Patent ID: 11912292
Assignee: WAYMO LLC
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 14:
15. A method of operating a vehicle in an autonomous driving mode, the method comprising:
detecting, by a plurality of sensors of a perception system of the vehicle, information about an environment around the vehicle, the plurality of sensors including a first set of sensors associated with a first operating domain and a second set of sensors associated with a second operating domain, the second set of sensors being different from the first set of sensors;
receiving, by a control system of the vehicle, the detected information about the environment around the vehicle as sensor data, the control system including a first computing subsystem associated with the first operating domain and a second computing subsystem associated with the second operating domain, wherein the first and second computing subsystems are configured to receive sensor data from both the first set of sensors and the second set of sensors;
controlling, by the control system, a driving system of the vehicle in order to perform driving actions to drive the vehicle in the autonomous driving mode;
identifying, by the control system, an error condition of the vehicle; and
upon identifying the error condition:
processing sensor data by the first computing subsystem that is received from only the first set of sensors according to the first operating domain,
processing sensor data by the second computing subsystem that is received from only the second set of sensors according to the second operating domain; and
only one of the first computing subsystem or the second computing subsystem controlling the driving system in a fallback driving mode based on the error condition.