Patent attributes
Embodiments provide a vehicle computer coupled to a vehicle. The vehicle computer may be configured to compute (e.g., generate) a first (e.g., regular, main) trajectory and a second (e.g., fail-safe, minimal risk maneuver) trajectory for the vehicle. Embodiments may provide a fault detection interval during which the second trajectory may be activated due to missing updated trajectory input. Embodiments may also provide a recovery detection interval during which an updated regular trajectory may be generated and followed instead of the fail-safe trajectory if a valid trajectory update is received. Accordingly, embodiments allow for an early activation of a fail-safe trajectory compared to conventional systems, while also allowing the system to recover (e.g., revert back to a modified version of the first trajectory) if a valid trajectory update is received during a recovery detection interval.
