Autonomous Vehicle Camera Range Control by Dynamic Dropback
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Solution Overview
Problem
Autonomous vehicle control systems face challenges in navigating scenarios where reduced forward range of view, due to obstacles or constraints, inhibits the system's ability to autonomously operate the vehicle effectively.
Innovation Solution
The system determines a current range of view for onboard sensing devices, calculates a target range based on vehicle speed, and adjusts the vehicle's trajectory to increase the range of view by determining a dropback adjustment distance and autonomously operating actuators to execute this trajectory.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the vehicle maintains a fixed following distance from the CIP vehicle, then the vehicle operation is simple and stable, but the forward range of view is reduced and cannot meet the target range requirement
Solution Approach 1:
The system dynamically adjusts the longitudinal trajectory by calculating a dropback adjustment distance that modifies the following distance based on real-time conditions. When the forward range of view is insufficient, the vehicle automatically increases the following distance from the CIP vehicle, transitioning from a static following distance to a dynamic one that adapts to visibility requirements.
Solution Approach 2:
The system changes the following distance parameter from a fixed value to a variable value calculated based on the difference between target and current forward range of view. The dropback adjustment distance is computed as a function of this difference, allowing the system to optimize visibility by adjusting the following distance parameter in response to changing conditions.
2Reliability
If the vehicle increases the following distance to improve forward range of view, then the range of view is improved, but the vehicle speed and productivity are reduced
Solution Approach 1:
The system implements periodic monitoring of the forward range of view and dynamically adjusts the following distance only when necessary. The controller continuously evaluates whether the current forward range meets the target range and applies dropback adjustment intermittently based on this evaluation, rather than maintaining a constantly increased following distance.
Solution Approach 2:
The system applies dropback adjustment distance only to the extent necessary to achieve the target forward range of view, rather than always maintaining a large safety margin. The adjustment is proportional to the deficiency in forward range, applying just enough increase in following distance to meet the requirement without excessive reduction in vehicle speed.
3Adaptability or versatility
If the vehicle uses manual control to resolve navigation scenarios, then the vehicle can handle complex situations, but the driver burden increases and automation level decreases
Solution Approach 1:
The autonomous vehicle system performs self-adjustment of its longitudinal trajectory by automatically calculating and applying dropback adjustment distance when forward range of view is insufficient. The system monitors its own visibility conditions and independently resolves navigation scenarios without requiring driver intervention, maintaining full automation while handling complex situations.
Solution Approach 2:
The system implements a feedback loop where the controller continuously monitors the forward range of view, compares it to the target range, and automatically adjusts the following distance based on the detected deficiency. This closed-loop control enables the vehicle to autonomously resolve visibility-related navigation scenarios without driver input.
Data Source
AI summary
Vehicles and related systems and methods are provided for controlling a vehicle in an autonomous operating mode. One method involves determining a current value for a range of view associated with a sensing device onboard the vehicle, determining a target value for the range of view based at least in part on a speed of the vehicle, and in response to determining the current value is less than the target value, determining a dropback adjustment distance based at least in part on a difference between target value for the range of view and an estimated distance to a closest in path (CIP) vehicle ahead of the vehicle within a current lane of travel, determining a longitudinal trajectory for the vehicle based at least in part on the dropback adjustment distance, and autonomously operating one or more actuators onboard the vehicle in accordance with the longitudinal trajectory.