Execution Authority ECU Arbitration for Multi-ADS Vehicle Control
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Solution Overview
Problem
The integration of multiple automated driving system (ADS) electronic control units (ECUs) in vehicle systems poses challenges related to adaptability, reliability, and safety, necessitating advanced control systems and processes to effectively manage vehicle motion control commands and sensor data.
Innovation Solution
The implementation of a vehicle control system comprising multiple ADS ECUs, an execution authority ECU, and communication links that enable identification, authorization, diagnostics, and arbitration of VMC commands, allowing for coordinated vehicle motion control through sensor fusion and communication protocols like CAN or Ethernet.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple ADS ECUs are integrated into the vehicle system, then the adaptability and functionality of automated driving system are improved, but the system complexity and difficulty of managing VMC commands increase
Solution Approach 1:
The system segments the VMC command management by introducing an EA ECU that separates authorization logic from execution logic. Multiple ADS ECUs can independently generate VMC commands, but the EA ECU segments the decision-making process by evaluating authorization status and diagnostic status separately, then arbitrating between commands based on these distinct evaluation criteria.
Solution Approach 2:
The EA ECU acts as an intermediary between multiple ADS ECUs and the vehicle motion control execution. It receives VMC commands from multiple ADS ECUs, evaluates their authorization and diagnostic status, arbitrates between conflicting commands, and selectively executes approved commands. This intermediary role resolves the complexity of direct multi-ECU coordination.
2Productivity
If multiple ADS ECUs transmit VMC commands simultaneously, then the productivity and response time of automated driving control are improved, but the reliability and safety of command execution deteriorate due to potential conflicts and unauthorized commands
Solution Approach 1:
The system performs preliminary evaluation of authorization status and diagnostic status before executing VMC commands. The EA ECU checks whether each ADS ECU is authorized to issue commands and whether its diagnostic status is satisfactory before allowing command execution. This preliminary validation prevents unauthorized or faulty commands from compromising system reliability.
Solution Approach 2:
The EA ECU continuously monitors the diagnostic status of multiple ADS ECUs and uses this feedback to arbitrate between VMC commands. The arbitration process incorporates real-time feedback about which ADS ECU has the most satisfactory diagnostic status, ensuring that commands from healthier systems are prioritized, thereby maintaining reliability under simultaneous operation.
3Reliability
If an execution authority ECU is introduced to arbitrate between VMC commands, then the safety and reliability of command execution are improved, but the device complexity and processing time increase
Solution Approach 1:
The EA ECU implements local quality evaluation by assessing authorization status and diagnostic status separately for each ADS ECU. Rather than applying a single uniform evaluation criterion, the system locally evaluates each command source's credentials and health status independently, then uses these localized assessments to make arbitration decisions. This targeted approach improves safety without requiring complete re-evaluation of all system parameters.
Data Source
AI summary
A vehicle system includes a plurality of automated driving system electronic control units (ADS ECUs) configured to determine vehicle motion control (VMC) commands in response to input from one or more vehicle environment sensors and transmit messages including the VMC commands over one or more communication links. An execution authority electronic control unit (EA ECU) is configured with execution authority over one or more VMC commands and is configured to receive, evaluate, and execute a VMC command associated with a received message.