Redundant Vehicle Command Control With Memory Fault Verification
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Solution Overview
Problem
Autonomous vehicle systems face challenges in ensuring the reliability of commands generated by computing devices, particularly in situations where memory damage or faults can lead to unsafe operations, necessitating a method to assess and validate command reliability in real-time.
Innovation Solution
A command controller is implemented to test the memory of computing devices, particularly focusing on mission-critical areas, and uses redundant computing devices to verify command consistency, skipping memory tests when commands match and initiating emergency responses or repairs when discrepancies are detected.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If memory tests are performed on computing devices to ensure command reliability, then the reliability of autonomous vehicle operations is improved, but the time required for command execution and system responsiveness deteriorates
Solution Approach 1:
The system performs memory tests preliminarily and caches test results for reuse. When a computing device generates commands, the system checks whether recent memory tests have already been performed and uses those cached results to avoid redundant testing, thus maintaining reliability while reducing execution time delays.
Solution Approach 2:
Instead of performing memory tests continuously or with every command, the system implements periodic testing at predetermined time intervals. This approach ensures that memory reliability is verified regularly without causing continuous delays in command execution, balancing reliability assurance with system responsiveness.
2Reliability
If redundant computing devices are used to verify command consistency, then the reliability of commands is improved, but the device complexity and computational overhead worsen
Solution Approach 1:
The system uses redundant computing devices that generate copies of commands based on the same sensor inputs and processing logic. By comparing these command copies for consistency, the system verifies reliability without requiring fundamentally different or more complex verification mechanisms, thus managing complexity while improving trustworthiness.
Solution Approach 2:
The system implements a feedback mechanism where commands from redundant computing devices are compared, and discrepancies trigger memory tests or command rejection. This feedback loop ensures that reliability is maintained through verification while avoiding the need for permanently complex verification infrastructure in all operating conditions.
3Reliability
If memory tests are performed frequently to detect faults early, then the safety of vehicle operations is improved, but the productivity and operational efficiency deteriorate
Solution Approach 1:
The system performs memory tests preliminarily at scheduled intervals and caches results, so that during normal operation, commands can be executed without repeated testing delays. This preliminary testing approach ensures safety through regular verification while maintaining operational efficiency during between-test periods.
Solution Approach 2:
When memory test results are cached and valid, the system skips redundant memory tests during command execution. This allows the system to rush through command processing without safety verification delays, maintaining both safety (through periodic testing) and productivity (through skipping unnecessary tests).
Data Source
AI summary
A vehicle having a control element for the speed, acceleration or direction of the vehicle, two identical or redundant computing devices (e.g., each implemented as a system on chip (SoC)) to separately generate driving commands in parallel during autonomous driving of the vehicle, and a command controller coupled between the control element and the computing devices. In response to the commands from the identical or redundant computing devices, the command controller determines whether the commands are identical (or agree with each other); and if so, the command controller forwards one of the commands to the control element for execution. When there is a mismatch in the commands from the computing devices, the command controller tests the memories of the computing devices to identify a faulty one of the computing devices.