US 12,227,207 B2
Fault detection in control system for autonomous vehicle
Anuranga Sajith Gunaratne, San Francisco, CA (US)
Assigned to Aurora Operations, Inc., Pittsburgh, PA (US)
Filed by Aurora Operations, Inc., Pittsburgh, PA (US)
Filed on Dec. 4, 2023, as Appl. No. 18/527,929.
Application 18/527,929 is a continuation of application No. 17/536,989, filed on Nov. 29, 2021, granted, now 11,884,300.
Application 17/536,989 is a continuation of application No. 17/198,127, filed on Mar. 10, 2021, granted, now 11,214,271, issued on Jan. 4, 2022.
Prior Publication US 2024/0101156 A1, Mar. 28, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B60W 60/00 (2020.01); B60R 16/023 (2006.01); B60W 10/18 (2012.01); B60W 10/20 (2006.01); B60W 50/02 (2012.01); B60W 50/023 (2012.01)
CPC B60W 60/0021 (2020.02) [B60W 60/001 (2020.02); B60W 60/0011 (2020.02); B60R 16/0232 (2013.01); B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 50/0205 (2013.01); B60W 50/023 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A control system for an autonomous vehicle comprising:
a time sensitive network switch configured to receive sensor data representative of estimated objects that are in an external environment of the autonomous vehicle;
a control system interface configured to receive a trajectory of the autonomous vehicle from the time sensitive network switch, wherein the control system interface includes:
a primary processing unit configured to receive the trajectory;
a secondary processing unit configured to receive the trajectory; and
a fault detection module configured to: (1) detect a fault condition with the primary processing unit; and (2) prevent the primary processing unit from transmitting a primary control signal in response to the fault condition, wherein the primary control signal is for autonomous control of the autonomous vehicle, wherein the control system interface is coupled as a gateway between the time sensitive network switch and a Control Area Network (CAN) bus of the autonomous vehicle.