The invention is notably directed to an autonomous vehicle, e.g., an autonomous or semi-autonomous vehicle such as a self-driving car. The autonomous vehicle comprises a drive-by-wire (DbW) system (300), a set of perception sensors 21-24, such as lidars and cameras, and two processing systems, i.e., a first processing system (100) and a second processing system (200). The first processing system is configured to form a main perception based on signals from each of the perception sensors of the set, estimate states of the vehicle based on feedback signals from the DbW system, and compute trajectories for the autonomous vehicle based on the perception formed and the estimated states. The second processing system is configured to form an auxiliary perception based on signals from only a subset of the perception sensors, validate the computed trajectories based on the auxiliary perception formed, and cause to forward the validated trajectories to the DbW system. In other words, distinct perceptions are formed from overlapping sets of sensors, whereby one of the perceptions formed is used to validate trajectories obtained from the other. This requires less computational efforts, inasmuch as less signals (and therefore less information) are required to form the auxiliary perception. However, doing so is more likely to allow inconsistencies to be detected, thanks to the heterogeneity of sensor signals considered in input to the main and auxiliary perceptions. The invention is further directed to related methods and computer program products.
AUTONOMOUS VEHICLE USING HETEROGENEOUS REDUNDANCY CHECKS
2025-01-30
Patent
Electronic Resource
English
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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