, particularly at high speeds, leading to potential safety risks due to single points of failure in systems like braking or transmission.
Innovation Solution
Implementing a multi-lane control architecture with redundant systems for autonomous vehicles, allowing the vehicle to switch to alternate control lanes in case of faults, ensuring continued operation and safe state management.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a single-lane control architecture is used in autonomous vehicles, then the device complexity is reduced, but the reliability deteriorates due to single points of failure in systems like braking or transmission
Solution Approach 1:
The control architecture is segmented into multiple independent control lanes (first control lane, second control lane, third control lane), each capable of independently controlling vehicle operations. This segmentation allows the system to isolate faults to specific lanes while maintaining operational capability through alternative lanes, thereby improving reliability without requiring complete system redundancy.
Solution Approach 2:
The control system dynamically switches between different control lanes based on detected faults. When a fault is detected in one lane, the system automatically transitions control to another lane, enabling adaptive fault tolerance. This dynamic switching mechanism allows the system to maintain reliability while using a manageable control architecture.
2Reliability
If multiple redundant control systems are implemented, then the reliability is improved, but the device complexity increases
Solution Approach 1:
The redundant control systems are segmented into distinct control lanes with specialized functions. The first control lane handles normal operations, the second control lane handles fault conditions, and the third control lane provides additional redundancy. This segmentation allows the system to achieve high reliability while maintaining manageable complexity through functional differentiation.
Solution Approach 2:
Different control lanes are assigned different levels of capability and function. The first control lane has full capability for normal operations, while subsequent lanes have reduced or specialized capabilities for fault conditions. This local quality differentiation allows the system to achieve reliability through targeted redundancy rather than complete duplication of all systems.
3Reliability
If control is switched to alternate lanes during faults, then the reliability is maintained, but the ease of operation deteriorates due to automatic fault management
Solution Approach 1:
The control system performs automatic fault detection and self-switches to alternate control lanes without requiring operator intervention. The system monitors its own operational status and autonomously manages fault response by transitioning between control lanes, thereby maintaining reliability while eliminating the operational burden of manual fault management.
Data Source
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AI summary
An autonomous vehicle control system, an autonomous vehicle, and a computer-implemented method are provided. One aspect of the present disclosure relates to an autonomous vehicle control system comprising one or more processors and one or more tangible, non-transitory, computer readable media that store instructions that when executed by the one or more processors cause the autonomous vehicle control system to perform operations. The operations of the aspect comprise receiving motion planning data for the vehicle and determining a first control lane of a plurality of control lanes for implementing a motion plan based on the motion planning data. The plurality of control lanes of the aspect comprise at least the first control lane and a second control lane different than the first control lane, wherein the first control lane is connected with a first set of vehicle actuation systems corresponding to the first control lane, wherein the second control lane is connected with a second set of vehicle actuation systems corresponding to the second control lane, wherein the first set of vehicle actuation systems comprise at least one first actuation system that is not present in the second set of vehicle actuation systems. The operations of the aspect further comprise determining one or more conditions associated with the vehicle and controlling the first control lane or the second control lane to adjust a motion of the vehicle based at least in part on the one or more conditions.