Scalable sensor fusion and autonomous x-by-wire control
First Claim
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1. An autonomous system comprising:
- a plurality of processing nodes distributed and coupled to one another;
a plurality of sensors coupled to the processing nodes; and
a plurality of actuators including at least one power control actuator, at least one brake actuator, and at least one steering actuator, the plurality of actuators configured to directly control the autonomous system driven by and coupled to the plurality of processing nodes for throttle-by-wire, brake-by-wire and steer-by-wire control;
wherein each processing node of the plurality of processing nodes is configured to;
partition and map processing tasks between the plurality of processing nodes;
merge and reduce results of individual processing tasks into an actionable table that specifies objectives comprising control values resulting from sensor fusion processing, the objectives are used to directly control the plurality of actuators for the autonomous system; and
transfer a workload from one or more processing nodes determined to have a fault to one or more active processing nodes, wherein a reconfiguration of processing nodes is achieved within a bounded time.
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Abstract
An autonomous system for x-by-wire control includes processing nodes distributed and connected to one another. Sensors are connected to the processing nodes. Actuators are configured to directly control the autonomous system driven by and connected to the processing nodes for x-by-wire control. The processing nodes are configured to: partition and map processing tasks between the processing nodes, and merge and reduce results of individual processing tasks into an actionable table that specifies objectives for the autonomous system.
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Citations
20 Claims
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1. An autonomous system comprising:
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a plurality of processing nodes distributed and coupled to one another; a plurality of sensors coupled to the processing nodes; and a plurality of actuators including at least one power control actuator, at least one brake actuator, and at least one steering actuator, the plurality of actuators configured to directly control the autonomous system driven by and coupled to the plurality of processing nodes for throttle-by-wire, brake-by-wire and steer-by-wire control; wherein each processing node of the plurality of processing nodes is configured to; partition and map processing tasks between the plurality of processing nodes; merge and reduce results of individual processing tasks into an actionable table that specifies objectives comprising control values resulting from sensor fusion processing, the objectives are used to directly control the plurality of actuators for the autonomous system; and transfer a workload from one or more processing nodes determined to have a fault to one or more active processing nodes, wherein a reconfiguration of processing nodes is achieved within a bounded time. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method for sensor fusion and autonomous control comprising:
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receiving sensor signals from a plurality of sensors; interpreting sensor signals as sets of sensor values over time; performing distributed sensor fusion on the sets of sensor values by assigning a weight to each sensor of the plurality of sensors; partitioning and mapping processing tasks for the sets of sensor values to a set of distributed processing nodes; merging and reducing results of individual processing tasks performed by the distributed processing nodes into an actionable table, where such actionable table is used to specify objectives comprising control values resulting from sensor fusion processing, the objectives are used for an autonomous system; directly controlling a plurality of actuators using the actionable table for throttle-by-wire, brake-by-wire and steer-by-wire control, wherein the plurality of actuators includes at least one power control actuator, at least one brake actuator and at least one steering actuator; and transferring, by each of the distributed processing nodes, a workload from one or more processing nodes determined to have a fault to one or more active processing nodes wherein a reconfiguration of processing nodes is achieved within a bounded time. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. An autonomous computing environment for x-by-wire control of a vehicle comprising:
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an actionable table that specifies objectives comprising control values resulting from sensor fusion processing, the objectives are used to directly control a plurality of actuators for the computing environment, the plurality of actuators including at least one power control actuator, at least one brake actuator and at least one steering actuator; and a plurality of processing nodes distributed and coupled to one another, each of the processing nodes are configured to receive sensor data from a plurality of sensors and to control the plurality of actuators to directly control vehicle devices for throttle-by-wire, brake-by-wire and steer-by-wire control; wherein each processing node of the plurality of processing nodes is configured to; partition and map processing tasks for distribution between the plurality of processing nodes; merge and reduce results of individual processing tasks into the actionable table; and transfer a workload from one or more processing nodes determined to have a fault to one or more active processing nodes, wherein a reconfiguration of processing nodes is achieved within a bounded time. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification