Telestations and/or a teleoperations center to support autonomous vehicle operations may comprise a processing island having one or more GPU clusters with one or more computational models to receive encoded sensor data and process the sensor data to generate vehicle commands. In addition, a centralized teleoperations center to support remote vehicle operations may comprise one or more GPU clusters that receive sensor data from vehicles, process the sensor data, generate virtual terminals based on the vehicles, and transmit the sensor data and virtual terminals to one or more virtualized telestations for presentation to a teleoperator.
G05D 1/225 - Dispositions de commande à distance actionnées par des ordinateurs externes
G05D 1/224 - Dispositions de sortie sur les dispositifs de commande à distance, p. ex. écrans, dispositifs haptiques ou haut-parleurs
G05D 1/226 - Liaisons de communication avec les dispositions de commande à distance
G05D 1/227 - Transfert de la commande entre la commande à distance et la commande embarquéeTransfert de la commande entre plusieurs dispositions de commande à distance
G05D 1/86 - Surveillance des performances du système, p. ex. modules d’alarme ou de diagnostic
A vehicle teleoperation system may comprise a single, integrated unit that is installed within a vehicle to enable remote driving operations. The vehicle teleoperation system may include a processing island, a connectivity island, a safety island, and various interfaces by which to connect the vehicle teleoperation system to various systems onboard a vehicle. For example, the vehicle teleoperation system may receive and process various sensor data, transmit the sensor data for presentation to a teleoperator at a teleoperator station, receive and process user commands from the teleoperator at the teleoperator station, and instruct remote execution of the user commands by the vehicle.
H04L 67/12 - Protocoles spécialement adaptés aux environnements propriétaires ou de mise en réseau pour un usage spécial, p. ex. les réseaux médicaux, les réseaux de capteurs, les réseaux dans les véhicules ou les réseaux de mesure à distance
3.
INTEGRATED VEHICLE TELEOPERATION CONTROL UNITS TO FACILITATE REMOTE OPERATION AND ASSOCIATED METHODS
A vehicle teleoperation system may comprise a single, integrated unit that is installed within a vehicle to enable remote driving operations. The vehicle teleoperation system may include a processing island, a connectivity island, a safety island, and various interfaces by which to connect the vehicle teleoperation system to various systems onboard a vehicle. For example, the vehicle teleoperation system may receive and process various sensor data, transmit the sensor data for presentation to a teleoperator at a teleoperator station, receive and process user commands from the teleoperator at the teleoperator station, and instruct remote execution of the user commands by the vehicle.
Platoons of vehicles are operated remotely by a teleoperator. A lead vehicle of a platoon establishes communications with a teleoperator station, which receives drive state data from the lead vehicle and generates reference instructions for the lead vehicle. When a lead vehicle is under control of a teleoperator, and a follower vehicle joins a platoon with the lead vehicle, the follower vehicle receives drive state data from the lead vehicle and reference instructions for the lead vehicle from the teleoperator station. The follower vehicle captures data regarding its own drive state, and generates instructions based on the drive state data of the lead vehicle and the reference instructions for the lead vehicle. Drive state data of a lead vehicle of a platoon may be estimated, augmented or refined for accuracy based on drive state data of other vehicles of the platoon.
G05D 1/224 - Dispositions de sortie sur les dispositifs de commande à distance, p. ex. écrans, dispositifs haptiques ou haut-parleurs
G05D 1/695 - Commande coordonnée de la position ou du cap de plusieurs véhicules pour maintenir la position des véhicules les uns par rapport aux autres, p. ex. pour les voyages en convoi ou les vols en formation
Platoons of vehicles are operated remotely by a teleoperator. A lead vehicle of a platoon establishes communications with a teleoperator station, which receives drive state data from the lead vehicle and generates reference instructions for the lead vehicle. When a lead vehicle is under control of a teleoperator, and a follower vehicle joins a platoon with the lead vehicle, the follower vehicle receives drive state data from the lead vehicle and reference instructions for the lead vehicle from the teleoperator station. The follower vehicle captures data regarding its own drive state, and generates instructions based on the drive state data of the lead vehicle and the reference instructions for the lead vehicle. Drive state data of a lead vehicle of a platoon may be estimated, augmented or refined for accuracy based on drive state data of other vehicles of the platoon.
G06V 20/56 - Contexte ou environnement de l’image à l’extérieur d’un véhicule à partir de capteurs embarqués
H04W 4/40 - Services spécialement adaptés à des environnements, à des situations ou à des fins spécifiques pour les véhicules, p. ex. communication véhicule-piétons
Platoons of vehicles are operated remotely by a teleoperator. A lead vehicle of a platoon establishes communications with a teleoperator station, which receives drive state data from the lead vehicle and generates reference instructions for the lead vehicle. When a lead vehicle is under control of a teleoperator, and a follower vehicle joins a platoon with the lead vehicle, the follower vehicle receives drive state data from the lead vehicle and reference instructions for the lead vehicle from the teleoperator station. The follower vehicle captures data regarding its own drive state, and generates instructions based on the drive state data of the lead vehicle and the reference instructions for the lead vehicle. Drive state data of a lead vehicle of a platoon may be estimated, augmented or refined for accuracy based on drive state data of other vehicles of the platoon.
A method for controlling a teleoperated vehicle is provided, in particular for a shared mobility service. The method includes: driving the vehicle via a teleoperator station using a network; and determining a disturbance within said network. The method also includes starting a first braking maneuver for slowing down said vehicle, if a disturbance is determined within said network; and starting a second braking maneuver for stopping said vehicle, if a predetermined condition is met. A corresponding computer program and a teleoperated vehicle using this method are also provided.
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p. ex. utilisant des pilotes automatiques
B60T 7/12 - Organes d'attaque de la mise en action des freins par déclenchement automatiqueOrganes d'attaque de la mise en action des freins par déclenchement non soumis à la volonté du conducteur ou du passager
H04L 67/12 - Protocoles spécialement adaptés aux environnements propriétaires ou de mise en réseau pour un usage spécial, p. ex. les réseaux médicaux, les réseaux de capteurs, les réseaux dans les véhicules ou les réseaux de mesure à distance
8.
Congestion control applying adaptive path selection
Described are systems and methods for determining one or more data paths of a network link for transmitting data packets of a data stream for load balancing the data across the paths while avoiding saturation of the network link and/or alleviating congestion of the network link. The selection of the one or more paths may be performed by adaptively modifying a redundancy of the data packets being transmitted on the transmission paths of the network link in view of current network parameters associated with the paths of the network link, so that the data stream is effectively load balanced across the paths of the network link while ensuring redundancy of the data stream and maintaining the data rate of the data stream.
Described are systems and methods for determining one or more data paths of a network link for transmitting data packets of a data stream for load balancing the data across the paths while avoiding saturation of the network link and/or alleviating congestion of the network link. The selection of the one or more paths may be performed by adaptively modifying a redundancy of the data packets being transmitted on the transmission paths of the network link in view of current network parameters associated with the paths of the network link, so that the data stream is effectively load balanced across the paths of the network link while ensuring redundancy of the data stream and maintaining the data rate of the data stream.
A vehicle is configured for local operation by an on-board human operator or remote operation by a remote human operator (or teleoperator) via a computer system in communication with the vehicle. A local human operator may request that a remote human operator take operational control of the vehicle, and a bi-directional communication channel between the computer system and the vehicle is established. The remote human operator is selected based on a drive state of the vehicle, any attributes of the local human operator or the remote human operator. When the vehicle violates one or more standards under operational control of the local human operator, transfer of the operational control is recommended to the local human operator. When the vehicle violates one or more standards under the operational control of a remote human operator, the operational control of the vehicle is transferred to another remote human operator.
G05D 1/227 - Transfert de la commande entre la commande à distance et la commande embarquéeTransfert de la commande entre plusieurs dispositions de commande à distance
G05D 1/224 - Dispositions de sortie sur les dispositifs de commande à distance, p. ex. écrans, dispositifs haptiques ou haut-parleurs
G05D 105/22 - Applications spécifiques des véhicules commandés pour le transport d’êtres humains
G05D 107/13 - Espaces réservés à la circulation des véhicules, p. ex. routes, espace aérien réglementé ou eaux réglementées
A vehicle is configured for local operation by an on-board human operator or remote operation by a remote human operator (or teleoperator) via a computer system in communication with the vehicle. A local human operator may request that a remote human operator take operational control of the vehicle, and a bi-directional communication channel between the computer system and the vehicle is established. The remote human operator is selected based on a drive state of the vehicle, any attributes of the local human operator or the remote human operator. When the vehicle violates one or more standards under operational control of the local human operator, transfer of the operational control is recommended to the local human operator. When the vehicle violates one or more standards under the operational control of a remote human operator, the operational control of the vehicle is transferred to another remote human operator.
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p. ex. utilisant des pilotes automatiques
09 - Appareils et instruments scientifiques et électriques
12 - Véhicules; appareils de locomotion par terre, par air ou par eau; parties de véhicules
39 - Services de transport, emballage et entreposage; organisation de voyages
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Scientific, research, navigation, surveying, photographic, cinematographic, audiovisual, optical, weighing, measuring, signalling, detecting, testing, inspecting, life-saving and teaching apparatus and instruments; apparatus and instruments for conducting, switching, transforming, accumulating, regulating or controlling the distribution or use of electricity; Apparatus and instruments for recording, transmitting, reproducing or processing sound, images or data; Recorded media; Downloadable media; Computer software; Blank digital or analogue recording and storage media; Computers; Computer peripheral devices; Computers for autonomous vehicles; Controllers, for use in the following fields: driving of vehicles; Remote-controlled controllers, for use in the following fields: driving of vehicles; Software for use in the following fields: Autonomous controllers for vehicles and Remote control of vehicles; Remote control devices, for use in the following fields: Control of vehicles; Computer software for remote control of vehicles; Mobile application software for autonomous vehicles, remote-controlled vehicles and autonomous carsharing; Software and mobile applications for autonomous vehicles, remote-controlled vehicles and autonomous carsharing; Other than goods in connection with rail vehicles, rail infrastructure or rail transport. Vehicles; Vehicles for locomotion by land, air, water or rail; Autonomous vehicles; Remotely operated vehicles; Remotely operated vehicles; Driverless [autonomous] cars; Driverless [autonomous] motor vehicles; Other than goods in connection with rail vehicles, rail infrastructure or rail transport. Packaging and storage of goods; Car sharing services; Carpooling services; Vehicle rental; Passenger transport; Arranging of passenger transportation services for others via an online application; Arranging of passenger transport for others, Via mobile applications; Planning, arranging and booking of travel by electronic means; Providing information relating to travel and transport, via electronic means; Providing of information Via mobile applications, in relation to the following fields: Travel and Transport; Providing information relating to vehicle driving services; Reservation services for travel by land; Transport of persons and goods by land, air and water; Escorting of travellers; transportation of persons and goods by road, including the following services: Transport of persons and goods by car and lorries, water and air; Mail delivery and courier services; Chauffeur services; Chauffeur driven car hire services; Other than services in connection with rail vehicles, rail infrastructure or rail transport. Scientific and technological services and research and design relating thereto; Industrial analysis and research services; Design and development of computer hardware and software; Providing temporary use of online non-downloadable software for providing transportation services, bookings for transportation services and for dispatching motorized vehicles to customers; Other than services in connection with rail vehicles, rail infrastructure or rail transport.
13.
SYSTEMS AND METHODS TO INCREASE ENVIRONMENT AWARENESS ASSOCIATED WITH REMOTE DRIVING APPLICATIONS
Systems and methods to increase environment awareness in remote driving applications may include a vehicle having an imaging device and a teleoperator station in communication with each other via a network. For example, audio data may be received from the vehicle and processed to identify known sounds associated with unseen objects in the environment. In addition, imaging data may be received from the vehicle and processed to identify known but unheard objects in the environment. Based on the identified sounds and/or objects, visualizations of the objects may be generated and presented to a teleoperator, and sounds associated with the objects may be amplified, synthesized, and/or emitted to the teleoperator to increase environment awareness.
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p. ex. utilisant des pilotes automatiques
G06V 20/56 - Contexte ou environnement de l’image à l’extérieur d’un véhicule à partir de capteurs embarqués
Systems and methods to ensure safe driving behaviors in remote driving applications may include a vehicle having an imaging device and a teleoperator station in communication with each other via a network. For example, a safety tunnel having various safety tunnel parameters may be generated based on location data, map data, vehicle data, and/or sensor data. Remote operation of the vehicle may be monitored with respect to the safety tunnel parameters, and various visual, audio, and/or haptic alerts or feedback may be presented or emitted for the teleoperator to encourage or enforce vehicle operation within the safety tunnel parameters. Further, various autonomous remote operation programs or control routines may be initiated or instructed to ensure safe driving behaviors of the vehicle based on the safety tunnel parameters.
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p. ex. utilisant des pilotes automatiques
B60W 60/00 - Systèmes d’aide à la conduite spécialement adaptés aux véhicules routiers autonomes
G06V 20/56 - Contexte ou environnement de l’image à l’extérieur d’un véhicule à partir de capteurs embarqués
15.
SYSTEMS AND METHODS TO ENSURE SAFE DRIVING BEHAVIORS ASSOCIATED WITH REMOTE DRIVING APPLICATIONS
Systems and methods to ensure safe driving behaviors in remote driving applications may include a vehicle having an imaging device and a teleoperator station in communication with each other via a network. For example, a safety tunnel having various safety tunnel parameters may be generated based on location data, map data, vehicle data, and/or sensor data. Remote operation of the vehicle may be monitored with respect to the safety tunnel parameters, and various visual, audio, and/or haptic alerts or feedback may be presented or emitted for the teleoperator to encourage or enforce vehicle operation within the safety tunnel parameters. Further, various autonomous remote operation programs or control routines may be initiated or instructed to ensure safe driving behaviors of the vehicle based on the safety tunnel parameters.
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p. ex. utilisant des pilotes automatiques
16.
SYSTEMS AND METHODS TO INCREASE ENVIRONMENT AWARENESS ASSOCIATED WITH REMOTE DRIVING APPLICATIONS
Systems and methods to increase environment awareness in remote driving applications may include a vehicle having an imaging device and a teleoperator station in communication with each other via a network. For example, audio data may be received from the vehicle and processed to identify known sounds associated with unseen objects in the environment. In addition, imaging data may be received from the vehicle and processed to identify known but unheard objects in the environment. Based on the identified sounds and/or objects, visualizations of the objects may be generated and presented to a teleoperator, and sounds associated with the objects may be amplified, synthesized, and/or emitted to the teleoperator to increase environment awareness.
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p. ex. utilisant des pilotes automatiques
17.
Systems and methods for fleet management associated with remote driving systems
Systems and methods for fleet management of remote driving systems may include a plurality of vehicles and a plurality of teleoperators. A fleet management system may receive a plurality of tasks, and may generate or optimize assignment or allocation of the plurality of tasks to various combinations of the vehicles and teleoperators. Because the teleoperators are decoupled from the vehicles, and because the teleoperators may be dynamically coupled to vehicles via network connections to remotely operate vehicles, performance of the plurality of tasks may be optimized to improve cost, time, and efficiency associated with fleet management of remote driving systems.
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p. ex. utilisant des pilotes automatiques
G06Q 10/0631 - Planification, affectation, distribution ou ordonnancement de ressources d’entreprises ou d’organisations
G06Q 10/0639 - Analyse des performances des employésAnalyse des performances des opérations d’une entreprise ou d’une organisation
18.
SYSTEMS AND METHODS FOR FLEET MANAGEMENT ASSOCIATED WITH REMOTE DRIVING SYSTEMS
Systems and methods for fleet management of remote driving systems may include a plurality of vehicles and a plurality of teleoperators. A fleet management system may receive a plurality of tasks, and may generate or optimize assignment or allocation of the plurality of tasks to various combinations of the vehicles and teleoperators. Because the teleoperators are decoupled from the vehicles, and because the teleoperators may be dynamically coupled to vehicles via network connections to remotely operate vehicles, performance of the plurality of tasks may be optimized to improve cost, time, and efficiency associated with fleet management of remote driving systems.
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p. ex. utilisant des pilotes automatiques
G06Q 10/0631 - Planification, affectation, distribution ou ordonnancement de ressources d’entreprises ou d’organisations
Systems and methods for dynamic control of remotely operated vehicles may include various types of sensors to detect environment, surface, and/or friction conditions proximate a vehicle. Based on the detected environment, surface, and/or friction conditions, a maximum acceleration for safe operation of the vehicle may be determined. In addition, various dynamic control limits or ranges for the vehicle may be determined based on the maximum acceleration, and the vehicle may be controlled or instructed to operate within such dynamic limits. Moreover, various notifications, alerts, and/or feedback may be presented or output for the teleoperator at the teleoperator station in order to increase environment awareness and promote safe driving behaviors.
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p. ex. utilisant des pilotes automatiques
B60W 50/16 - Signalisation tactile au conducteur, p. ex. vibration ou augmentation de la résistance sur le volant ou sur la pédale d'accélérateur
20.
METHODS FOR DYNAMIC CONTROL OF A REMOTELY OPERATED VEHICLE BASED ON ENVIRONMENT CONDITIONS
Methods for dynamic control of remotely operated vehicles may include various types of sensors to detect environment, surface, and/or friction conditions proximate a vehicle. Based on the detected environment, surface, and/or friction conditions, a maximum acceleration/deceleration for safe operation of the vehicle may be determined. In addition, various dynamic control limits or ranges for the vehicle may be determined based on the maximum acceleration/deceleration, and the vehicle may be controlled or instructed to operate within such dynamic limits.
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p. ex. utilisant des pilotes automatiques
G05D 1/02 - Commande de la position ou du cap par référence à un système à deux dimensions
21.
SYSTEMS AND METHODS TO ACCOUNT FOR LATENCY ASSOCIATED WITH REMOTE DRIVING APPLICATIONS
Systems and methods to account for latency associated with remote driving applications may include a vehicle having an imaging device and a teleoperator station in communication with each other via a network. Imaging data that is captured by the imaging device may be transmitted to the teleoperator station for presentation to a teleoperator. In order to account for latency in the transmission, receipt, processing, and presentation of the imaging data, one or more visualizations of the vehicle, with various visual characteristics, may be rendered within or overlaid onto the imaging data, in order to facilitate safe and reliable remote operation of the vehicle by the teleoperator at the teleoperator station.
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p. ex. utilisant des pilotes automatiques
22.
Systems and methods to account for latency associated with remote driving applications
Systems and methods to account for latency associated with remote driving applications may include a vehicle having an imaging device and a teleoperator station in communication with each other via a network. Imaging data that is captured by the imaging device may be transmitted to the teleoperator station for presentation to a teleoperator. In order to account for latency in the transmission, receipt, processing, and presentation of the imaging data, one or more visualizations of the vehicle, with various visual characteristics, may be rendered within or overlaid onto the imaging data, in order to facilitate safe and reliable remote operation of the vehicle by the teleoperator at the teleoperator station.
H04N 7/18 - Systèmes de télévision en circuit fermé [CCTV], c.-à-d. systèmes dans lesquels le signal vidéo n'est pas diffusé
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p. ex. utilisant des pilotes automatiques
Systems and methods that facilitate identifying and controlling the systems and subsystems in a vehicle to enable autonomous operation of the vehicle are disclosed. An autonomous vehicle interface (AVI) (the “AVI control system”) can interface with and control the system of the vehicle, thereby enabling control of the vehicle as a whole. Electronic control units may be associated with each of the systems and subsystems in the vehicle, and the AVI may interface with and control these electronic control units over a shared data bus. In order to control particular electronic control units, the systems and methods provide for sampling data packets transmitted by the electronic control units on the shared data bus, measuring the impedance of the shared data bus when data packets are being transmitted, and identifying particular electronic control units based on the measured impedance.
Described is a system, method, and apparatus that removes substances (e.g., water) from a field of view of an imaging element so that the objects within the field of view are not obstructed or obscured from the perspective of the imaging element and do not appear obstructed or obscured in the image data generated by the imaging element. Implementations include an apparatus that has housing that includes a base surface and a perimeter that, when coupled together, form an interior. The perimeter surface may include a substantially cylindrical opening through which a field of view of an imaging element positioned within the interior of the housing may be oriented. A spinning lens assembly may be positioned within the substantially cylindrical opening and rotatable by a motor such that, when rotated, any substance on a surface of the lens is evacuated from the surface of the lens.
G02B 27/00 - Systèmes ou appareils optiques non prévus dans aucun des groupes ,
B60S 1/56 - Nettoyage des pare-brise, fenêtres ou dispositifs optiques spécialement adaptés pour nettoyer d'autres parties ou dispositifs que les fenêtres avant ou les pare-brise
B60R 11/04 - Montage des caméras pour fonctionner pendant la marcheDisposition de leur commande par rapport au véhicule
Described is a system, method, and apparatus that removes substances (e.g., water) from a field of view of an imaging element so that the objects within the field of view are not obstructed or obscured from the perspective of the imaging element and do not appear obstructed or obscured in the image data generated by the imaging element. Implementations include an apparatus that has housing that includes a base surface and a perimeter that, when coupled together, form an interior. The perimeter surface may include a substantially cylindrical opening through which a field of view of an imaging element positioned within the interior of the housing may be oriented. A spinning lens assembly may be positioned within the substantially cylindrical opening and rotatable by a motor such that, when rotated, any substance on a surface of the lens is evacuated from the surface of the lens.
B60R 11/04 - Montage des caméras pour fonctionner pendant la marcheDisposition de leur commande par rapport au véhicule
B60S 1/56 - Nettoyage des pare-brise, fenêtres ou dispositifs optiques spécialement adaptés pour nettoyer d'autres parties ou dispositifs que les fenêtres avant ou les pare-brise
G02B 27/00 - Systèmes ou appareils optiques non prévus dans aucun des groupes ,
26.
Autonomous vehicle platform and safety architecture
In embodiments of an autonomous vehicle platform and safety architecture, safety managers of a safety-critical system monitor outputs of linked components of the safety-critical system. The linked components comprise at least three components, each of which is configured to produce output indicative of a same event independent from the other linked components by using different input information than the other linked components. The safety managers also compare the outputs of the linked components to determine whether each output indicates the occurrence of a same event. When the output of one linked component does not indicate the occurrence of an event that is indicated by the outputs of the other linked components, the safety managers identify the one linked component as having failed. Based on this, the outputs of the other linked components are used to carry out operations of the safety-critical system without using the output of the failed component.
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p. ex. utilisant des pilotes automatiques
The present invention relates to a method for controlling a vehicle, in particular a teleoperated vehicle, comprising the steps of: providing an image of a rear view of the vehicle; performing a computer vision technique on the image, thereby identifying a rear risk object with a bounding volume; determining an information, in particular a distance information, of the rear risk object based on at least one parameter of the bounding volume; and performing a maneuver with the vehicle based on the information, in particular the distance information.
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p. ex. utilisant des pilotes automatiques
28.
Autonomous vehicle platform and safety architecture
In embodiments of an autonomous vehicle platform and safety architecture, safety managers of a safety-critical system monitor outputs of linked components of the safety-critical system. The linked components comprise at least three components, each of which is configured to produce output indicative of a same event independent from the other linked components by using different input information than the other linked components. The safety managers also compare the outputs of the linked components to determine whether each output indicates the occurrence of a same event. When the output of one linked component does not indicate the occurrence of an event that is indicated by the outputs of the other linked components, the safety managers identify the one linked component as having failed. Based on this, the outputs of the other linked components are used to carry out operations of the safety-critical system without using the output of the failed component.
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p. ex. utilisant des pilotes automatiques
29.
Phased minimum risk maneuver for teleoperated vehicles
A method for controlling a teleoperated vehicle is provided, in particular for a shared mobility service. The method includes: driving the vehicle via a teleoperator station using a network; and determining a disturbance within said network. The method also includes starting a first braking maneuver for slowing down said vehicle, if a disturbance is determined within said network; and starting a second braking maneuver for stopping said vehicle, if a predetermined condition is met. A corresponding computer program and a teleoperated vehicle using this method are also provided.
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p. ex. utilisant des pilotes automatiques
B60T 7/12 - Organes d'attaque de la mise en action des freins par déclenchement automatiqueOrganes d'attaque de la mise en action des freins par déclenchement non soumis à la volonté du conducteur ou du passager
H04L 67/12 - Protocoles spécialement adaptés aux environnements propriétaires ou de mise en réseau pour un usage spécial, p. ex. les réseaux médicaux, les réseaux de capteurs, les réseaux dans les véhicules ou les réseaux de mesure à distance
Technologies are provided for detecting anomalous data at runtime in an autonomous vehicle component that is indicative of a byzantine fault, and providing real-time remediation. Input and output data streams of the vehicle component can be analyzed to generate a normal operational model for the vehicle component. Using the model, deviations from a known steady state of operation of the vehicle component can be detected and flagged as potential faults. The vehicle component can then be isolated and/or restarted. Additionally or alternatively, a specification can be defined that specifies allowed component interactions in the autonomous vehicle system. The specification can be used to generate tests that can be used to validate the functional correctness of the vehicle components. The specification can be used at run-time to detect component interactions that are not allowed. Such a disallowed component interaction can be detected using the specification and flagged as a potential fault.
G07C 5/08 - Enregistrement ou indication de données de marche autres que le temps de circulation, de fonctionnement, d'arrêt ou d'attente, avec ou sans enregistrement des temps de circulation, de fonctionnement, d'arrêt ou d'attente
G07C 5/00 - Enregistrement ou indication du fonctionnement de véhicules
H04L 9/06 - Dispositions pour les communications secrètes ou protégéesProtocoles réseaux de sécurité l'appareil de chiffrement utilisant des registres à décalage ou des mémoires pour le codage par blocs, p. ex. système DES
B60L 9/00 - Propulsion électrique par source d'énergie extérieure au véhicule
B60W 10/00 - Commande conjuguée de sous-ensembles de véhicule, de fonction ou de type différents
B60W 20/00 - Systèmes de commande spécialement adaptés aux véhicules hybrides
B60W 10/06 - Commande conjuguée de sous-ensembles de véhicule, de fonction ou de type différents comprenant la commande des ensembles de propulsion comprenant la commande des moteurs à combustion
B60W 10/08 - Commande conjuguée de sous-ensembles de véhicule, de fonction ou de type différents comprenant la commande des ensembles de propulsion comprenant la commande des unités de traction électrique, p. ex. des moteurs ou des générateurs
B60W 50/14 - Moyens d'information du conducteur, pour l'avertir ou provoquer son intervention
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p. ex. utilisant des pilotes automatiques
09 - Appareils et instruments scientifiques et électriques
12 - Véhicules; appareils de locomotion par terre, par air ou par eau; parties de véhicules
35 - Publicité; Affaires commerciales
38 - Services de télécommunications
39 - Services de transport, emballage et entreposage; organisation de voyages
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Scientific, research, navigation, surveying, photographic,
cinematographic, audiovisual, optical, weighing, measuring,
signalling, detecting, testing, inspecting, life-saving and
teaching apparatus and instruments; apparatus and
instruments for conducting, switching, transforming,
accumulating, regulating or controlling the distribution or
use of electricity; apparatus and instruments for recording,
transmitting, reproducing or processing sound, images or
data; recorded media; downloadable media; computer software;
blank digital or analogue recording and storage media;
computers and computer peripheral devices; computers for
autonomous- driving vehicles; driving control systems for
vehicles; remote driving control systems for vehicles;
computer programs for use in autonomous and remote driving
of vehicles; remote control apparatus for controlling
vehicles; computer software for the remote control of
vehicles; mobile application software for autonomous driving
vehicles, for remote controlled vehicles and for autonomous
car- sharing; software and applications for autonomous
driving vehicles, for remote controlled vehicles and for
autonomous car- sharing; excluding goods related to rail
vehicles, railway infrastructure or railway traffic. Vehicles; apparatus for locomotion by land, air or water;
autonomous vehicles; remote controlled vehicles; remotely
operated vehicles; driverless cars; driverless autonomous
motor vehicles; excluding goods related to rail vehicles,
railway infrastructure or railway traffic. Advertising; business management; business administration;
office functions. Telecommunications. Packaging and storage of goods; car sharing services;
car-pooling services; vehicle rental services; arranging of
passenger transportation; arranging of passenger
transportation services for others via an online
application; arranging of passenger transportation services
for others via mobile application; planning, arranging and
booking of travel by electronic means; providing information
relating to travel and transport via electronic means;
providing information relating to travel and transport via
mobile applications; providing information relating to
vehicle driving services; reservation services for travel by
land; services for the escorting of travellers; transport of
persons and goods by road, including by automobile and
lorry, by sea and air; mail delivery and courier services;
chauffeur services; chauffeur driven car hire services;
excluding services related to rail vehicles, railway
infrastructure or railway traffic. Scientific and technological services- and research and
design services relating thereto; industrial analysis and
industrial research services; design and development of
computer hardware and software; providing temporary use of
online non-downloadable software for providing
transportation services, bookings for transportation
services and for dispatching motorised vehicles to
customers; excluding services related to rail vehicles,
railway infrastructure or railway traffic.
32.
Optimizing video encoding and/or transmission for remote driving applications
A vehicle adapted to be remotely driven via a wireless communication network comprises a capturing unit for capturing live video data of the vehicle's environment, a video encoding unit for video encoding the captured live video data, a transmission unit for transmitting the encoded live video data via the wireless communication network, and a control unit for controlling the video encoding unit and/or the transmission unit. The control unit controls the video encoding unit to optimize the video encoding of the captured live video data and/or to control the transmission unit to optimize the transmission of the encoded live video data. The controlling is based on one, two or all of: (i) pre-determined location information associated with a current location of the vehicle; (ii) real-time driving information associated with current driving parameters of the vehicle, and; (iii) real-time environment information associated with a current environment of the vehicle.
H04N 19/167 - Position dans une image vidéo, p. ex. région d'intérêt [ROI]
H04N 19/103 - Sélection du mode de codage ou du mode de prédiction
H04N 19/159 - Type de prédiction, p. ex. prédiction intra-trame, inter-trame ou de trame bidirectionnelle
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p. ex. utilisant des pilotes automatiques
G05D 1/02 - Commande de la position ou du cap par référence à un système à deux dimensions
09 - Appareils et instruments scientifiques et électriques
12 - Véhicules; appareils de locomotion par terre, par air ou par eau; parties de véhicules
35 - Publicité; Affaires commerciales
39 - Services de transport, emballage et entreposage; organisation de voyages
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Telecommunications, namely, electronic data transmission, providing voice communication services, video streaming services via the internet, remote vehicle control services in the nature of electronic data transmission for controlling vehicles; real-time vehicle telemetry services in the nature of wireless electronic transmission of real-time vehicle data via telemetry; remote monitoring services to ascertain the geographic locations of vehicles in the nature of electronic data transmission of the geographic locations of vehicles; vehicle-to-vehicle communication services in the nature of electronic data transmission between vehicles; vehicle-to-infrastructure communication services in the nature of electronic data transmission between vehicles and computer terminals; remote driver assistance services in the nature of telephone communications services for drivers; remote diagnostics services in the nature of electronic transmission of diagnostic information, 2g cellular network communication, 3g cellular network communication, 4g cellular network communication, 5g cellular network communication, lte cellular network communication, gsm cellular network communication, cdma cellular network communication, umts cellular network communication, hspa cellular network communication, ev-do cellular network communication, voice over lte (volte) network communication services, L4s (low latency, low loss, scalable throughput) network communication services, communications by fiber optic networks, communications by wired networks, satellite communication services, microwave communication services, local area network communication services, computer network access services by means of a metro ethernet, wireless broadband communication services Scientific, research, navigation, surveying, photographic, cinematographic, audiovisual, optical, weighing, measuring, signalling, detecting, testing, inspecting, life-saving and teaching apparatus and instruments, namely, camera sensors for visual signals which give surround views around vehicles, internal and external microphones which provide audio signals from vehicle cabins and traffic environment, GPS devices which provide the location of vehicles; apparatus and instruments for conducting, switching, transforming, accumulating, regulating or controlling the distribution or use of electricity, namely, electricity distribution consoles, circuit breakers, transformers, power meters, voltage regulators, electrical switches, electric power converters, surge protectors, electrical connectors, electrical control panels, electrical relays, electrical fuses, electrical meters, electrical controllers, electric generators; downloadable computer software for autonomous-driving vehicles, vehicles, remote controlled vehicles, autonomous car-sharing, remote driving control systems for vehicles; blank digital or analogue recording and storage media, namely, blank cd-rs, blank dvd-rs, blank optical discs, blank usb flash drives, blank external hard drives, blank memory cards, blank digital storage media; computers and computer peripheral devices; computers for autonomous-driving vehicles; driving control systems for vehicles primarily comprised of vehicle mounted GPS sensors for determining the rate of motion for a vehicle, remote control devices for steering and accelerating vehicles, cameras for capturing real-time video feed of the vehicle's surroundings, communication devices for transmitting and receiving data between the vehicle and remote operator, embedded software for remotely controlling vehicle movements and functions, haptic feedback devices for providing tactile feedback to the remote operator, sensors for detecting and relaying vehicle status information, such as speed, battery level, and temperature, actuators for remotely controlling vehicle mechanisms, such as steering, braking, and acceleration, telemetry systems for monitoring and transmitting vehicle performance data, emergency stop mechanisms for immediate cessation of vehicle movement, data encryption and security features for ensuring secure communication between the vehicle and remote operator; remote driving control systems for vehicles primarily comprised of vehicle mounted GPS sensors for determining the rate of motion for a vehicle, remote control devices for steering and accelerating vehicles, cameras for capturing real-time video feed of the vehicle's surroundings, communication devices for transmitting and receiving data between the vehicle and remote operator, embedded software for remotely controlling vehicle movements and functions, haptic feedback devices for providing tactile feedback to the remote operator, sensors for detecting and relaying vehicle status information, such as speed, battery level, and temperature, actuators for remotely controlling vehicle mechanisms, such as steering, braking, and acceleration, telemetry systems for monitoring and transmitting vehicle performance data, emergency stop mechanisms for immediate cessation of vehicle movement, data encryption and security features for ensuring secure communication between the vehicle and remote operator; downloadable and recorded computer programs for use in controlling, managing, facilitating, enhancing, optimizing, coordinating, enabling, monitoring, regulating, overseeing, facilitating, streamlining, fine-tuning, automating, integrating, calibrating, adjusting, adapting, safeguarding, synchronizing, analyzing, operating, teleoperating, teledriving, driving autonomous and remote driving of vehicles; electronic remote control apparatus for controlling vehicles; downloadable and recorded computer software for the remote control of vehicles; downloadable and recorded mobile application software for controlling, managing, facilitating, enhancing, optimizing, coordinating, enabling, monitoring, regulating, overseeing, facilitating, streamlining, fine-tuning, automating, integrating, calibrating, adjusting, adapting, safeguarding, synchronizing, analyzing, operating, teleoperating, teledriving, driving autonomous driving vehicles, for controlling remote controlled vehicles and for controlling, managing, facilitating, enhancing, optimizing, coordinating, enabling, monitoring, regulating, overseeing, facilitating, streamlining, fine-tuning, automating, integrating, calibrating, adjusting, adapting, safeguarding, synchronizing, analyzing, operating, teleoperating, teledriving, driving autonomous carsharing; downloadable and recorded software and applications for controlling, managing, facilitating, enhancing, optimizing, coordinating, enabling, monitoring, regulating, overseeing, facilitating, streamlining, fine-tuning, automating, integrating, calibrating, adjusting, adapting, safeguarding, synchronizing, analyzing, operating, teleoperating, teledriving, driving autonomous driving vehicles, for controlling, managing, facilitating, enhancing, optimizing, coordinating, enabling, monitoring, regulating, overseeing, facilitating, streamlining, fine-tuning, automating, integrating, calibrating, adjusting, adapting, safeguarding, synchronizing, analyzing, operating, teleoperating, teledriving, driving remote controlled vehicles and for controlling, managing, facilitating, enhancing, optimizing, coordinating, enabling, monitoring, regulating, overseeing, facilitating, streamlining, fine-tuning, automating, integrating, calibrating, adjusting, adapting, safeguarding, synchronizing, analyzing, operating, teleoperating, teledriving, driving autonomous carsharing; excluding goods related to rail vehicles, railway infrastructure or railway traffic Vehicles, namely, cars, passenger land vehicles and logistic land vehicles; apparatus for locomotion by land, air or water, namely, cars, passenger land vehicles and logistic land vehicles; autonomous vehicles, namely, cars, passenger vehicles and logistic vehicles; remote controlled land vehicles; remotely operated vehicles, namely, cars, passenger land vehicles and logistic land vehicles; driverless cars; driverless autonomous motor vehicles, namely, cars, passenger land vehicles and logistic land vehicles; excluding goods related to rail vehicles, railway infrastructure or railway traffic Advertising services; business management; business administration; providing office functions Packaging and storage of goods; car sharing services; car-pooling services being car sharing services; vehicle rental services; arranging of passenger transportation services for others; arranging of passenger transportation services for others via an online application; arranging of passenger transportation services for others via mobile application; planning, arranging and booking of travel tickets by electronic means; providing information relating to travel and transport via electronic means; providing information relating to travel and transport via mobile applications; providing information relating to vehicle driving services; reservation services for travel by land; services for the escorting of travellers; transport of persons and goods by road, including by automobile and lorry, by sea and air; mail delivery and courier services; chauffeur services; chauffeur driven car hire services; excluding services related to rail vehicles, railway infrastructure or railway traffic Scientific and technological services and research and design services relating thereto, namely, engineering services for teleoperated vehicles and telestations, software development for teleoperated vehicles and telestations, computer system integration services, testing and validation of teleoperated vehicles and telestations, custom design of prototypes for teleoperated vehicles and telestations, data analysis for teleoperated vehicles and telestations, virtual testing of new product designs using computer simulations, algorithm development services, human-machine interface design, sensor technology research, remote vehicle control system research, teleoperation system design, autonomous vehicle research, machine learning and AI research; industrial analysis and industrial research services, namely, analysis of industrial fluids, performance evaluation of remote driving systems, safety assessment of teleoperated vehicles, efficiency analysis of remote vehicle control technologies, risk assessment of autonomous driving systems, feasibility studies for remote driving implementation, technology benchmarking in the field of teleoperation, data analysis for optimizing remote driving performance, research on human factors in teleoperated vehicle operations, analysis of environmental impact of remote driving systems; design and development of computer hardware and software; providing temporary use of online non-downloadable software for providing transportation services, bookings for transportation services and for dispatching motorised vehicles to customers; excluding services related to rail vehicles, railway infrastructure or railway traffic
34.
Autonomous vehicle interface using bus impedance to identify control units, and associated systems and methods
Systems and methods that facilitate identifying and controlling the systems and subsystems in a vehicle to enable autonomous operation of the vehicle are disclosed. An autonomous vehicle interface (AVI) (the “AVI control system”) can interface with and control the system of the vehicle, thereby enabling control of the vehicle as a whole. Electronic control units may be associated with each of the systems and subsystems in the vehicle, and the AVI may interface with and control these electronic control units over a shared data bus. In order to control particular electronic control units, the systems and methods provide for sampling data packets transmitted by the electronic control units on the shared data bus, measuring the impedance of the shared data bus when data packets are being transmitted, and identifying particular electronic control units based on the measured impedance.
09 - Appareils et instruments scientifiques et électriques
12 - Véhicules; appareils de locomotion par terre, par air ou par eau; parties de véhicules
35 - Publicité; Affaires commerciales
38 - Services de télécommunications
39 - Services de transport, emballage et entreposage; organisation de voyages
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Scientific, research, navigation, surveying, photographic,
cinematographic, audiovisual, optical, weighing, measuring,
signalling, detecting, testing, inspecting, life-saving and
teaching apparatus and instruments; apparatus and
instruments for conducting, switching, transforming,
accumulating, regulating or controlling the distribution or
use of electricity; apparatus and instruments for recording,
transmitting, reproducing or processing sound, images or
data; recorded media; downloadable media; computer software;
blank digital or analogue recording and storage media;
computers and computer peripheral devices; computers for
autonomous-driving vehicles; driving control systems for
vehicles; remote driving control systems for vehicles;
computer programs for use in autonomous and remote driving
of vehicles; remote control apparatus for controlling
vehicles; computer software for the remote control of
vehicles; mobile application software for autonomous driving
vehicles, for remote controlled vehicles and for autonomous
car-sharing; software and applications for autonomous
driving vehicles, for remote controlled vehicles and for
autonomous car-sharing; excluding goods related to rail
vehicles, railway infrastructure or railway traffic. Vehicles; apparatus for locomotion by land, air or water;
autonomous vehicles; remote controlled vehicles; remotely
operated vehicles; driverless cars; driverless autonomous
motor vehicles; excluding goods related to rail vehicles,
railway infrastructure or railway traffic. Advertising; business management; business administration;
office functions. Telecommunications. Packaging and storage of goods; car sharing services;
car-pooling services; vehicle rental services; arranging of
passenger transportation; arranging of passenger
transportation services for others via an online
application; arranging of passenger transportation services
for others via mobile application; planning, arranging and
booking of travel by electronic means; providing information
relating to travel and transport via electronic means;
providing information relating to travel and transport via
mobile applications; providing information relating to
vehicle driving services; reservation services for travel by
land; services for the escorting of travellers; transport of
persons and goods by road, including by automobile and
lorry, by sea and air; mail delivery and courier services;
chauffeur services; chauffeur driven car hire services;
excluding services related to rail vehicles, railway
infrastructure or railway traffic. Scientific and technological services- and research and
design services relating thereto; industrial analysis and
industrial research services; design and development of
computer hardware and software; providing temporary use of
online non-downloadable software for providing
transportation services, bookings for transportation
services and for dispatching motorised vehicles to
customers; excluding services related to rail vehicles,
railway infrastructure or railway traffic.
09 - Appareils et instruments scientifiques et électriques
12 - Véhicules; appareils de locomotion par terre, par air ou par eau; parties de véhicules
35 - Publicité; Affaires commerciales
38 - Services de télécommunications
39 - Services de transport, emballage et entreposage; organisation de voyages
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Scientific, research, navigation, surveying, photographic, cinematographic, audiovisual, optical, weighing, measuring, signalling, detecting, testing, inspecting, life-saving and teaching apparatus and instruments, namely, vehicle onboard computers; apparatus and instruments for conducting, switching, transforming, accumulating, regulating or controlling the distribution or use of electricity; apparatus and instruments for recording, transmitting, reproducing or processing sound, images or data; pre-recorded digital media files featuring information in the field of operating a teleoperated vehicle, managing vehicle navigation, vehicle fleet management, coordinating, scheduling, booking and dispatching vehicles for passenger and freight transport; downloadable media, namely, downloadable digital media files featuring information in the field of operating a teleoperated vehicle, managing vehicle navigation, vehicle fleet management, coordinating, scheduling, booking and dispatching vehicles for passenger and freight transport; downloadable computer software operating a teleoperated vehicle; downloadable computer software for managing vehicle navigation; downloadable computer software for vehicle fleet management; downloadable computer software for coordinating, scheduling, booking, and dispatching vehicles for passenger and freight transport; downloadable computer software for managing freight transportation by teleoperated vehicles; downloadable computer software for coordinating the transport and delivery of goods; downloadable computer software and hardware for use in connection with teleoperated systems, devices, and machinery; downloadable computer programs and downloadable software for intelligent data services using artificial intelligence (AI), machine learning, and deep learning; downloadable computer programs and downloadable software for artificial intelligence (AI), machine learning, and deep learning and for contextual prediction, personalization, and predictive analytics; blank digital or analogue recording and storage media; computers and computer peripheral devices; computers for teleoperated-driving vehicles; driving control systems for vehicles comprising downloadable computer software and on-board computers for teleoperated driving and monitoring and controlling motor vehicle operation; remote driving control systems for vehicles comprising downloadable computer software for teleoperated driving and monitoring and controlling motor vehicle operation; remote control apparatus for controlling vehicles; downloadable computer software for the remote control of vehicles; downloadable mobile application software for teleoperated driving vehicles, for remote controlled vehicles and for teleoperated car-sharing, namely, software that manages vehicle navigation and coordinating, scheduling, booking, and dispatching vehicles for passenger transport; excluding goods related to rail vehicles, railway infrastructure or railway traffic Land vehicles; apparatus for locomotion by land, air or water; teleoperated land, air, and water vehicles; remote controlled land, air, and water vehicles; remotely operated land, water, and air vehicles; driverless cars; driverless teleoperated motor vehicles; excluding goods related to rail vehicles, railway infrastructure or railway traffic Advertising; business management; business administration; office functions Telecommunication services, namely, providing electronic message alerts via the internet notifying individuals of the detection of anomalies in vehicle and trip activity; telecommunications services, namely, routing calls, SMS messages, text messages, and push-notifications to customers; telecommunications services, namely, routing calls, SMS messages, text messages, and push-notifications to teleoperated vehicle operators, couriers, messengers, and passengers using mobile phones; telecommunication services, namely, providing electronic message alerts via the internet notifying individuals of a changed status or condition in vehicle trip activity Packaging and storage of goods; car sharing services; car-pooling services; vehicle rental services; arranging of passenger transportation; arranging of passenger transportation services for others via an online application; arranging of passenger transportation services for others via mobile application; planning, arranging and booking of transportation for travel by electronic means; providing information relating to travel and transport via electronic means; providing information relating to travel and transport via mobile applications; providing information relating to vehicle driving services; reservation services for travel by land, namely, making reservations for land transport; escorting of travellers; transport of persons and goods by road, including by automobile and lorry, by sea and air; mail delivery and courier services; chauffeur services; chauffeur driven car hire services; excluding services related to rail vehicles, railway infrastructure or railway traffic Scientific and technological research and design services, namely, research, design, and development of computer hardware and software for use with vehicle on-board computers for monitoring and controlling motor vehicle operation; research, design, and development of computer hardware and software for vehicle coordination, navigation, calibrating, direction, and management; installation, updating, and maintenance of computer hardware and software for use with vehicle on-board computers for monitoring and controlling motor vehicle operation; research, design, and development of sensors and for structural parts thereof; industrial analysis and industrial research services in the field of teleoperated vehicle design; design and development of computer hardware and software; providing temporary use of online non-downloadable software for providing transportation services, bookings for transportation services and for dispatching motorised vehicles to customers; excluding services related to rail vehicles, railway infrastructure or railway traffic
37.
Autonomous vehicle platform and safety architecture
In embodiments of an autonomous vehicle platform and safety architecture, safety managers of a safety-critical system monitor outputs of linked components of the safety-critical system. The linked components comprise at least three components, each of which is configured to produce output indicative of a same event independent from the other linked components by using different input information than the other linked components. The safety managers also compare the outputs of the linked components to determine whether each output indicates the occurrence of a same event. When the output of one linked component does not indicate the occurrence of an event that is indicated by the outputs of the other linked components, the safety managers identify the one linked component as having failed. Based on this, the outputs of the other linked components are used to carry out operations of the safety-critical system without using the output of the failed component.
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p. ex. utilisant des pilotes automatiques
In embodiments of an autonomous vehicle interface system, system nodes are each implemented as a distributed node for independent data processing of low-level sensor data and/or high-level system data. The high-level system data is abstracted from the low-level sensor data, providing invariance to system configuration in higher-level processing algorithms. The autonomous vehicle interface system includes at least one real-time bus for data communications of the low-level sensor data and the high-level system data between the system nodes. The system also includes an application programming interface (API) configured for access by the system nodes to the low-level sensor data and the high-level system data that is published on the real-time bus and accessible via the API.
