System for controlling a self-driving vehicle

Patent metadata

Field	Value
Publication number	US-2021237750-A1
Application number	US-202017105429-A
Country	US
Kind code	A1
Filing date	Nov 25, 2020
Priority date	Dec 2, 2019
Publication date	Aug 5, 2021
Grant date	—

Abstract

A self-driving motor vehicle including numerous control units and numerous program codes for controlling the functions of the autonomous driving and other functions of the self-driving vehicle. Numerous program codes used for an autonomous driving mode are applied redundantly to at least two different control units. The self-driving motor vehicle may then be operated in an at least a partially autonomous driving mode. In this mode, the functions directly needed for satisfying a passenger's desire are determined, and weighted with regard to their importance in fulfilling the passenger's desires. At least one function of a lower order is then shut off, if the available resources in functioning control units and/or the power level in the self-driving motor vehicle are insufficient to execute program code for executing this function of the lower order.

First claim

1 - 15 . (canceled)

16 . A method for operating a self-driving motor vehicle comprising a plurality of control units and program codes for controlling functions of autonomous driving, wherein the program codes are configured for an autonomous driving mode and are redundantly applied to at least two different control units, the method comprising:
operating the self-driving motor vehicle in at least a partially autonomous driving mode; determining the functions of the self-driving motor vehicle for achieving a target vehicle operation, based passenger data entry relating to one or more vehicle operations; classifying the functions into a plurality of orders based on their importance in achieving requirements relating to the passenger data entry; determining that (i) available resources for the control units is insufficient for executing program code in a lower order of the plurality of orders, and/or (ii) one or more power levels of the self-driving motor vehicle are insufficient for executing program code in a lower order of the plurality of orders; and shutting off at least one function of a lower order, based on the determination of the available resources and/or power levels.

17 . The method according to claim 16 , further comprising directing control of the motor vehicle by a fail-safe system if at least one program code for fulfilling a function of a highest order of the plurality of orders can no longer be executed.

18 . The method according to claim 17 , further comprising (i) directing the motor vehicle to a standstill by the fail-safe system, and/or (ii) directing the motor vehicle to a configured location to stop by the fail-safe system.

19 . The method according to claim 16 , further comprising determining a minimum number of redundancies for each function.

20 . The method according to claim 19 , further comprising determining a minimum number of different control units for each function, on which the different functions can be executed redundantly.

21 . The method according to claim 20 , further comprising configuring functions of a higher order to have more redundancies than the functions of a lower order.

22 . The method according to claim 16 , further comprising defining a plurality of target achievement levels, wherein a fail-safe system assumes control of the motor vehicle if a target achievement level is below a requirement for another target achievement level.

23 . The method according to claim 16 , further comprising executing each function of a highest order redundantly at least once on different control units, when a highest target achievement level has been reached.

24 . The method according to claim 16 , further comprising allocating computing power of the control units for the program codes for executing the respective functions such that a highest possible target achievement level is reached.

25 . The method according to claim 24 , wherein the highest target achievement level is reached in an initial state of the control system.

26 . The method according to claim 16 , further comprising reducing redundancies of functions in lower orders, and allocating computing power to the control units for functions having higher orders.

27 . The method according to claim 16 , further comprising defining a plurality of different target achievement levels the control system, comprising one or more of
(1) functions inadequately mapped at a first target achievement level result in a fail-safe system assuming control of the motor vehicle, (2) at least each function of a highest order is executed redundantly once on two different control units at a second target achievement level, (3) each function of the highest order is executed redundantly at least once at a third target achievement level, and the functions of the highest order are executed separately on at least three different control units, and functions of a second-highest order are redundantly executed, (4) each function of the highest order is executed redundantly at least once at a fourth target achievement level, and the functions of the highest order are executed separately on at least four different control units, and functions of the second-highest order and the third-highest order are executed redundantly at least once, and/or (5) all of the functions are executed at a fifth target achievement level, wherein the functions of middle, higher and highest orders are executed at least redundantly and separately on a plurality control units.

28 . A system for operating a self-driving motor vehicle, comprising an autonomous driving system; and
a plurality of control units comprising program codes for controlling functions of autonomous driving, wherein the program codes are configured for an autonomous driving mode and are redundantly applied to at least two different control units, wherein the autonomous driving system and the plurality of control units are configured to
operate the self-driving motor vehicle in at least a partially autonomous driving mode;
determine the functions of the self-driving motor vehicle for achieving a target vehicle operation, based passenger data entry relating to one or more vehicle operations;
classify the functions into a plurality of orders based on their importance in achieving requirements relating to the passenger data entry;
determine that (i) available resources for the control units is insufficient for executing program code in a lower order of the plurality of orders, and/or (ii) one or more power levels of the self-driving motor vehicle are insufficient for executing program code in a lower order of the plurality of orders; and
shut off at least one function of a lower order, based on the determination of the available resources and/or power levels.

29 . The system according to claim 28 ,
wherein the autonomous driving system and the plurality of control units are configured to direct control of the motor vehicle by a fail-safe system if at least one program code for fulfilling a function of a highest order of the plurality of orders can no longer be executed, and wherein the autonomous driving system and the plurality of control units are configured to (i) direct the motor vehicle to a standstill by the fail-safe system, and/or (ii) direct the motor vehicle to a configured location to stop by the fail-safe system.

30 . The system according to claim 28 , wherein the autonomous driving system and the plurality of control units are configured to determine a minimum number of redundancies for each function.

31 . The system according to claim 31 , wherein the autonomous driving system and the plurality of control units are configured to determine a minimum number of different control units for each function, on which the different functions can be executed redundantly.

32 . The system according to claim 20 , wherein the autonomous driving system and the plurality of control units are configured to configure functions of a higher order to have more redundancies than the functions of a lower order.

33 . The system according to claim 28 , wherein the autonomous driving system and the plurality of control units are configured to define a plurality of target achievement levels, wherein a fail-safe system assumes control of the motor vehicle if a target achievement level is below a requirement for another target achievement level.

34 . The system according to claim 28 , wherein the autonomous driving system and the plurality of control units are configured to execute each function of a

Assignees

• Volkswagen Ag

Inventors

• Müller Julian-Steffen
• Plinke Fabian
• Braasch Andreas
• Heinrich Johannes
• Horeis Timo
• Kain Tobias
• Wesche Maximilian
• Decke Hendrik

Classifications

• G05D1/0061

  for transition from automatic pilot to manual pilot and vice versa · CPC title

• B60W50/12 Primary

  Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation · CPC title

• B60W50/0205 Primary

  Diagnosing or detecting failures; Failure detection models · CPC title

• B60W50/035

  Bringing the control units into a predefined state, e.g. giving priority to particular actuators · CPC title

• B60W60/00

  Drive control systems specially adapted for autonomous road vehicles · CPC title