Braking control architectures for autonomous vehicles

A method of controlling vehicle braking in a vehicle, comprising:

• receiving, by a braking system, a first set of commands generated by a primary brake controller and a primary vehicle control unit (VCU) comprising multiple processors;
• receiving a second set of commands generated by the primary VCU and a secondary brake controller;
• receiving a third set of commands generated by a secondary VCU and the primary brake controller;
• receiving a fourth set of commands generated by the secondary VCU and the secondary brake controller;
• and
• selecting, based on an arbitration logic, exactly one of the first, second, third, and fourth sets of commands to operate the braking system,
• wherein the primary VCU and the secondary VCU are configured in a master/slave architecture.

A non-transitory computer-readable storage medium having instructions stored thereupon for controlling vehicle braking, comprising:

• instructions for receiving, by a braking system, a first set of commands generated by a primary brake controller and a primary vehicle control unit (VCU) comprising multiple processors;
• instructions for receiving a second set of commands generated by the primary VCU and a secondary brake controller;
• instructions for receiving a third set of commands generated by a secondary VCU and the primary brake controller;
• instructions for receiving a fourth set of commands generated by the secondary VCU and the secondary brake controller;
• and
• instructions for selecting, based on an arbitration logic, exactly one of the first, second, third, and fourth sets of commands to operate the braking system,
• wherein at least one of the first, second, third, and fourth sets of commands is generated further based on an output of at least one sensor coupled to the primary brake controller or the secondary brake controller.