Autonomous Vehicle Fallback Sensor Architecture for Partial Redundancy
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Solution Overview
Problem
Autonomous vehicles face challenges in maintaining driving capabilities when sensors or components fail due to degradation, as complete redundancy is often infeasible due to size, cost, and placement constraints.
Innovation Solution
Implementing partial redundancy through fallback configurations with distinct sensor and computing domains, each with its own set of sensors and computing subsystems, allowing the vehicle to operate in different modes based on available sensor data and power distribution.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If complete redundancy of every component and subsystem is implemented, then reliability is improved, but device complexity and cost increase
Solution Approach 1:
The system is divided into multiple independent sensor domains (first sensor domain, second sensor domain) and computing domains (first computing domain, second computing domain). Each domain can operate independently, allowing the system to maintain functionality even when parts of the system fail, thus achieving reliability without requiring complete redundancy of all components.
Solution Approach 2:
Instead of implementing complete redundancy of all sensors and computing subsystems, the patent implements partial redundancy where each computing subsystem can process data from at least one sensor domain. This provides sufficient reliability for safe operation while avoiding the excessive complexity and cost of full redundancy.
2Reliability
If complete redundancy of every component and subsystem is implemented, then reliability is improved, but cost increases
Solution Approach 1:
The system divides sensors and computing resources into separate domains that can operate independently. This segmentation allows the vehicle to use existing sensors for multiple purposes across different domains, reducing the need for additional redundant components and lowering manufacturing costs while maintaining reliability.
Solution Approach 2:
Sensors in one domain can be used by multiple computing domains, and computing subsystems can process data from multiple sensor domains. This multi-functionality reduces the total number of components needed, lowering cost while ensuring that at least one computing subsystem can operate with at least one sensor domain in case of failure.
3Measurement precision
If sensors are added to provide complete coverage, then measurement precision is improved, but vehicle size increases
Solution Approach 1:
The patent divides the sensing and computing functions into separate domains that can share existing sensors. This allows the system to achieve comprehensive environmental detection using the current sensor suite without adding more physical sensors, thereby maintaining measurement precision while avoiding an increase in vehicle size.
Solution Approach 2:
Existing sensors are configured to serve multiple domains and purposes. For example, sensors can provide data to both first and second computing domains, which can then independently process the data for different operating modes. This multi-functional use of existing sensors achieves complete detection coverage without adding additional sensor hardware that would increase vehicle size.
Data Source
AI summary
The technology relates to partially redundant equipment architectures for vehicles able to operate in an autonomous driving mode. Aspects of the technology employ fallback configurations, such as two or more fallback sensor configurations that provide some minimum amount of field of view (FOV) around the vehicle. For instance, different sensor arrangements are logically associated with different operating domains of the vehicle. Fallback configurations for computing resources and/or power resources are also provided. Each fallback configuration may have different reasons for being triggered, and may result in different types of fallback modes of operation. Triggering conditions may relate, e.g., to a type of failure, fault or other reduction in component capability, the current driving mode, environmental conditions in the vicinity of vehicle or along a planned route, or other factors. Fallback modes may involve altering a previously planned trajectory, altering vehicle speed, and/or altering a destination of the vehicle.