Black box data recorder for autonomous driving vehicle

• US 10,846,955 B2
• Filed: 03/16/2018
• Issued: 11/24/2020
• Est. Priority Date: 03/16/2018
• Status: Active Grant

• Current Assignee: Micron Technology, Inc.
• Original Assignee: Micron Technology, Inc.
• Inventors: Golov, Gil
• Primary Examiner(s): Merlino, David P.
• Application Number:
  US15/923,820
• Publication Number:
  US 20190287319A1
• Time in Patent Office: 984 Days
• Field of Search: None
• CPC Class Codes: G06F 11/0739 in a data processing system embedded in automotive or aircraft systems
• CPC Class Codes: G06F 11/0751 Error or fault detection not based on redundancy power supply failures G06F1/30; network fault management H04L41/06
• CPC Class Codes: G06F 11/0796 Safety measures, i.e. ensuring safe condition in the event of error, e.g. for controlling element
• CPC Class Codes: G06F 5/10 having a sequence of storage locations each being individually accessible for both enqueue and dequeue operations, e.g. using random access memory G06F5/065 takes precedence
• CPC Class Codes: G07C 5/085 using electronic data carriers
• CPC Class Codes: H03M 7/30 Compression speech analysis-synthesis for redundancy reduction G10L19/00; for image communication H04N; Expansion; Suppression of unnecessary data, e.g. redundancy reduction
• CPC Class Codes: H03M 7/70 Type of the data to be coded, other than image and sound

Abstract

An improved black box data recorder for use with autonomous driving vehicles (AVD). In one embodiment, two cyclic buffers are provided to record vehicle sensors data. A first cyclic buffer records raw vehicle sensor data on a volatile memory, while a second cyclic buffer records the same vehicle sensor data, as compressed data, on a non-volatile memory. In a case of a collision or near collision, in one embodiment the buffers are flushed into a non-volatile (NV) storage for retrieval. As long as there is no power interruption, the raw vehicle sensor data will be accessible from the NV storage. If a power interruption occurs, the raw vehicle sensor data held in the volatile memory of the first cyclic buffer will be lost and only the compressed form of the vehicle sensor data from the NV second cyclic buffer will survive and be accessible.

Claims

1. A data recording unit for an autonomous driving vehicle comprising:

a first cyclic buffer comprising a volatile memory to hold raw vehicle sensor data collected from vehicle sensors, wherein if power to the first cyclic buffer is interrupted the data held in the first cyclic buffer is lost;

a second cyclic buffer comprising non-volatile memory to hold compressed vehicle sensor data that is a compressed copy of the raw vehicle sensor data received in parallel with the raw vehicle sensor data, wherein if power to the second cyclic buffer is interrupted the data held in the second cyclic buffer is retained; and

a non-volatile storage coupled to the first cyclic buffer and the second cyclic buffer to store the raw vehicle sensor data and store the compressed vehicle sensor data, wherein in response to an event, the stored data in the first and the second cyclic buffers is moved into the non-volatile storage.

2. The data recording unit of claim 1, wherein in response to the event, any transfer of additional vehicle sensor data to the first and second cyclic buffers is suspended.

3. The data recording unit of claim 1, wherein the event comprises a collision involving the autonomous driving vehicle that includes the data recording unit.

4. The data recording unit of claim 1, wherein following an interruption of power to the data recording unit, the compressed vehicle sensor data is retrievable from at least one of the second cyclic buffer and the non-volatile storage to assist in determining a cause of the event.

5. The data recording unit of claim 1, wherein the event comprises receiving a signal from an inertia sensor and an application of an emergency braking system.

6. The data recording unit of claim 1, wherein the raw and compressed vehicle sensor data comprises data collected from at least one of:

a camera;

an infrared camera;

a sonar;

a radar; and

a lidar.

7. A method of recording vehicle sensor data for an autonomous driving vehicle comprising:

buffering raw vehicle sensor data, collected from vehicle sensors, in a first cyclic buffer comprising a volatile memory, wherein if power to the first cyclic buffer is interrupted the data held in the first cyclic buffer is lost;

buffering compressed vehicle sensor data that is a compressed copy of the raw vehicle sensor data received in parallel with the raw vehicle sensor data in a second cyclic buffer comprising non-volatile memory, wherein if power to the second cyclic buffer is interrupted the data buffered in the second cyclic buffer is retained; and

in response to an event, moving data held in the first and second cyclic buffers into a non-volatile storage to store the raw vehicle sensor data and store the compressed vehicle sensor data.

8. The method of claim 7, wherein in response to the event, suspending buffering of additional vehicle sensor data in the first and second cyclic buffers.

9. The method of claim 7, wherein the event comprises a collision involving an autonomous vehicle that includes a data recording unit comprising the first and second cyclic buffers.

10. The method of claim 7, wherein following an interruption of power to the first cyclic buffer, the compressed vehicle sensor data is retrievable from at least one of the second cyclic buffer and the non-volatile storage to assist in determining a cause of the event.

11. The method of claim 7, wherein the event comprises receiving a signal from an inertia sensor and an application of an emergency braking system.

12. The method of claim 7, wherein the raw and compressed vehicle sensor data comprises data collected from at least one of:

a camera;

an infrared camera;

a sonar;

a radar; and

a lidar.

13. A non-transitory machine readable medium, having stored thereon a set of instructions, which when executed, perform a method of recording vehicle sensor data for an autonomous driving vehicle, comprising:

buffering raw vehicle sensor data, collected from vehicle sensors, in a first cyclic buffer comprising a volatile memory, wherein if power to the first cyclic buffer is interrupted the data held in the first cyclic buffer is lost;

buffering compressed vehicle sensor data that is a compressed copy of the raw vehicle sensor data received in parallel with the raw vehicle sensor data in a second cyclic buffer comprising non-volatile memory, wherein if power to the second cyclic buffer is interrupted the data buffered in the second cyclic buffer is retained; and

in response to an event, moving data held in the first and second cyclic buffers into a non-volatile storage to store the raw vehicle sensor data and store the compressed vehicle sensor data.

14. The non-transitory machine readable medium of claim 13, wherein the instructions comprise, in response to the event, suspending buffering of additional vehicle sensor data in the first and second cyclic buffers.

15. The non-transitory machine readable medium of claim 13, wherein the event comprises a collision involving the autonomous driving vehicle.

16. The non-transitory machine readable medium of claim 13, wherein following an interruption of power to the first cyclic buffer, the compressed vehicle sensor data is retrievable from at least one of the second cyclic buffer and the non-volatile storage to assist in determining a cause of the event.

17. The non-transitory machine readable medium of claim 13, wherein the event comprises receiving a signal from an inertia sensor and an application of an emergency braking system.