Autonomous Vehicle Obstacle Management for Traffic Entry
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Solution Overview
Problem
Autonomous vehicles face challenges when entering traffic flow due to obstacles that occlude the view of their sensing devices, particularly when stationary at intersections, hindering their ability to navigate safely and efficiently.
Innovation Solution
The system employs an obstacle management method that uses sensor data from devices like radar to position the vehicle relative to obstacles, improving the view of the traffic lane without obstructing it, and iteratively adjusts the vehicle's pose and position to enhance sensing device visibility, allowing the vehicle to monitor the lane and enter the traffic flow when clear.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the autonomous vehicle remains stationary at the intersection to monitor oncoming traffic, then safety is improved, but the ability to detect obstacles occluding the sensing devices deteriorates
Solution Approach 1:
The system transitions from a two-dimensional planar monitoring approach to a three-dimensional spatial approach by vertically positioning the autonomous vehicle on the sidewalk or shoulder. This elevation changes the sensing geometry, allowing radar and other sensors to detect obstacles that would otherwise be occluded by the vehicle's own structure or surrounding objects at ground level.
Solution Approach 2:
The system performs preliminary positioning of the vehicle on the sidewalk or raised surface before entering the intersection. This advance positioning ensures that the sensing devices have an unobstructed field of view of the traffic lane from the moment monitoring begins, preventing occlusion issues before they arise.
2Difficulty of detecting and measuring
If the autonomous vehicle positions itself closer to the traffic lane to improve sensor view, then obstacle detection is improved, but obstruction of the traffic lane increases
Solution Approach 1:
By utilizing the vertical dimension (sidewalk, shoulder, or raised surface), the system achieves improved lateral visibility of the traffic lane without requiring the vehicle to occupy more horizontal space in the lane itself. The elevated position provides a better viewing angle while maintaining clearance from the traffic flow.
Solution Approach 2:
The sidewalk, shoulder, or raised surface acts as an intermediary platform that enables the vehicle to be positioned close enough to the traffic lane for optimal sensing, while physically separating the vehicle from the lane to prevent obstruction. This intermediate structure resolves the conflict between proximity for detection and distance for non-obstruction.
3Measurement precision
If the autonomous vehicle uses multiple sensing devices to monitor the traffic lane, then detection accuracy is improved, but the complexity of the system increases
Solution Approach 1:
The system employs multi-functional sensing devices that can detect multiple types of objects and conditions simultaneously. For example, radar sensors detect both vehicles and pedestrians, while cameras capture visual information that can be processed for various detection purposes. This reduces the need for separate specialized sensors for each function.
Solution Approach 2:
The system combines multiple sensing technologies (radar, lidar, cameras) into an integrated sensing platform with unified processing. Rather than operating as separate independent systems, these sensors work together with their data fused and processed by a common control system, reducing overall system complexity while maintaining high detection accuracy.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach enables autonomous vehicles to safely and efficiently enter traffic flow by overcoming view obstructions, ensuring accurate navigation and reducing the risk of collisions by improving sensor visibility and monitoring capabilities.
Implementation Method 1
the first sensing device is radar sensor
Data Source
AI summary
Systems and method are provided for controlling a vehicle. In one embodiment, an obstacle management method includes receiving, via one or more sensing devices, sensor data relating to an environment associated with a vehicle, wherein the vehicle is substantially stationary and has an intended path corresponding to entering a traffic flow of a first lane. The method includes determining the presence of an obstacle that at least partially occludes a view of the first lane by a first sensing device of the one or more sensing devices, and positioning, with a processor, the vehicle with respect to the obstacle to improve the view of the first lane by the first sensing device without significantly obstructing the first lane. The first lane is then monitored via the first sensing device to determine when the intended path clear.