METHOD AND FAULT TOLERANT COMPUTER ARCHITECTURE FOR REDUCING FALSE NEGATIVES IN FAIL-SAFE TRAJECTORY PLANNING FOR A MOVING ENTITY

摘要

A method and a fault-tolerant computer architecture to improve the performance in fail-safe trajectory planning for a moving entity. The method and FCTA uses a commander, that implements a sensor fusion stage and a trajectory planning stage , and a monitor that implements a sensor fusion stage, and a safe envelope generating stage. Sensors are monitoring the surrounding of the moving entity, and the sensor fusion stages accept sensor data as input. Based on said input the commander and the monitor produce as output real-time images of objects detected due to the monitoring of the one or more sensors. A trajectory planning stage of the commander generates trajectories based on said input, and the said safe envelope generating stage generates a safety envelope based said input. The commander provides the one or more trajectories to the monitor as well as to the decision subsystem.