Electronic Horizon Supply With Deterministic Dual-Thread Processing
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Solution Overview
Problem
Highly automated driving systems for autonomous motor vehicles face challenges in processing digital map data within strict real-time and functional safety requirements, as conventional methods fail to ensure deterministic processing and error detection, particularly due to varying data volumes and the need for up-to-date information.
Innovation Solution
A computer-implemented method divides the processing of digital map data into two threads: a non-time-deterministic first thread for map data processing and a time-deterministic second thread for generating the electronic horizon, allowing for real-time generation and monitoring of the electronic horizon, independent of the processing time, with features like timestamp checking and lockstep error detection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If digital map data are processed in an embedded system with partitioning, then map data can be organized and processed systematically, but deterministic time response cannot be expected due to varying data volumes in different partitions
Solution Approach 1:
The patent divides the map data processing into two distinct segments: a non-time-deterministic first thread for processing digital map data, and a time-deterministic second thread for generating the electronic horizon. This segmentation allows each thread to operate with appropriate timing characteristics, resolving the contradiction between systematic processing and deterministic response.
Solution Approach 2:
The patent introduces an intermediary mechanism where processed map data from the first thread are made available to the second thread through a shared data structure with timestamp validation. This intermediary allows the time-deterministic thread to operate independently of the varying processing times in the first thread.
2Reliability
If conventional cyclical processing is used for safety monitoring, then program flow can be monitored, but real-time requirements for electronic horizon supply cannot be met due to varying processing times
Solution Approach 1:
The patent segments the processing into two threads with different timing characteristics. The second thread is specifically designed as time-deterministic and is monitored for real-time performance, while the first thread handles the variable-time map data processing. This segmentation allows safety monitoring to be applied where needed without compromising real-time requirements.
Solution Approach 2:
The patent implements feedback mechanisms including timestamp checking to verify data freshness, and program flow monitoring to detect errors in the time-deterministic second thread. These feedback loops ensure safety and reliability while maintaining deterministic timing for critical functions.
3Loss of information
If map data processing is performed before electronic horizon generation, then up-to-date map information can be used, but the processing time varies and threatens real-time performance
Solution Approach 1:
The patent performs preliminary processing of map data in the first thread, storing processed data with timestamps for later use. The second thread then generates the electronic horizon using pre-processed data that is validated for freshness, ensuring both data quality and deterministic timing.
Solution Approach 2:
The patent uses an intermediary data structure that stores processed map data with timestamp metadata. This intermediary allows the time-deterministic second thread to validate data freshness and operate independently of the varying processing times in the first thread, ensuring both information quality and real-time performance.
Data Source
AI summary
A computer-implemented method for supplying an electronic horizon for an autonomous motor vehicle. As part of a first method step, map data of a digital map are processed. As part of a second method step, a position of the autonomous motor vehicle is ascertained and, based on the processed map data, a position-dependent forecast of map elements that are located in front of the autonomous motor vehicle is generated, as a result of which the electronic horizon is supplied. The second method step is performed within a predetermined execution time and regardless of a processing time required for processing the digital map data.