Adaptive Integrity Range Ascertainment for Autonomous Driving
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current methods for determining the integrity range of ego position estimates in autonomous driving are not adequately transferable from aeronautics and struggle to provide reliable results in challenging urban environments, such as those with high-rise buildings that interfere with satellite signals.
Innovation Solution
A modular system is used to ascertain an adaptive integrity range by combining basic integrity information from a base module with supplementary integrity information from additional modules, allowing for dynamic adjustment based on external influences and application-specific requirements, such as connecting environment sensors to compensate for limitations in GNSS data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a base module alone is used to ascertain integrity information, then device complexity is reduced, but reliability of the integrity range determination deteriorates in difficult environments
Solution Approach 1:
The system is divided into a base module that provides basic integrity information and supplementary modules that provide additional integrity information. The base module handles standard conditions while supplementary modules activate only when specific preconditions are met (e.g., difficult environments), allowing the system to maintain low complexity under normal conditions while achieving high reliability when needed.
2Reliability
If supplementary modules are always active, then reliability of integrity range determination is improved, but device complexity and energy consumption increase
Solution Approach 1:
The system dynamically activates supplementary modules based on detected preconditions. The base module operates continuously while supplementary modules are activated only when their specific preconditions are satisfied (e.g., when the base module's integrity information falls below a threshold or when specific environmental conditions are detected). This dynamic activation maintains reliability when needed while minimizing complexity and energy consumption during normal operation.
3Productivity
If statistical error limits are used for protection level calculation, then calculation speed is maintained, but measurement precision of the integrity range deteriorates in challenging environments
Solution Approach 1:
The system uses the base module's statistical error limit calculation as an intermediary first-level assessment. When the base module's results fall below acceptable thresholds or when preconditions indicate difficult environments, the supplementary modules provide additional integrity information that refines the protection level calculation. This two-stage approach maintains calculation speed through the efficient base module while achieving higher measurement precision when activated by the intermediary assessment.
Data Source
AI summary
A method for the adaptive ascertainment of an integrity range of a parameter estimate, the integrity range describing the range within which an estimated parameter is located with a minimum probability. The method includes: a) Ascertaining basic integrity information with the aid of a base module of a modular system, b) ascertaining an item of first supplementary integrity information with the aid of a first supplementary module of the modular system if at least one precondition for the ascertaining of the item of first supplementary integrity information has been satisfied, c) ascertaining the integrity range using at least the item of basic integrity information or at least the basic integrity information and the item of first supplementary integrity information if the first item of supplementary integrity information was ascertained.