公开(公告)号：US09195232B1

公开(公告)日：2015-11-24

申请号：US14172906

申请日：2014-02-05

Applicant: Google Inc.

Inventor： Daniel Trawick Egnor ,  Alexander Zbrozek ,  Andrew Schultz

IPC: G01C22/00 ,  G05D1/00

CPC classification number: G05D1/0077 ,  B60W10/184 ,  B60W10/20 ,  B60W50/023 ,  G05D1/0055 ,  G05D2201/0213

Abstract: Methods and systems for compensating for common failures in fail operational systems are described herein. An example system may include a primary controller configured to perform functions of a vehicle such as propulsion, braking and steering and a secondary controller configured in a redundant configuration with the primary controller. The controllers may perform cross-checks of each other and may each perform internal self-checks as well. Additionally, the system may include a control module configured to transfer control of the vehicle between the controllers based on detecting a fault. The control module may detect a common fault of the controllers that causes the control module to output a common fault signal. In response, the system may transfer of control to a safety controller configured to perform the vehicle functions until the system may transfer control back to the primary controller.

Abstract translation: 本文描述了用于补偿故障操作系统中的常见故障的方法和系统。 示例系统可以包括被配置为执行诸如推进，制动和转向的车辆的功能的主控制器以及以主控制器配置为冗余配置的次控制器。 控制器可以执行彼此的交叉检查，并且每个控制器也可以执行内部自检。 另外，该系统可以包括控制模块，该控制模块被配置为基于检测故障来在控制器之间传送车辆的控制。 控制模块可以检测使控制模块输出公共故障信号的控制器的常见故障。 作为响应，系统可以将控制转移到被配置为执行车辆功能的安全控制器，直到系统可以将控制传回主控制器。

公开(公告)号：US09069060B1

公开(公告)日：2015-06-30

申请号：US13802561

申请日：2013-03-13

Applicant: Google Inc.

Inventor： Alexander Zbrozek ,  Pierre-Yves Droz ,  Asheem Linaval

IPC: G01C3/08 ,  G01S7/481 ,  H03F3/08

CPC classification number: G01S7/481 ,  G01S7/4861 ,  G01S17/42 ,  H03F3/08

Abstract: A circuit architecture for a sensing component of a Light Detection and Ranging (LIDAR) device can provide a wide dynamic range. The circuit architecture includes at least one photosensor, each photosensor including an input that is configured to receive an optical signal; a respective diode corresponding to each photosensor, each respective diode including an input that is coupled to an output of the corresponding photosensor; a multiplexer including an input that is coupled to the output of each of the at least one photosensors; and an amplifier including an input that is coupled to the output of the multiplexer.

Abstract translation: 用于光检测和测距（LIDAR）设备的感测部件的电路架构可以提供宽的动态范围。 电路结构包括至少一个光电传感器，每个光电传感器包括被配置为接收光信号的输入; 对应于每个光电传感器的相应二极管，每个相应的二极管包括耦合到相应的光电传感器的输出的输入; 多路复用器，包括耦合到所述至少一个光电传感器中的每一个的输出的输入; 以及放大器，其包括耦合到多路复用器的输出的输入。