Safety controller for automated driving
AssigneeRobert Bosch GmbH
InventorMufaddal Zahid Bharmal
Life of this patent
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Abstract
Systems and methods for a safety control framework for automated driving systems in which a second controller—with different/diverse hardware and/or software than the first controller—verifies whether a path plan generated by the first controller meets certain safety conditions and preempts the first controller from controlling automated driving of the host vehicle in response to determining that the path plan does not satisfy the safety conditions. In some implementations, the second controller is configured to preempt the first controller by operating the vehicle under automated control using a safety path plan generated by the second controller.
Claims20
An automated driving system comprising:
- a primary controller including a primary electronic processor and a primary memory, the primary controller configured to
- determine, based at least in part on vehicle sensor data indicative of one or more detected objects, a location of a host vehicle relative to the one or more detected objects,
- determine, based at least in part on the relative location of the host vehicle, a path plan for the host vehicle,
- transmit to a secondary controller data indicative of the path plan for the host vehicle, and
- transmit control signals to at least one vehicle system selected from a group consisting of a steering system, a braking system, and a drivetrain system, wherein the control signals cause the at least one vehicle system to operate movement of the host vehicle according to the path plan;
- and
- the secondary controller including a secondary electronic processor and a secondary memory, the secondary controller configured to
- receive the data from the primary controller indicative of the path plan for the host vehicle,
- determine, based at least in part on the vehicle sensor data indicative of the one or more detected objects, whether the path plan is a permissible path in accordance with one or more safety conditions, and
- preempt the transmission of the control signals from the primary controller to the at least one vehicle system in response to determining that the path plan is not a permissible path.
A method of controlling an automated driving system, the method comprising:
- determining, by a primary controller based at least in part on vehicle sensor data indicative of one or more detected objects, a location of a host vehicle relative to the one or more detected objects;
- determining, by a primary controller based at least in part on the relative location of the host vehicle, a path plan for the host vehicle;
- transmitting, from the primary controller to a secondary controller, data indicative of the path plan for the host vehicle;
- receiving, by the secondary controller, the data from the primary controller indicative of the path plan for the host vehicle;
- determining, by the secondary controller based at least in part on the vehicle sensor data indicative of the one or more detected objects, whether the path plan is a permissible path in accordance with one or more safety conditions;
- transmitting control signals from the primary controller to at least one vehicle system selected from a group consisting of a steering system, a braking system, and a drivetrain system, wherein the control signals cause the at least one vehicle system to operate movement of the host vehicle according to the path plan;
- and
- preempting, by the secondary controller, the transmission of the control signals from the primary controller to the at least one vehicle system in response to determining that the path plan is not a permissible path.
Dependencies are inferred from the claim text.