ECU Communication State Management for Autonomous Vehicle Safety
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Solution Overview
Problem
Conventional motion planning and control systems for autonomous driving vehicles do not accurately account for vehicle type differences, and communication delays between the autonomous driving system and the vehicle can lead to inaccurate and unsafe operations.
Innovation Solution
A system that includes an electronic control unit (ECU) with a real-time system, which determines communication states using a state machine to manage throttle and brake operations based on communication delays, switching between autonomous, recoverable autonomous, and manual modes to mitigate the effects of communication delays.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional motion planning and control systems are used for autonomous driving vehicles, then the system complexity is reduced, but the accuracy and safety of vehicle operation deteriorates due to not accounting for vehicle type differences
Solution Approach 1:
The patent segments the autonomous driving system into multiple independent modules: perception module, planning module, control module, and communication management module. Each module handles specific functions independently, allowing the system to account for vehicle type differences without overwhelming complexity. The segmentation enables tailored motion planning for different vehicle types while maintaining manageable system architecture.
Solution Approach 2:
The system dynamically adapts motion planning parameters based on detected vehicle type characteristics. The planning module adjusts trajectory generation, speed profiles, and control parameters in real-time according to the specific vehicle's physical properties, achieving high accuracy without requiring completely different systems for each vehicle type.
2Reliability
If communication delays between ADS and vehicle are not handled, then the system operation is simplified, but the safety and reliability deteriorates
Solution Approach 1:
The system establishes communication state machines and delay threshold parameters in advance before actual autonomous driving operations begin. These pre-configured mechanisms automatically activate when communication delays occur, ensuring reliable operation without requiring complex real-time decision-making. The preliminary setup includes defining safe operation thresholds and fallback protocols.
Solution Approach 2:
The patent implements continuous feedback loops where the communication management module monitors message transmission status between ADS and vehicle systems. When delays are detected, the system feeds back adjusted control commands or switches to fallback modes, maintaining safety through ongoing monitoring and adaptive response rather than static complexity.
3Manufacturing precision
If same motion planning and control is applied to all vehicle types, then the ease of operation is improved, but the manufacturing precision and operation accuracy deteriorates
Solution Approach 1:
The system changes operational parameters dynamically based on detected vehicle type characteristics. Instead of requiring different control systems for each vehicle type, the patent adjusts key parameters such as mass, dimensions, inertia, and performance characteristics within the same control framework, achieving precise operation across diverse vehicles while maintaining ease of operation.
Solution Approach 2:
The patent creates a universal motion planning and control system that can handle multiple vehicle types through a single integrated platform. The system identifies vehicle characteristics and adapts its parameters universally, eliminating the need for separate control systems for different vehicle types while maintaining high operation precision across all platforms.
Data Source
AI summary
Embodiments disclose systems and methods to operate an autonomous vehicle. In one embodiment, a system (an electronic controlled unit (ECU) of an autonomous driving vehicle (ADV)) receives a command, the command sent by an autonomous driving system (ADS) of the ADV. The system determines a communication state between the ECU and the ADS based on a state machine corresponding to a timing of the received command. If the communication state is of a first state, the system operates the ADV based on the received command. If the communication state is of a second state, the system releases a throttle of the ADV. If the communication state is of a third state, the system releases a throttle of the ADV and brakes using a first threshold of acceleration.