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

Claim 20:
21. A vehicle configured to operate in an autonomous driving mode, the vehicle comprising:
a driving system configured to perform driving actions of the vehicle;
a perception system having a plurality of sensors configured to detect information about an environment external to the vehicle, the plurality of sensors providing a 360° field of view to enable classification of objects in the vehicle's external environment, the plurality of sensors providing sensor diversity at least partially based on overlapping sensor fields of view; and
a control system operatively coupled to the driving system and the perception system, the control system including a first computing subsystem and a second computing subsystem, each of the first and second computing subsystems having one or more processors, wherein:
the first computing subsystem is configured to receive sensor data from the perception system from a first communication link and the second computing subsystem is configured to receive the sensor data from the perception system from a second communication link separate and distinct from the first communication link;
in response to the received sensor data, the control system is configured to control the driving system to perform the driving actions to drive the vehicle in the autonomous driving mode;
the control system is configured to identify an error condition of the vehicle; and
upon identification of the error condition, only one of the first computing subsystem or the second computing subsystem is configured to process the sensor data according to the error condition and the overlapping sensor fields of view, and to control the driving system in a fallback driving mode based on the error condition.