Fault-tolerant computer system for assisted and autonomous driving

A fault-tolerant system for generating safe trajectories for a vehicle, the fault-tolerant system comprising:

• one or more computers comprising:
• a sensor part;
• a primary part;
• a secondary part;
• a tertiary part;
• and
• a decide part,
• wherein the primary part and the tertiary part are configured to produce trajectories by interpreting real world information as perceived by the sensor part,
• wherein the secondary part is configured to produce a safe space estimate by interpreting the real world information as perceived by the sensor part,
• wherein the decide part and/or the secondary part are configured to execute correctness checks that take the trajectories and the safe space estimate as inputs and qualify a trajectory of the trajectories as safe when said trajectory is inside the safe space estimate and unsafe when said trajectory is not inside the safe space estimate,
• wherein the one or more computers are configured to cause the vehicle, based on the trajectory being qualified as safe, to fully-autonomously or semi-autonomously maneuver along the trajectory,
• wherein the sensor part is developed according to an ASIL level of:
• a QM level, an ASIL A level, or an ASIL B level,
• wherein the primary part is developed according to the ASIL level of:
• the QM level, the ASIL A level, or the ASIL B level,
• wherein the secondary part is developed according to the ASIL level of:
• the ASIL B level, an ASIL C level, or an ASIL D level,
• wherein the tertiary part is developed according to the ASIL level of:
• the ASIL B level, the ASIL C level, or the ASIL D level, and
• wherein the decide part is developed according to the ASIL level of:
• the ASIL D level.