The present disclosure is directed to controlling state transitions in an autonomous vehicle. In particular, a computing system can initiate the autonomous vehicle into a no-authorization state upon startup. The computing system can receive an authorization request. The computing system determines whether the authorization request includes a request to enter the first or second mode of operations, wherein the first mode of operations is associated with the autonomous vehicle being operated without a human operator and the second mode of operations is associated with the autonomous vehicle being operable by a human operator. The computing system can transition the autonomous vehicle from the no-authorization state into a standby state in response to determining the authorization request includes a request to enter the first mode of operations or into a manual-controlled state in response to determining the authorization request is a request to enter the second mode of operations.

A vehicle sensor data processing method and system are provided. The method includes: a vehicle sensor data processing system processes and fuses, by using a plurality of levels of control units, a signal sensed by a sensor, and a higher-level control unit makes a control decision based on received data of a plurality of types or a plurality of processing levels. In addition, a priority of a sensor may be further configured based on a vehicle function that needs to be implemented by the system, thereby implementing more stable and reliable vehicle control and ensuring safe driving while satisfying a delay requirement.

An information processing apparatus includes a receiver configured to receive a data set including a requested acceleration as information representing movement of a vehicle in a front-rear direction and any one of a steering angle, a yaw rate, and a rotation radius as information representing movement of the vehicle in a lateral direction from each of a plurality of applications, an arbitration unit configured to perform arbitration of information representing the movement of the vehicle in the front-rear direction and arbitration of information representing the movement of the vehicle in the lateral direction based on a plurality of the data sets received by the receiver, and a first output unit configured to output instruction information for driving an actuator based on an arbitration result of the arbitration unit.

The present disclosure relates to a method of driving a motor vehicle. The method determines position data relating to at least one of a current position or a predicted future position of the motor vehicle detecting, using at least one sensor device, surroundings data relating to a surrounding environment of the motor vehicle, determining at least one driving intervention based on the surroundings data, and controlling at least one vehicle system of the motor vehicle to execute the determined at least one driving intervention. The at least one driving intervention executed by a selected software module that is selected based on the surroundings data, and the selected software module is selected from a plurality of software modules based on the position data. Each software module is configured to execute the at least one driving intervention.

An adaptive trust calibration based autonomous vehicle may include vehicle systems, a system behavior controller, and a driving automation controller. The system behavior controller may generate a driving automation signal indicative of a desired autonomous driving adaptation. The driving automation controller may control the vehicle systems based on parameters including a desired velocity, current velocity of the autonomous vehicle, desired minimum gap distance between the autonomous vehicle and a detected object, current gap distance gap between the autonomous vehicle and a detected object, relative velocity of the detected object with respect to the autonomous vehicle, desired time headway, desired maximum acceleration, desired braking deceleration, and an exponent. The driving automation controller may receive the driving automation signal and implement the desired autonomous driving adaptation via the vehicle systems by adjusting the parameters based on a type of object associated with the detected object.

A vehicle control system includes first and second traveling control units for performing traveling control of controlling driving, braking, and/or steering of a vehicle without depending on a driving operation of a driver. In a case in which control instructions concerning the same actuator conflict between the first traveling control unit and the second traveling control unit, the first traveling control unit arbitrate the control instructions.

In a self-driving autonomous vehicle, a controller architecture includes multiple processors within the same box. Each processor monitors the others and takes appropriate safe action when needed. Some processors may run dormant or low priority redundant functions that become active when another processor is detected to have failed. The processors are independently powered and independently execute redundant algorithms from sensor data processing to actuation commands using different hardware capabilities (GPUs, processing cores, different input signals, etc.). Intentional hardware and software diversity improves fault tolerance. The resulting fault-tolerant/fail-operational system meets ISO26262 ASIL-D specifications based on a single electronic controller unit platform that can be used for self-driving vehicles.

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.

Technologies and techniques for dynamic, context-based distribution of program codes in a control system in a vehicle. The control system includes numerous control units. The allocation of the program codes to the corresponding control units in the control system takes place using a global placement chart. The global placement chart is calculated on a computer, which may be located outside the control system. The data from the global placement chart are sent to the control system. Other aspects include an at least partially autonomous motor vehicle that has a control system for executing dynamic, context-based distribution of program codes.

A system and method for providing multiple agents for decision making, trajectory planning, and control for autonomous vehicles are disclosed. A particular embodiment includes: partitioning a multiple agent autonomous vehicle control module for an autonomous vehicle into a plurality of subsystem agents, the plurality of subsystem agents including a deep computing vehicle control subsystem and a fast response vehicle control subsystem; receiving a task request from a vehicle subsystem; determining if the task request is appropriate for the deep computing vehicle control subsystem or the fast response vehicle control subsystem based on content of the task request or a context of the autonomous vehicle; dispatching the task request to the deep computing vehicle control subsystem or the fast response vehicle control subsystem based on the determination; causing execution of the deep computing vehicle control subsystem or the fast response vehicle control subsystem by use of a data processor to produce a vehicle control output; and providing the vehicle control output to a vehicle control subsystem of the autonomous vehicle.