Anchor Point Detection Timing Errors in Autonomous Vehicle Positioning
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Solution Overview
Problem
Existing positioning methods for autonomous vehicles, such as GNSS, Lidar, and anchor points, lack sufficient reliability and accuracy, particularly in challenging environments, 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 errors, allowing for accurate positioning and triggering safety measures when errors are detected.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If anchor points are 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 between anchor points. This preliminary timing information is used to validate actual detections and identify errors, improving accuracy without changing the anchor point detection method itself.
Solution Approach 2:
The system implements a feedback mechanism where actual anchor point detection times are compared against expected times. When discrepancies are detected, the system can identify and correct positioning errors, thereby improving reliability and accuracy of the positioning system.
2Reliability
If multiple positioning methods are combined, then reliability is improved, but it cannot be determined whether positioning is reliable enough for certain tasks
Solution Approach 1:
The system provides feedback about the reliability of positioning by detecting timing errors in anchor point detections. This feedback mechanism allows the system to determine when positioning is reliable enough for specific tasks by identifying and flagging erroneous detections.
Solution Approach 2:
Expected detection times are calculated in advance based on vehicle speed and anchor point distances. This preliminary information enables the system to assess positioning reliability before executing tasks, providing the confidence information that was previously missing.
3Productivity
If anchor point detection is performed quickly to maintain productivity, then positioning updates are frequent, but detection errors increase due to slow detection process
Solution Approach 1:
The system pre-calculates expected detection times based on vehicle speed and anchor point spacing. This allows rapid processing of detections while maintaining accuracy, as each detection can be quickly validated against pre-computed expectations without complex real-time analysis.
Solution Approach 2:
By implementing feedback comparison between expected and actual detection times, the system can maintain high update frequencies while filtering out erroneous detections. The feedback mechanism ensures reliability without reducing productivity.
Data Source
Figure 1a~1b
Figure 2
Figure 3a~3b
AI summary
A method for determining an error with anchor point detection for an at least partly autonomous vehicle (1) is provided. The method comprises detecting a first anchor point (A). The method comprises obtaining a distance (D) between the first anchor point (A) and a second anchor point (B). The method comprises, based on the distance and a of the vehicle (1), estimating an expected time for the vehicle (1) to detect the second anchor point (B). 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 (B) 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 (A) and/or the second anchor point (B).