18210723. Cross-Channel Safety Analysis of Redundant MPC-Based Vehicle Controllers in Autonomous Systems (NXP USA, Inc.)
Contents
Cross-Channel Safety Analysis of Redundant MPC-Based Vehicle Controllers in Autonomous Systems
Organization Name
Inventor(s)
Andrei Sergeevich Terechko of Eindhoven (NL)
Yuting Fu of Valkenswaard (NL)
Jochen Seemann of Leonberg (DE)
Cross-Channel Safety Analysis of Redundant MPC-Based Vehicle Controllers in Autonomous Systems
This abstract first appeared for US patent application 18210723 titled 'Cross-Channel Safety Analysis of Redundant MPC-Based Vehicle Controllers in Autonomous Systems
Original Abstract Submitted
A motion plan safety analysis is performed by processing vehicle sensor signals to generate a motion plan which includes a reference trajectory value, by processing the reference trajectory value at a first MPC to generate a first current setpoint and a first plurality of future setpoints, by processing the first plurality of future setpoints at a second MPC to generate a second plurality of future setpoints, by processing the second plurality of future setpoints at the first MPC to generate a first plurality of predicted trajectory states, by processing the first plurality of future setpoints at the second MPC to generate a second plurality of predicted trajectory states, by evaluating the predicted trajectory states to generate a predetermined safety reaction for the vehicle, and by choosing between the first and second current setpoints based on the safety reaction to provide a safest setpoint to a vehicle actuator in the vehicle.
