Redundant hardware and software architecture for autonomous vehicles

An apparatus for autonomous vehicle operation comprising a processor, configured to implement a method, comprising:

• receive, from each of a first computing unit (CU) computer and a second computing unit (CU) computer, a set of output values configured to instruct a plurality of devices in a vehicle and cause the vehicle to be driven,
• wherein the set of output values are determined based on an image or measured information provided by a set of at least two redundant sensors coupled to the vehicle;
• receive, from the first CU computer, a message indicative of an error or fault condition in the first CU computer when performing the operations, wherein the message is received in response to a temperature of the first CU computer being greater than a first pre-determined limit;
• select either the set of output values from the first CU computer or the set of output values from the second CU computer to be used to control the plurality of devices in response to determining that the temperature of the first CU computer is less than a second pre-determined limit that is greater than the first pre-determined limit;
• and
• send a set of commands that instruct the plurality of devices to operate the vehicle, wherein the set of commands are determined by a conversion of the selected set of output values into another set of output values using a stored database of commands, wherein the another set of output values are formatted for the plurality of devices and that are included in the set of commands.

A non-transitory computer readable program storage medium having code stored thereon, the code, when executed by a processor, causing the processor to implement a method, comprising:

• receiving, from each of a first computing unit (CU) computer and a second computing unit (CU) computer, a set of output values configured to instruct a plurality of devices in a vehicle and cause the vehicle to be driven,
• wherein the set of output values are determined based on an image or measured information provided by a set of at least two redundant sensors coupled to the vehicle;
• receiving, from the first CU computer, a message indicative of an error or fault condition in the first CU computer when performing the operations, wherein the message is received in response to a temperature of the first CU computer being greater than a first pre-determined limit;
• selecting either the set of output values from the first CU computer or the set of output values from the second CU computer to be used to control the plurality of devices;
• and
• sending a set of commands that instruct the plurality of devices to operate the vehicle, wherein the set of commands are determined by converting the selected set of output values into another set of output values using a stored database of commands, wherein the another set of output values are formatted for the plurality of devices and that are included in the set of commands.