Distributed driving system for autonomous vehicles for long-tail scenarios

An automated driving system comprising:

• a) a vehicle onboard system in a connected and automated vehicle (CAV), which is configured to conduct sensing and decision-making, and generate control instructions for automated driving of the CAV;
• and
• b) a communications medium for transmitting data between said CAV and an intelligent roadside toolbox (IRT),
• wherein the communications medium communicates with the IRT;
• wherein said IRT provides customized, on-demand, and dynamic computing resources and functions to the CAV, which are provided by a cloud;
• wherein said IRT computing resources and functions are configured to support the CAV's sensing functions, transportation behavior prediction and management functions, planning and decision making functions, and vehicle control functions;
• and
• wherein said IRT computing resources and functions are configured to support the CAV for driving environments including snow, sleet, fog or other adverse weather or road conditions.

An automated driving system comprising:

• a) a vehicle onboard system in a connected and automated vehicle (CAV), which is configured to conduct sensing and decision making, and generate control instructions for automated driving of the CAV;
• and
• b) a communications medium for transmitting data between said CAV and an intelligent roadside toolbox (IRT),
• wherein the communications medium communicates with the IRT;
• wherein said IRT provides customized, on-demand, and dynamic computing resources and functions to the CAV, which are provided by a cloud;
• wherein said IRT computing resources and functions are configured to support the CAV's sensing functions, transportation behavior prediction and management functions, planning and decision-making functions, and vehicle control functions;
• and
• wherein said IRT computing resources and functions are configured to support remote control service, pavement condition detection, and/or pedestrian prediction.