Systems and computer-implemented methods for executing a command in an autonomous vehicle are provided, including the steps of: generating at least three independent vehicle data-sets; transmitting the at least three independent vehicle data-sets to at least three command determination modules, respectively; and, at each one of the at least three command determination modules, using the respective received vehicle data-set to determine a command. The method further includes the step of, during a monitoring phase, comparing the commands to each other to determine if any one of these commands is desynchronized from the other commands. If a command is determined to be desynchronized from the other commands during the monitoring phase, the method includes the step of excluding the command determination module which determined the desynchronized command. The method further includes the step of, during a substantiation phase, comparing commands determined by non-excluded command determination modules to each other to determine if any one of these commands is desynchronized from the other commands. If a command is determined to be desynchronized from the other commands in the substantiation phase, the method includes the step of excluding the previously non-excluded command determination module which determined the desynchronized command. After the monitoring and substantiation phases are completed, the method includes the step of selecting a command determined by a non-excluded command determination module; and executing the selected command.
INTELLIGENT GUIDANCE, NAVIGATION AND CONTROL SYSTEM
2019-05-30
Patent
Electronic Resource
English
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