Anchor Point Detection Timing for Autonomous Vehicle Positioning
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Solution Overview
Problem
Autonomous vehicles face reliability issues in positioning due to the limitations of current methods, such as GNSS and Lidar, especially in conditions like indoor or mountainous areas, and anchor point detection methods are prone to errors due to speed and detection timing inaccuracies.
Innovation Solution
A method that involves detecting anchor points, calculating the expected time for detecting subsequent points based on distance and speed, and determining errors by comparing actual detection times with expected times, allowing for accurate positioning and triggering safety measures if errors are detected.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If anchor point detection is used for positioning, then positioning can be done independently from other methods, but accuracy and reliability are low due to fast vehicle speed and slow detection process
Solution Approach 1:
The system pre-calculates expected detection times for anchor points based on vehicle speed and distance to multiple anchor points before detection occurs. This preliminary timing information is then used to validate actual detections, ensuring that only anchor points detected at the correct expected time are accepted, thereby resolving the accuracy issue while maintaining independence.
2Adaptability or versatility
If anchor point detection is used for positioning, then positioning can be done independently from other methods, but reliability is low due to detection errors and outdated position data
Solution Approach 1:
The system implements a feedback mechanism where the actual detection time of each anchor point is compared against the pre-calculated expected detection time. If the actual time deviates from the expected time beyond a threshold, the detection is rejected as erroneous. This feedback loop significantly improves reliability by filtering out false detections while preserving the independent positioning capability.
3Reliability
If multiple positioning methods are combined, then reliability is improved, but it cannot be determined whether positioning is reliable enough and common causes of failure still exist
Solution Approach 1:
The system segments the positioning problem into two independent parts: (1) anchor point detection based on pre-calculated timing, and (2) validation of detection reliability through timing comparison. This segmentation allows the system to achieve high reliability through the timing validation mechanism without requiring complex combinations of multiple positioning methods, thereby reducing overall system complexity while maintaining reliability.
Data Source
AI summary
A method for determining an error with anchor point detection for an at least partly autonomous vehicle is provided. The method comprises detecting a first anchor point. The method comprises obtaining a distance between the first anchor point and a second anchor point. The method comprises, based on the distance and a of the vehicle, estimating an expected time for the vehicle to detect the second anchor point. The method comprises establishing a time difference by comparing the expected time with a second time after the expected time or by detecting the second anchor point at a third time, and establishing the time difference by comparing the expected time with the third time. The method comprises, based on the established time difference, determining whether there is an error in detecting the first anchor point and/or the second anchor point.