Vehicle Motion Arbitration for ADAS Actuator Failure Handling
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Solution Overview
Problem
Advanced driver assistance system (ADAS) applications in vehicles face challenges in optimizing kinematic plans due to differences in vehicle characteristics and actuator systems, leading to potential complications in the design of electronic control units (ECUs) and interfaces (I/Fs).
Innovation Solution
A manager system mounted on a vehicle, comprising one or more processors that receive kinematic plans from ADAS applications, arbitrate them, and calculate motion requests regardless of actuator system failures. The system distributes these motion requests to available actuator systems based on their failure states, ensuring continued vehicle trajectory correction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the ADAS application monitors the state of the actuator system to optimize kinematic plans, then the optimization performance is improved, but the design complexity of the ECU and interface increases
Solution Approach 1:
The system separates the monitoring function from the ADAS application by introducing a dedicated manager that handles actuator system state monitoring and kinematic plan arbitration. This segmentation allows the ADAS application to focus on optimization while the manager manages the complexity of interfacing with multiple actuator systems, thus improving reliability without increasing the complexity within the ADAS application's ECU design.
Solution Approach 2:
The manager acts as an intermediary between the ADAS application and the actuator systems. It receives the kinematic plan from the ADAS application, monitors the state of actuator systems, and arbitrates to generate appropriate motion requests. This intermediary approach allows the ADAS application to maintain simple interface design while the manager handles the complex state monitoring and arbitration logic.
2Reliability
If the ADAS application is designed to handle actuator system failures, then the system reliability is improved, but the ease of operation and design simplicity deteriorates
Solution Approach 1:
The failure handling functionality is extracted from the ADAS application and placed in the manager. The manager monitors actuator system states and handles failure scenarios by arbitrating between multiple kinematic plans and distributing motion requests appropriately. This extraction allows the ADAS application to remain simple and easy to operate while the manager承担了 the complexity of failure handling.
Solution Approach 2:
The manager automatically monitors actuator system states and handles failures without requiring the ADAS application to be aware of or respond to failure conditions. The system achieves high reliability through this self-service mechanism where the manager independently manages failure detection and response, keeping the ADAS application design simple.
3Reliability
If multiple actuator systems are used with redundant structure, then the system reliability is improved, but the device complexity increases
Solution Approach 1:
The manager merges the control of multiple redundant actuator systems into a unified arbitration and distribution mechanism. It receives a single kinematic plan from the ADAS application and distributes motion requests to appropriate actuator systems based on their operational states. This merging approach allows redundant actuator systems to work together seamlessly, improving reliability while the manager abstracts away the complexity of managing multiple systems.
Solution Approach 2:
The manager serves multiple functions: it monitors actuator system states, arbitrates between kinematic plans, distributes motion requests to multiple actuator systems, and handles failure scenarios. This universal component manages the complexity of redundant actuator systems, allowing them to provide improved reliability without requiring each individual system to be designed with complex failure handling capabilities.
Data Source
AI summary
A manager mounted on a vehicle includes one or more processors configured to receive a plurality of kinematic plans from a plurality of advanced driver assistance system applications, arbitrate the kinematic plans, calculate motion request based on an arbitration result of the kinematic plans regardless of presence or absence of failure of a plurality of actuator systems including steering systems, and distribute the motion request to at least one of the actuator systems according to content of the failure of the actuator systems.