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

Claim 0:
1. 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 around the vehicle; and
a control system operatively coupled to the driving system and the perception system, the control system including a first computing subsystem associated with a first operating domain and a second computing subsystem associated with a second operating domain different from the first operating domain, each of the first and second computing subsystems having one or more processors, wherein:
the first and second computing subsystems are configured to receive sensor data from the plurality of sensors, and, 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;
upon identification of the error condition, the first computing subsystem is configured to process sensor data received from only a first set of sensors of the plurality of sensors according to the first operating domain and the second computing subsystem is configured to process sensor data received from only a second set of sensors of the plurality of sensors according to the second operating domain, the second set of sensors being different from the first set of sensors; and
only one of the first computing subsystem or the second computing subsystem is configured to control the driving system in a fallback driving mode based on the error condition.