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    GNSS time synchronization in redundant systems
    1.
    发明授权
    GNSS time synchronization in redundant systems 有权

    公开(公告)号：US11604439B2

    公开(公告)日：2023-03-14

    申请号：US17135484

    申请日：2020-12-28

    Applicant: Waymo LLC

    Inventor： Axel Simon ,  Zhuyuan Liu

    IPC: G04R20/04

    Abstract: Example embodiments relate to GNSS time synchronization in redundant systems. A redundant system configured with two subsystems may initially synchronize clocks from both subsystems to GNSS time from a GNSS receiver. The synchronization of the first subsystem's clock may involve using a first communication link that enables communication between the first subsystem and the GNSS receiver while the synchronization of the second subsystem's clock may involve using both the first communication link and a second communication link that enables communication between the subsystems. The redundant system may then synchronize the first subsystem's clock to the second subsystem's clock while the second subsystem's clock is still synchronized to GNSS time from the GNSS receiver based on timepulses traversing a pair of wires that connect the subsystems and the GNSS receiver.

    GNSS Time Synchronization in Redundant Systems
    3.
    发明申请
    GNSS Time Synchronization in Redundant Systems 有权

    公开(公告)号：US20220206444A1

    公开(公告)日：2022-06-30

    申请号：US17135484

    申请日：2020-12-28

    Applicant: Waymo LLC

    Inventor： Axel Simon ,  Zhuyuan Liu

    IPC: G04R20/04

    Abstract: Example embodiments relate to GNSS time synchronization in redundant systems. A redundant system configured with two subsystems may initially synchronize clocks from both subsystems to GNSS time from a GNSS receiver. The synchronization of the first subsystem's clock may involve using a first communication link that enables communication between the first subsystem and the GNSS receiver while the synchronization of the second subsystem's clock may involve using both the first communication link and a second communication link that enables communication between the subsystems. The redundant system may then synchronize the first subsystem's clock to the second subsystem's clock while the second subsystem's clock is still synchronized to GNSS time from the GNSS receiver based on timepulses traversing a pair of wires that connect the subsystems and the GNSS receiver.

    Redundant Hardware System For Autonomous Vehicles
    6.
    发明申请
    Redundant Hardware System For Autonomous Vehicles 审中-公开

    公开(公告)号：US20200180653A1

    公开(公告)日：2020-06-11

    申请号：US16215713

    申请日：2018-12-11

    Applicant: Waymo LLC

    Inventor： Emily Chi ,  Ryan Joseph Andrade ,  Andreas Wendel ,  Michael James ,  Christian Lauterbach ,  Etai Bruhis ,  Christopher Kennedy Ludwick ,  Alexander Zbrozek ,  Pieter Kapsenberg ,  Zhuyuan Liu ,  Daniel Rosenband

    IPC: B60W50/029 ,  G05D1/00 ,  B60W10/04 ,  B60W10/20 ,  B60W50/02

    Abstract: The technology relates to partially redundant equipment architectures for vehicles able to operate in an autonomous driving mode. Aspects of the technology employ fallback configurations, such as two or more fallback sensor configurations that provide some minimum amount of field of view (FOV) around the vehicle. For instance, different sensor arrangements are logically associated with different operating domains of the vehicle. Fallback configurations for computing resources and/or power resources are also provided. Each fallback configuration may have different reasons for being triggered, and may result in different types of fallback modes of operation. Triggering conditions may relate, e.g., to a type of failure, fault or other reduction in component capability, the current driving mode, environmental conditions in the vicinity of vehicle or along a planned route, or other factors. Fallback modes may involve altering a previously planned trajectory, altering vehicle speed, and/or altering a destination of the vehicle.

    GNSS Time Synchronization in Redundant Systems
    7.
    发明公开
    GNSS Time Synchronization in Redundant Systems 审中-公开

    公开(公告)号：US20230185251A1

    公开(公告)日：2023-06-15

    申请号：US18169493

    申请日：2023-02-15

    Applicant: Waymo LLC

    Inventor： Axel Simon ,  Zhuyuan Liu

    IPC: G04R20/04

    CPC classification number: G04R20/04

    Abstract: Example embodiments relate to GNSS time synchronization in redundant systems. A redundant system configured with two subsystems may initially synchronize clocks from both subsystems to GNSS time from a GNSS receiver. The synchronization of the first subsystem's clock may involve using a first communication link that enables communication between the first subsystem and the GNSS receiver while the synchronization of the second subsystem's clock may involve using both the first communication link and a second communication link that enables communication between the subsystems. The redundant system may then synchronize the first subsystem's clock to the second subsystem's clock while the second subsystem's clock is still synchronized to GNSS time from the GNSS receiver based on timepulses traversing a pair of wires that connect the subsystems and the GNSS receiver.

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