Application US20190332390

AUTONOMOUS DRIVING CONTROLLER PARALLEL PROCESSOR BOOT ORDER
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US20190332390

1. A method for booting an autonomous driving controller that includes a plurality of parallel processors, the method comprising: (4) (3)

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.

2. The method of claim 1, wherein booting the plurality of SMSs of the plurality of parallel processors comprises booting the plurality of SMSs from ROM dedicated to the plurality of SMS s. (0)

3. The method of claim 1, wherein booting the plurality of SMSs of the plurality of parallel processors comprises booting the plurality of SMSs from flash Random Access Memory (RAM) dedicated to the plurality of SMSs. (1) (0)

5. The method of claim 1, further comprising, after the booting of the plurality of SCSs and prior to the booting of the plurality of SMSs: (0) (2)

6. The method of claim 1, further comprising, after the booting of the plurality of SMSs and prior to the booting of the plurality of general processors: (0) (2)

7. A method for booting an autonomous driving controller that includes a plurality of parallel processors, the method comprising: (2) (4)

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.

8. The method of claim 7, further comprising, after the booting of the plurality of SCSs and prior to the booting of the plurality of SMSs: (0) (2)

9. The method of claim 7, wherein the SMSs are configured to, further comprising, after the booting of the plurality of SMSs and prior to the booting of the plurality of general processors: (0) (2)

10. An autonomous driving controller for a vehicular autonomous driving system that has a plurality of autonomous driving sensors, the autonomous driving controller comprising: (4) (1)

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.

11. The autonomous driving controller of claim 10, wherein the plurality of general processors, the plurality of SCSs, and the plurality of SMSs are configured to boot the plurality of SMSs from ROM dedicated to the plurality of SMSs. (0)

12. The autonomous driving controller of claim 10, wherein the plurality of general processors, the plurality of SCSs, and the plurality of SMSs are configured to boot the plurality of SMSs from flash Random Access Memory (RAM) dedicated to the plurality of SMSs. (1) (0)

14. The autonomous driving controller of claim 10, wherein the plurality of general processors, the plurality of SCSs, and the plurality of SMSs are configured to, after the booting of the plurality of SCSs and prior to the booting of the plurality of SMSs: (0) (2)

15. The autonomous driving controller of claim 10, wherein the plurality of general processors, the plurality of SCSs, and the plurality of SMSs are configured to, after the booting of the plurality of SMSs and prior to the booting of the plurality of general processors: (0) (2)

16. An autonomous driving controller for a vehicular autonomous driving system that has a plurality of autonomous driving sensors, the autonomous driving controller comprising: (2) (1)

a plurality of security processor subsystems (SCSs); and

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.

17. The autonomous driving controller of claim 16, wherein the plurality of general processors, the plurality of SCSs, and the plurality of SMSs are configured to, after the booting of the plurality of SCSs and prior to the booting of the plurality of SMSs: (0) (2)

18. The autonomous driving controller of claim 16, wherein the plurality of general processors, the plurality of SCSs, and the plurality of SMSs are configured to, after the booting of the plurality of SMSs and prior to the booting of the plurality of general processors: (0) (2)

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Application US20190332390

AUTONOMOUS DRIVING CONTROLLER PARALLEL PROCESSOR BOOT ORDER

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