Distributed safety monitors for automated vehicles
First Claim
1. A vehicle control system for at least partially automatically controlling a host vehicle, the vehicle control system comprising:
- a vehicle controller, resident on the host vehicle, configured to determine automated vehicle control commands for at least partially automatically controlling the host vehicle based at least in part on sensor information, the automated vehicle control commands each being arranged to be directly or indirectly utilized by one or more host vehicle control units resident on the host vehicle to facilitate implementation of such automated vehicle control commands; and
one or more safety monitoring algorithms executed separately from the vehicle controller that, during at least partially automated driving, verify that selected automated vehicle control commands received from the vehicle controller meet selected safety criteria, wherein at least some of the one or more safety monitoring algorithms utilize sensor information in the verification of the automated vehicle control commands received from the vehicle controller, wherein neither the safety algorithms, nor outputs from the safety algorithms are used in the determination of the automated vehicle control commands by the vehicle controller, and wherein the verified vehicle control commands are utilized by the one or more host vehicle control units to facilitate implementation of the automated vehicle control commands.
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Abstract
Controllers, control architectures, systems and methods are described for controlling a host vehicle'"'"'s participation in a platoon. In some embodiments, a vehicle control system includes a vehicle controller configured to determine vehicle control commands for at least partially automatically controlling the host vehicle based at least in part on sensor information. The vehicle control commands are arranged to be directly or indirectly utilized by one or more host vehicle control units resident on the host vehicle. The vehicle control system also includes one or more safety monitoring algorithms that, during at least partially automated driving, verify that selected vehicle control commands received from the vehicle controller meet selected safety criteria. At least some of the safety algorithms utilize sensor data in the verification of the commands received from the vehicle controller. The sensor data used by the safety algorithms may come from the host vehicle and/or a second vehicle.
341 Citations
30 Claims
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1. A vehicle control system for at least partially automatically controlling a host vehicle, the vehicle control system comprising:
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a vehicle controller, resident on the host vehicle, configured to determine automated vehicle control commands for at least partially automatically controlling the host vehicle based at least in part on sensor information, the automated vehicle control commands each being arranged to be directly or indirectly utilized by one or more host vehicle control units resident on the host vehicle to facilitate implementation of such automated vehicle control commands; and one or more safety monitoring algorithms executed separately from the vehicle controller that, during at least partially automated driving, verify that selected automated vehicle control commands received from the vehicle controller meet selected safety criteria, wherein at least some of the one or more safety monitoring algorithms utilize sensor information in the verification of the automated vehicle control commands received from the vehicle controller, wherein neither the safety algorithms, nor outputs from the safety algorithms are used in the determination of the automated vehicle control commands by the vehicle controller, and wherein the verified vehicle control commands are utilized by the one or more host vehicle control units to facilitate implementation of the automated vehicle control commands. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A vehicle control system for at least partially automatically controlling a host vehicle, the vehicle control system comprising:
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a vehicle controller configured to determine vehicle control commands for at least partially automatically controlling the host vehicle based at least in part on sensor information, the vehicle control commands each being arranged to be directly or indirectly utilized by one or more host vehicle control units resident on the host vehicle to facilitate implementation of such vehicle control commands, the vehicle controller having an ASIL rating; and a second controller that hosts one or more safety monitoring algorithms that, during at least partially automated driving, verify that selected vehicle control commands received from the vehicle controller meet selected safety criteria, wherein at least some of the one or more safety algorithms utilize verified sensor information from a second vehicle in the verification of the commands received from the vehicle controller, the verified sensor information received from the second vehicle being verified by a component on the second vehicle that is compliant with a designated safety standard; and wherein the second controller has an ASIL rating that is higher than the ASIL rating for the vehicle controller, and wherein the component on the second vehicle that verified the verified sensor information received from the second vehicle has an ASIL rating that is at least as high as the ASIL rating of the second controller. - View Dependent Claims (16)
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17. A vehicle interface controller for use in a vehicle control system for at least partially automatically controlling a host vehicle, the vehicle interface controller being configured to receive selected automated vehicle control commands from a vehicle controller configured to determine the automated vehicle control commands to facilitate at least partially automatically controlling the host vehicle and to communicate such automated vehicle control commands to one or more host vehicle control units resident on the host vehicle in a format suitable for use by such one or more host vehicle control units, the vehicle interface controller comprising:
one or more safety monitoring algorithms executed on the vehicle interface controller that, during the at least partially automated driving, verify that the selected automated vehicle control commands received from the vehicle controller meet selected safety criteria, wherein at least some of the one or more safety algorithms utilize sensor data in the verification of the commands received from the vehicle controller. - View Dependent Claims (18, 19, 20, 21, 22, 24)
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23. A vehicle interface controller for use in a vehicle control system for at least partially automatically controlling a host vehicle, the vehicle interface controller being configured to receive selected vehicle control commands from a vehicle controller and to communicate such vehicle control commands to one or more host vehicle control units resident on the host vehicle in a format suitable for use by such one or more host vehicle control units, the vehicle interface controller comprising:
one or more safety monitoring algorithms executed on the vehicle interface controller that, during the at least partially automated driving, verify that the selected vehicle control commands received from the vehicle controller meet selected safety criteria, wherein at least some of the one or more safety algorithms utilize sensor data in the verification of the commands received from the vehicle controller, wherein at least some of the one or more safety algorithms utilize verified information received from a second vehicle in the verification of the commands received from the vehicle controller, the verified information received from the second vehicle being verified by a component on the second vehicle that is compliant with a designated safety standard, and wherein the vehicle interface controller has an ASIL rating that is higher than an ASIL rating of the vehicle controller, and wherein the component on the second vehicle that verified the verified sensor information received from the second vehicle has an ASIL rating that is at least as high as the ASIL rating of the vehicle interface controller.
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25. A host vehicle control unit for use in conjunction with a vehicle control system for at least partially automatically controlling a host vehicle, the host vehicle control unit being configured to receive selected vehicle control commands directly or indirectly from a vehicle controller configured to determine vehicle control commands for at least partially automatically controlling the host vehicle, the host vehicle control unit comprising:
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one or more safety monitoring algorithms executed on the host vehicle control unit that, during the at least partially automated driving, verify that the selected vehicle control commands received from the vehicle controller meet selected safety criteria; and wherein at least some of the one or more safety algorithms utilize verified information received from a second vehicle in the verification of the vehicle control commands received from the vehicle controller, the verified information received from the second vehicle being verified by a component on the second vehicle that is compliant with a designated safety standard. - View Dependent Claims (26, 27, 28, 29, 30)
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Specification