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Application US20190332390
Published 2019-10-31
Autonomous Driving Controller Parallel Processor Boot Order
An autonomous driving controller includes a plurality of parallel processors operating on common input data. Each of the plurality of parallel processors includes a general processor, a security processor subsystem (SCS), and a safety subsystem (SMS). The general processors, the SCSs, and the SMSs of the plurality of parallel processors are configured to first, boot the plurality of SCSs from ROM second, boot the plurality of SMSs of the plurality of parallel processors from RAM or ROM, and, third, boot the plurality of general processors of the plurality of parallel processors from RAM. Between booting of the SCSs and the SMSs, at least one of the plurality of SCSs may load SMS boot code into the RAM that is dedicated to the plurality of SMSs.
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- 1. A method for booting an autonomous driving controller that includes a plurality of parallel processors, the method comprising:
first, booting a plurality of security processor subsystems (SCSs) of the plurality of parallel processors from Read Only Memory (ROM) dedicated to the plurality of SCSs; second, booting a plurality of safety processor subsystems (SMSs) of the plurality of parallel processors; and third, booting a plurality of general processors of the plurality of parallel processors.
- 7. A method for booting an autonomous driving controller that includes a plurality of parallel processors, the method comprising:
first, booting a plurality of security processor subsystems (SCSs) of the plurality of parallel processors from Read Only Memory (ROM) dedicated to the plurality of SCSs; second, the plurality of SCSs of the plurality of parallel processors controlling loading of safety processor subsystem (SMS) boot code into Random Access Memory (RAM) dedicated to a plurality of SMSs of the plurality of parallel processors; and third, booting the plurality of SMSs of the plurality of parallel processors with the SMS boot code stored in the RAM dedicated to the plurality of SMSs; and fourth, booting a plurality of general processors of the plurality of parallel processors.
- 10. An autonomous driving controller for a vehicular autonomous driving system that has a plurality of autonomous driving sensors, the autonomous driving controller comprising:
a plurality of parallel processors operating on common input data received from the plurality of autonomous driving sensors, the plurality of parallel processors including, respectively:
a plurality of general processors;
a plurality of security processor subsystems (SCSs); and
a plurality of safety subsystems (SMSs), wherein the plurality of general processors, the plurality of SCSs, and the plurality of SMSs are configured to:
first, boot the plurality of SCSs from Read Only Memory (ROM) dedicated to the plurality of SCSs;
second, boot the plurality of SMSs; and
third, boot the plurality of general processors.
- 16. An autonomous driving controller for a vehicular autonomous driving system that has a plurality of autonomous driving sensors, the autonomous driving controller comprising:
a plurality of parallel processors operating on common input data received from the plurality of autonomous driving sensors, the plurality of parallel processors including, respectively:
a plurality of general processors;
a plurality of security processor subsystems (SCSs); and
a plurality of safety subsystems (SMSs), wherein the plurality of general processors, the plurality of SCSs, and the plurality of SMSs are configured to:
first, boot the plurality of SCSs from Read Only Memory (ROM) dedicated to the plurality of SCSs;
second, cause the plurality of SCSs to load SMS boot code into Random Access Memory (RAM) dedicated to a plurality of SMSs; and
third, boot the plurality of SMSs of the plurality of parallel processors with the SMS boot code stored in the RAM dedicated to the plurality of SMSs; and
fourth, boot the plurality of general processors of the plurality of parallel processors.
