Sensing and perception systems for ITS Chapter | 1 11It should be noted that particularly for urban driving environments, angle
resolution is a crucial property.
1.5 Fail-operational E/E architectures
Several research attempts have been taken toward the implementation of fail-
operational services for ADF. The need for fail-operational behavior means that
in addition to conceiving a data-flow driven architecture capable of providing
the requisite processing power for number crunching, the developed systems
must also guarantee that in the event of an error (due to a sensor or hardware
defect), the situation will be recognized and mitigated without impacting the
vehicle’s safety.
A common, non-fail operational system architecture is shown in Fig. 1.5.
There are remote sensor modules, which, after raw data processing and data
reduction, send their data via a wired interface to a central ECU with high pro-
cessing performance, where ADF main functions for environmental perception,
trajectory planning, etc. are implemented.
FIGURE 1.5 Non-fail operational system architecture for autonomous driving functions.