Autonomous Vehicle Sensor Failure Handling via Coordinate Switching
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Solution Overview
Problem
Autonomous driving vehicles face navigation challenges when encountering sensor failures, such as GPS signal blockages or delays in sensor data processing, which can lead to inaccurate navigation in world coordination systems.
Innovation Solution
A sensor failure handling system that detects sensor failures and automatically switches the vehicle from world coordination to local coordination, using camera data for lane tracking to ensure safe navigation, and includes a module to monitor system resources and identify causes of failures to handle them effectively.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the ADV relies on sensor fusion of GPS and LIDAR for navigating in world coordination, then navigation accuracy is improved, but the system becomes vulnerable to sensor failures causing navigation delays or inaccuracies
Solution Approach 1:
The system dynamically changes the coordinate system parameter from world coordination (absolute coordinates) to local coordination (relative coordinates) when sensor failures are detected. This parameter change allows the navigation system to continue operating with modified calculation methods that do not depend on absolute GPS positions, thereby maintaining reliability while preserving navigation accuracy through adaptive coordinate system selection
Solution Approach 2:
The system prepares backup navigation capabilities by implementing a fallback mechanism that switches to local coordination before complete navigation failure occurs. When sensor failures are detected, the system has pre-established alternative navigation methods ready to activate, cushioning against the harmful effects of sensor failures and maintaining continuous navigation functionality
2Reliability
If the ADV switches from world coordination to local coordination upon sensor failure, then navigation reliability is improved, but the complexity of the navigation system increases
Solution Approach 1:
The navigation system implements dynamic switching between world coordination and local coordination based on real-time sensor status. The system adapts its operational mode dynamically, using world coordination when sensors are functional and switching to local coordination when failures occur. This dynamic approach maintains reliability while managing complexity through conditional logic rather than permanently complex architecture
Solution Approach 2:
The navigation system is designed to perform multiple functions by supporting both world coordination and local coordination modes. The same navigation module can operate in absolute coordinates during normal conditions and switch to relative coordinates during failures, making the system universal and multi-functional. This reduces overall complexity by using a single versatile system rather than separate dedicated systems for each mode
Data Source
AI summary
According to some embodiments, described herein is a system and method for handling sensor failures in autonomous driving vehicles (ADV) that is navigating in a world coordination as an absolute coordination system. When the ADV encounters a sensor failure, but still has at least one camera working properly, the sensor failure handling system can switch the ADV from navigating in the world coordination to a local coordination, in which the ADV relies camera-based obstacle detection and lane mark detection to drive safely until human dis-engagement or until the ADV is parked along a road side.