Decentralized minimum risk condition vehicle control
First Claim
Patent Images
1. A vehicle computer comprising:
- a memory; and
a processor programmed to execute instructions stored in the memory, the instructions including;
receiving a first minimum risk condition (MRC) event recommendation from a first control module and a second MRC event recommendation from a second control module via a vehicle communication bus to which the first control module, the second control module, and the vehicle computer are connected;
selecting one of the first and second MRC event recommendations as a selected MRC event, the selected MRC event including instructions to one or more actuators; and
based on the selected MRC event and the instructions to the one or more actuators, outputting motion control instructions via the vehicle communications bus to one of the first control module, the second control module, or a third control module to output to the actuators to control an autonomous host vehicle according to the selected MRC event.
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Abstract
A vehicle computer includes a memory and a processor programmed to execute instructions stored in the memory. The instructions include receiving a first minimum risk condition (MRC) event recommendation from a first platform controller and a second MRC event recommendation from a second platform controller, selecting one of the first and second MRC event recommendations as a selected MRC event, controlling an autonomous host vehicle according to the selected MRC event.
83 Citations
18 Claims
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1. A vehicle computer comprising:
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a memory; and a processor programmed to execute instructions stored in the memory, the instructions including; receiving a first minimum risk condition (MRC) event recommendation from a first control module and a second MRC event recommendation from a second control module via a vehicle communication bus to which the first control module, the second control module, and the vehicle computer are connected; selecting one of the first and second MRC event recommendations as a selected MRC event, the selected MRC event including instructions to one or more actuators; and based on the selected MRC event and the instructions to the one or more actuators, outputting motion control instructions via the vehicle communications bus to one of the first control module, the second control module, or a third control module to output to the actuators to control an autonomous host vehicle according to the selected MRC event. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A vehicle system comprising:
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an automated vehicle platform including a first control module programmed to output a first MRC event recommendation and a second control module programmed to output a second MRC event recommendation, each MRC event recommendation including instructions to one or more actuators; and a minimum risk condition (MRC) control module programmed to receive the first MRC event recommendation and the second MRC event recommendation from the first and second control modules over a communications bus, select one of the first MRC event recommendation and the second MRC event recommendation as a selected MRC event, and output the instructions associated with the selected MRC event to one of the first control module, the second control module, or a third control module to output to the actuators to control an autonomous host vehicle according to the selected MRC event. - View Dependent Claims (10, 11, 12, 13, 14, 15)
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16. A method comprising:
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receiving a first minimum risk condition (MRC) event recommendation from a first control module over a communications bus; receiving a second MRC event recommendation from a second control module over the communications bus; selecting one of the first and second MRC event recommendations as a selected MRC event, the selected MRC event including instructions to one or more actuators; and based on the selected MRC event and the instructions to the one or more actuators, outputting motion control instructions via the vehicle communications bus to one of the first control module, the second control module, or a third control module to output to the actuators to control an autonomous host vehicle according to the selected MRC event. - View Dependent Claims (17, 18)
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Specification