Anchor Point Timing Verification for Autonomous Vehicle Positioning
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Solution Overview
Problem
Existing positioning methods for autonomous vehicles, such as GNSS, Lidar, and anchor points, often lack sufficient reliability and accuracy, especially in challenging conditions, leading to potential failures in determining the vehicle's position.
Innovation Solution
A method for determining errors in anchor point detection by calculating the expected time for detecting a second anchor point based on the distance and speed between anchor points, and comparing it with the actual detection time to identify timing discrepancies, thereby assessing the reliability of anchor point detection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If anchor point detection is used for positioning, then independence from other positioning methods is achieved, but accuracy and reliability deteriorate due to detection timing errors and outdated position data
Solution Approach 1:
The system pre-calculates expected detection times for anchor points based on vehicle speed and distance information before the actual detection occurs. This preliminary timing estimation allows the system to have a reference value ready for comparing against actual detection times, enabling error detection without requiring real-time complex calculations.
Solution Approach 2:
The system compares the actual detection time of anchor points with the pre-calculated expected detection time to generate feedback about timing errors. This feedback mechanism identifies when detected anchor points may be outdated or incorrect, allowing the system to flag positioning errors and improve overall positioning reliability by detecting anomalies in the anchor point detection process.
2Productivity
If vehicle speed is high when passing anchor points, then productivity increases, but measurement precision deteriorates due to lower detection accuracy
Solution Approach 1:
The system replaces mechanical/direct measurement methods with a computational timing verification approach. Instead of relying solely on the physical detection process which degrades at high speeds, the system uses pre-calculated timing expectations based on vehicle speed and distance data to verify whether detected anchor points are valid, effectively decoupling detection accuracy from vehicle speed.
3Reliability
If multiple positioning methods are combined, then reliability improves, but device complexity increases due to need for independent verification of each method
Solution Approach 1:
The timing verification mechanism serves multiple functions: it validates anchor point detection timing, detects outdated position data, identifies detection errors, and works independently of vehicle speed. This multi-functional approach allows a single relatively simple mechanism to provide comprehensive validation across different operating conditions and positioning methods.
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.