Autonomous Vehicle Planner Checkout via Incremental Speed Validation
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Solution Overview
Problem
Autonomous worksites face challenges in efficiently calibrating and clearing machines for operation due to the need for large dedicated areas for planner checkout and calibration, leading to extended downtime and transportation costs.
Innovation Solution
A system and process that involves an offline planner checkout at a location with predetermined curves, followed by incremental online speed increases at the worksite, allowing machines to be cleared for operation while minimizing downtime and physical space requirements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If complete planner checkout and calibration tests are conducted offline before worksite operation, then machine operational reliability is improved, but machine downtime and transportation costs increase
Solution Approach 1:
The system performs preliminary planner checkout and calibration tests in an offline environment before deploying the machine to the worksite. This preliminary action ensures that the machine model is properly calibrated and the planner can generate accurate paths, thereby improving operational reliability while minimizing the time the machine needs to be unavailable for testing.
Solution Approach 2:
The checkout process is segmented into multiple phases: offline planner checkout, initial worksite operation at reduced speed, and incremental speed increases. This segmentation allows validation at different stages, ensuring reliability is achieved progressively rather than requiring complete validation before any operational time.
2Measurement precision
If large dedicated areas are designated for planner checkout and calibration activities, then measurement precision and test accuracy are improved, but worksite space availability and operational productivity worsen
Solution Approach 1:
The worksite environment itself is used as the testing ground for planner checkout and calibration activities. Rather than requiring a separate dedicated test area, the system utilizes the actual worksite paths, terrain, and conditions to perform validation, thereby eliminating the need for additional space while maintaining test accuracy through real-world conditions.
Solution Approach 2:
The system transitions from traditional offline testing in a controlled environment to in-situ testing within the worksite environment. This dimensional shift allows calibration activities to occur in the actual operational context, using the worksite's existing space and features, thereby eliminating the trade-off between test area size and productivity.
3Productivity
If machines operate at full speed immediately after calibration, then operational efficiency is improved, but safety and operational reliability may be compromised
Solution Approach 1:
The system implements dynamic speed adjustment during the checkout process. The machine operates at reduced speed initially after calibration, then incrementally increases speed as validation progresses. This dynamic approach allows the system to balance safety and reliability concerns with productivity goals, adapting the operating speed to the current validation stage rather than maintaining a fixed speed throughout.
Data Source
AI summary
Process for clearing an autonomous machine including first evaluating operation at a high curvature offline location. Following acceptable operation, the machine is placed into service and evaluated at a worksite. Following acceptable worksite operation, online operating speed of the machine is increased incrementally, and performance reevaluated. Following acceptable performance characteristics, online operating speed of the machine continues to be increased and revaluated until the machine reaches maximum designated operating speed, or is evaluated as unacceptable, in which case the machine continues to operate at the last acceptable online operating speed and identifies the unacceptable performance characteristic for further evaluation.