| CPC B60W 50/0205 (2013.01) [B60W 50/0225 (2013.01); B60W 2050/021 (2013.01); B60W 60/0011 (2020.02)] | 19 Claims |
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1. A method comprising:
obtaining frame data corresponding to a frame of sensor data associated with an environment within which an autonomous vehicle is operating;
processing, using a processor, the frame data to determine an output corresponding to a first trajectory value of a trajectory parameter, the first trajectory value associated with a first trajectory of the autonomous vehicle;
determining at a first time whether a fault parameter indicates a presence of a fault, wherein the determining at the first time is associated with the processing of the frame data; and
in response to determining that the fault parameter is indicative of the fault being present:
applying an initial fault scheme;
reprocessing, using the processor, the frame data to determine an output corresponding to a secondary trajectory value of the trajectory parameter, the secondary trajectory value associated with a second trajectory of the autonomous vehicle;
determining at a second time whether the fault parameter indicates a presence of the fault, wherein the determination at the second time is based on the reprocessing of the frame data; and
responsive to the determination of the fault parameter at the second time, providing operating data to a control system configured to control the autonomous vehicle based at least in part on the operating data.
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