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：US09342074B2

公开(公告)日：2016-05-17

申请号：US13857240

申请日：2013-04-05

Applicant: Google Inc.

Inventor： Dmitri Dolgov ,  Andrew Schultz ,  Daniel Trawick Egnor ,  Christopher Urmson

IPC: G01C22/00 ,  G05D1/00 ,  B60W30/00

CPC classification number: G05D1/0061 ,  B60W30/00 ,  B60W50/10 ,  B60W2050/0096 ,  G05D2201/0213

Abstract: Methods and systems for adaptive methods for transitioning control to the driver are described. A computing device controlling a vehicle autonomously may be configured to receive a request for a transition of the vehicle from autonomous mode to manual mode through an indication by the driver. The computing device may determine the state of the vehicle based on parameters related to the autonomous operation of the vehicle. Based on the state of the vehicle and the indication, the computing device may determine instructions corresponding to the transition of control, which may include a strategy for the transition and duration of time corresponding to the transition of control. The computing device may provide the instructions to perform the transition of control of the vehicle from autonomous mode to manual mode.

Abstract translation: 描述了用于将控制转换到驱动器的自适应方法的方法和系统。 可以自动地控制车辆的计算设备可以被配置为通过驾驶员的指示来接收从自主模式转换到手动模式的请求。 计算装置可以基于与车辆的自主操作相关的参数来确定车辆的状态。 基于车辆的状态和指示，计算设备可以确定对应于控制转换的指令，其可以包括用于转换的策略和对应于控制转换的时间持续时间。 计算设备可以提供执行从自主模式到手动模式的车辆控制转换的指令。

公开(公告)号：US20140303827A1

公开(公告)日：2014-10-09

申请号：US13857240

申请日：2013-04-05

Applicant: Google Inc.

Inventor： Dmitri Dolgov ,  Andrew Schultz ,  Daniel Trawick Egnor ,  Christopher Urmson

IPC: G05D1/00

CPC classification number: G05D1/0061 ,  B60W30/00 ,  B60W50/10 ,  B60W2050/0096 ,  G05D2201/0213

Abstract: Methods and systems for adaptive methods for transitioning control to the driver are described. A computing device controlling a vehicle autonomously may be configured to receive a request for a transition of the vehicle from autonomous mode to manual mode through an indication by the driver. The computing device may determine the state of the vehicle based on parameters related to the autonomous operation of the vehicle. Based on the state of the vehicle and the indication, the computing device may determine instructions corresponding to the transition of control, which may include a strategy for the transition and duration of time corresponding to the transition of control. The computing device may provide the instructions to perform the transition of control of the vehicle from autonomous mode to manual mode.

Abstract translation: 描述了用于将控制转换到驱动器的自适应方法的方法和系统。 可以自动地控制车辆的计算设备可以被配置为通过驾驶员的指示来接收从自主模式转换到手动模式的请求。 计算装置可以基于与车辆的自主操作相关的参数来确定车辆的状态。 基于车辆的状态和指示，计算设备可以确定对应于控制转换的指令，其可以包括用于转换的策略和对应于控制转换的时间持续时间。 计算设备可以提供执行从自主模式到手动模式的车辆控制转换的指令。