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METHOD AND FAULT TOLERANT COMPUTER ARCHITECTURE FOR REDUCING FALSE NEGATIVES IN FAIL-SAFE TRAJECTORY PLANNING FOR A MOVING ENTITY
METHOD AND FAULT TOLERANT COMPUTER ARCHITECTURE FOR REDUCING FALSE NEGATIVES IN FAIL-SAFE TRAJECTORY PLANNING FOR A MOVING ENTITY
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机译:移动实体故障安全轨迹规划中减少假阴性的方法和容错计算机体系结构
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摘要
A method and a fault-tolerant computer architecture (FCTA) for fail-safe trajectory planning for a moving entity (MOV). The method and FCTA uses a commander (COM), a monitor (MON), and a safe envelope generating stage (ENV). Based on sensor input, the commander (COM) and the monitor (MON) produce real-time images of objects (OBJ1, OBJ2) detected. A trajectory planning stage (TRJ-PLN) generates trajectories (COM-TRJ1, COM-TRJ2), and the safe envelope generating stage (ENV) generates a safety envelope. The commander (COM) provides the one or more trajectories (COM-TRJ1, COM-TRJ2) to the monitor (MON) and the decision subsystem (DECIDE). A trajectory verification stage (TRJ-VRFY) verifies a trajectory (COM-TRJ1, COM-TRJ2) generated by the commander (COM) only if said trajectory (COM-TRJ1, COM-TRJ2) is completely located inside said safety envelope. A moving entity (MOV) uses a trajectory (COM-TRJ1, COM-TRJ2) generated by the commander (COM) only when said trajectory is verified by the monitor (MON).
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