The invention is notably directed to a control system (1) for steering an automated vehicle (10) in a designated area, where the automated vehicle comprises a drive-by-wire (DbW) system (300). The control system includes a set of perception sensors (21 - 24) (e.g., lidars, cameras, as well as radars, sonars, GPS, and inertial measurement units), which are arranged in a designated area. The control system further includes a control unit (2), which is in communication with the perception sensors and the DbW system, and which comprises two processing systems, i.e., a first processing system (100) and a second processing system (200), which are in communication with each other. The first processing system is configured to form a main perception based on signals from each of the perception sensors of the set, estimate states of the vehicle based on feedback signals from the DbW system, and compute trajectories for the automated vehicle based on the main perception formed and the estimated states. The second processing system is configured to form an auxiliary perception based on signals from only a subset of the perception sensors, validate the computed trajectories based on the auxiliary perception formed, and cause the control unit to forward the validated trajectories to the DbW system of the automated vehicle. This way, the vehicle can be remotely steered through the DbW system based on the validated trajectories forwarded to the DbW system. In other words, distinct perceptions are formed from overlapping sets of sensors, whereby one of the perceptions formed is used to validate trajectories obtained from the other. This requires less computational efforts, inasmuch as less signals (and therefore less information) are required to form the auxiliary perception. However, doing so is more likely to allow inconsistencies to be detected, thanks to the heterogeneity of sensor signals considered in input to the main and auxiliary perceptions. The invention is further directed to related methods and computer program products.
CONTROL SYSTEM FOR STEERING AUTOMATED VEHICLES USING HETEROGENEOUS REDUNDANCY CHECKS
STEUERUNGSSYSTEM ZUM LENKEN VON AUTOMATISIERTEN FAHRZEUGEN UNTER VERWENDUNG VON HETEROGENEN REDUNDANZPRÜFUNGEN
SYSTÈME DE COMMANDE POUR DIRIGER DES VÉHICULES AUTOMATISÉS À L'AIDE DE VÉRIFICATIONS DE REDONDANCE HÉTÉROGÈNES
2025-04-30
Patent
Electronic Resource
English
IPC: | G01S RADIO DIRECTION-FINDING , Funkpeilung / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B62D MOTOR VEHICLES , Motorfahrzeuge / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
AUTONOMOUS VEHICLE USING HETEROGENEOUS REDUNDANCY CHECKS
European Patent Office | 2025
|AUTONOMOUS VEHICLE USING HETEROGENEOUS REDUNDANCY CHECKS
European Patent Office | 2025
|