Any chance of getting 'second opinion' style sensors in there that can provide you with sanity checks ? Such as 'GPS reports movement, but wheel sensors do not, we have a problem ?'
That way you can avoid a paralysis of the control software until the vehicle has really come to a halt.
I read somewhere about realtime applications that do something like this but redundant sensors holding a consensus polling algorithm. Have three sensors reporting the same thing and if they are not all in agreement within some kind of delta then go into some kind of limp mode or have the two sensors in agreement be the ones that the system uses for it's algorithms. I cannot recall where I read it though.
Me too. The back of my brain is telling me it was for some sort of plane control software? Maybe? An interesting tidbit that I recall was that they used different manufacturers to hedge their bets against bugs.
That sounds about right. I seem to recall that it was for aerospace too. Maybe NASA? Something about zero defect software. I cannot for the life of me find the article right now though. I also vaguely remember that it was a HN submission too.
That way you can avoid a paralysis of the control software until the vehicle has really come to a halt.