INTRODUCTION

The subject disclosure relates to operation and navigation of autonomous vehicles and, in particular, to a method of ensuring integrity of Global Positioning Satellite (GPS) data used in navigation of the autonomous vehicle.

An autonomous vehicle is able to navigate in part by using GPS data. The quality of the navigation depends in part on the internal consistency or lack of corruption of the GPS data. Cyber-attacks, hardware errors, or software errors on a GPS system, GPS data communication channels or GPS data provider can result in corrupted GPS data being received by a downstream autonomous vehicle computer control system and can therefore be detrimental to effective operation of the autonomous vehicle when corruption goes undetected. Accordingly, it is desirable to ensure the integrity of GPS data used by the autonomous vehicle computer control system for autonomous vehicle navigation.

SUMMARY

In one exemplary embodiment, a method of operating an autonomous vehicle is disclosed. A communication module sends a first set of Global Positioning Satellite (GPS) data over a first communication channel to a control system of the autonomous vehicle. The communication module sends a second set of GPS data over a second communication channel the control system of the autonomous vehicle, wherein the second set of GPS data is an authenticated data set. The autonomous vehicle operates using the first set of GPS data. The first set of GPS data is compared to the second set of GPS data to verify the first set of GPS data.

In addition to one or more of the features described herein, the first communication channel is an Ethernet communication channel and the second communication channel is a Controller Area Network. Comparing the first set of GPS data to the second set of GPS data further includes comparing a timestamp of the first set of GPS data to a timestamp of the second set of GPS data. The method further includes verifying an integrity of the first set of GPS data from a signal-by-signal comparison of the first set of GPS data to the second set of GPS data. The method further includes calculating a first value for a parameter of the autonomous vehicle using the first set of GPS data, calculating a second value for the parameter of the autonomous vehicle using a set of data obtained at a vehicle-based sensor, and determining a rationality of the first set of GPS data when a difference between the first value and the second value is less than a selected threshold. The parameter of the autonomous vehicle is at least one of a distance travelled by the autonomous vehicle, a heading of the autonomous vehicle, a yaw rate of the autonomous vehicle, and a lateral offset of the autonomous vehicle. The method further includes receiving the first set of GPS data and storing the first set of GPS data in a circular buffer and comparing the second set of GPS data to the first set of GPS data within a window of the circular buffer. The method further includes operating the autonomous vehicle in a failure mode when comparison of the first set of GPS data to the second set of GPS data fails to verify the first set of GPS data.

In another exemplary embodiment, a system for operating an autonomous vehicle is disclosed. The system includes a communication module and a processor. The communication module sends a first set of Global Positioning Satellite (GPS) data over a first communication channel and a second set of GPS data over a second communication channel, wherein the second set of GPS data is an authenticated data set. The processor is configured to operate the autonomous vehicle using the first set of GPS data, and compare the first set of GPS data to the second set of GPS data to verify the first set of GPS data.

In addition to one or more of the features described herein, the processor is further configured to compare a timestamp of the first set of GPS data to a timestamp of the second set of GPS data. The processor is further configured to verify an integrity of the first set of GPS data from a signal-by-signal comparison of the first set of GPS data to the second set of GPS data. The processor is further configured to calculate a first value for a parameter of the autonomous vehicle using the first set of GPS data, calculate a second value for the parameter of the autonomous vehicle using a set of data obtained at a vehicle-based sensor, and determine a rationality of the first set of GPS data when a difference between the first value and the second value is less than a selected threshold. The parameter of the autonomous vehicle is at least one of a distance travelled by the autonomous vehicle, a heading of the autonomous vehicle, a yaw rate of the autonomous vehicle, and a lateral offset of the autonomous vehicle. The processor is further configured to store the first set of GPS data in a circular buffer and compare the second set of GPS data to the first set of GPS data within a window of the circular buffer.

In another exemplary embodiment, an autonomous vehicle is disclosed. The autonomous vehicle includes a communication module and a processor. The communication module sends a first set of Global Positioning Satellite (GPS) data over a first communication channel and a second set of GPS data over a second communication channel, wherein the second set of GPS data is an authenticated data set. The processor is configured to operate the autonomous vehicle using the first set of GPS data, and compare the first set of GPS data to the second set of GPS data to verify the first set of GPS data.

In addition to one or more of the features described herein, the processor is further configured to compare a timestamp of the first set of GPS data to a timestamp of the second set of GPS data. The processor is further configured to verify an integrity of the first set of GPS data from a signal-by-signal comparison of the first set of GPS data to the second set of GPS data. The processor is further configured to calculate a first value for a parameter of the autonomous vehicle using the first set of GPS data, calculate a second value for the parameter of the autonomous vehicle using a set of data obtained at a vehicle-based sensor, and determine a rationality of the first set of GPS data when a difference between the first value and the second value is less than a selected threshold. The parameter of the autonomous vehicle is at least one of a distance travelled by the autonomous vehicle, a heading of the autonomous vehicle, a yaw rate of the autonomous vehicle, and a lateral offset of the autonomous vehicle. The processor is further configured to store the first set of GPS data in a circular buffer and compare the second set of GPS data to the first set of GPS data within a window of the circular buffer.

The above features and advantages, and other features and advantages of the disclosure are readily apparent from the following detailed description when taken in connection with the accompanying drawings.

