REDUNDANCY CONTROL METHOD FOR AUTOMATIC DRIVING SYSTEM, AUTOMATIC DRIVING SYSTEM, VEHICLE, CONTROLLER AND MACHINE-READABLE MEDIUM Russian patent published in 2021 - IPC B60W40/00 

FIELD: redundancy control methods.

SUBSTANCE: invention relates to a method for controlling redundancy for an automatic driving system, an automatic driving system and a vehicle. A redundancy control method for an automatic driving system comprising a main control subsystem and a redundancy control subsystem applied to the redundancy control subsystem. The method is characterized in that when the automatic driving function is activated, an area of displacement in the lane where the vehicle is at a given time is determined, and the area of displacement is the area in which the absolute value of the ratio of the lateral distance to the width of the lane in which the moment in time the vehicle is located, is within a specific range of relations, and the specified lateral distance refers to the distance between the boundary line of the specified area of displacement and the center line of the lane where the vehicle is at a given time, along the direction of the transverse axis of the vehicle coordinate system, determine the current level of failure of the main control subsystem in accordance with the specified area of displacement, where the vehicle is at a given time, and the control result output by the redundancy control subsystem in the previous control cycle, and the redundancy control function corresponding to the current failure level of the main control subsystem is activated, and the vehicle is controlled in accordance with the specified redundancy control function.

EFFECT: increased vehicle traffic safety.

18 cl, 8 dwg