Automated Driving ODD Checks Using Expected Sensor Perception
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Solution Overview
Problem
Existing automated driving systems face challenges in accurately determining whether the operational design domain (ODD) is satisfied due to varying environmental conditions and sensor performance, which can lead to inaccurate automated driving control.
Innovation Solution
An automated driving management system that uses reference information to compare expected sensor perception data with actual sensor data to determine if the ODD is satisfied, considering factors like weather and sensor performance, ensuring accurate ODD suitability determination.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If automated driving systems use predetermined operational design domain (ODD) conditions to determine whether automated driving is permitted, then the system can operate under defined safety parameters, but the determination of ODD satisfaction becomes inaccurate due to varying environmental conditions and sensor performance
Solution Approach 1:
The system pre-acquires sensor perception information at multiple positions along the travel direction before determining ODD satisfaction. This preliminary data collection allows the determination unit to compare actual sensor readings with pre-collected reference data, improving the accuracy of ODD determination by accounting for environmental variations and sensor performance changes that occur during automated driving operation.
2Measurement precision
If the system determines ODD satisfaction based on current sensor readings alone, then the determination process is simple and fast, but the accuracy is insufficient due to not considering sensor performance variations and environmental factors
Solution Approach 1:
The system creates a copy of sensor perception data by pre-acquiring and storing reference sensor information at multiple positions along the travel direction. During ODD determination, the system compares actual sensor readings with this pre-stored reference data copy, enabling accurate determination of whether ODD conditions are satisfied without requiring complex real-time environmental analysis or sensor performance modeling.
3Measurement precision
If the system uses multiple sensor positions and pre-acquired data for ODD determination, then the determination accuracy improves, but the processing time and computational load increase
Solution Approach 1:
The system performs sensor data acquisition and processing in advance at multiple positions along the travel direction, storing the reference information before it is needed for ODD determination. This preliminary action shifts computational load to periods when the vehicle is moving through those positions, allowing faster real-time comparison during the actual ODD satisfaction check and reducing determination processing time.
Data Source
AI summary
An automated driving management system is applied to a vehicle that performs automated driving by using a perception sensor. The automated driving management system acquires first sensor perception information indicating a result of perception by the perception sensor. Reference information indicates a correspondence relationship between a vehicle position and expected sensor perception information that is the first sensor perception information expected when an automated driving condition is satisfied. Based on the reference information, the automated driving management system acquires the expected sensor perception information associated with a determination target position. The automated driving management system determines whether or not the automated driving condition is satisfied at the determination target position by comparing the first sensor perception information acquired at the determination target position with the expected sensor perception information associated with the determination target position.