Autonomous vehicle with independent auxiliary control units

A method for operating an autonomous vehicle, the method comprising:

• autonomously controlling the autonomous vehicle in operation using a primary control system coupled to a first set of vehicle sensors that monitor an environment outside the autonomous vehicle;
• determining, from a first sensor input from the first set of vehicle sensors, a state of the environment;
• determining, based on the state of the environment, trajectory data representing a planned future trajectory of the autonomous vehicle, the planned future trajectory comprising one or more future locations for the autonomous vehicle and for autonomously controlling a motion of the autonomous vehicle;
• operating an auxiliary control unit, coupled to a second set of vehicle sensors, separate from the first set of vehicle sensors, that monitor the environment outside the autonomous vehicle, to detect a predefined condition or event;
• receiving, by the auxiliary control unit, the trajectory data representing the planned future trajectory of the autonomous vehicle from the primary control system;
• and
• generating, using the auxiliary control unit, a vehicle response output based on the detected predefined condition or event, a second sensor input from the second set of vehicle sensors, and the trajectory data, wherein the vehicle response output is associated with a verification of the trajectory data based at least in part on the second sensor input.

A control system for an autonomous vehicle, the control system comprising:

• a primary control system to control the autonomous vehicle, including to (i) receive a first sensor input from a first set of vehicle sensors that monitor an environment outside the autonomous vehicle, (ii) determine, from the first sensor input, a state of the environment, (iii) determine, based on the state of the environment, trajectory data representing a planned future trajectory of the autonomous vehicle that comprises one or more future locations for the autonomous vehicle and is generated for autonomously controlling a motion of the autonomous vehicle, and (iv) generate, based on the trajectory data, one or more control parameters for controlling the autonomous vehicle;
• and
• an auxiliary control unit operating to (i) receive a second sensor input from a second set of vehicle sensors, separate from the first set of vehicle sensors, that monitor the environment outside the autonomous vehicle, (ii) receive the trajectory data representing the planned future trajectory of the autonomous vehicle from the primary control system, (iii) detect a predefined condition or event from the second sensor input, and (iv) in response to detecting the predefined condition or event, generate a vehicle response output based at least in part on the second sensor input and the trajectory data, wherein the vehicle response output is associated with a verification of the trajectory data based at least in part on the second sensor input.