Autonomous Vehicle Collision Avoidance with Redundant Trajectory Validation
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Solution Overview
Problem
Autonomous vehicle collision detection systems may be inoperable or ineffective due to errors in complex processing pipelines, leading to unsafe vehicle maneuvers.
Innovation Solution
Implement a secondary system that independently localizes the vehicle, detects objects, predicts trajectories, and validates primary system outputs to ensure collision avoidance by generating backup trajectories and controlling the vehicle if necessary.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a complex processing pipeline is used for collision detection, then measurement precision is improved, but reliability deteriorates due to potential errors in the complex system
Solution Approach 1:
A secondary independent system acts as an intermediary verification layer that validates the outputs of the primary complex processing pipeline. This mediator system performs simplified collision detection and validation to catch errors that may have propagated through the complex primary system, thereby improving reliability without compromising the precision of the primary detection algorithms.
Solution Approach 2:
The patent implements a secondary system that creates a simplified copy or replica of the primary collision detection functionality. This copy performs independent validation of the primary system's outputs, allowing verification of critical decisions without duplicating the entire complex processing pipeline, thus improving reliability while maintaining reasonable computational efficiency.
2Reliability
If a secondary validation system is implemented, then reliability is improved, but device complexity increases
Solution Approach 1:
The secondary system serves as a focused intermediary that performs only validation functions rather than full collision detection. This mediator architecture improves reliability by providing independent verification while keeping the secondary system relatively simple compared to a full duplicate detection system.
Solution Approach 2:
The secondary system performs partial action by validating only critical aspects of the primary system's output rather than replicating the entire detection pipeline. This selective validation approach improves reliability for critical safety functions while avoiding the complexity of a complete system duplicate.
3Reliability
If the secondary system takes control to avoid collisions, then safety is improved, but ease of operation deteriorates due to system intervention
Solution Approach 1:
The secondary system performs preliminary validation of the primary system's planned maneuvers before execution. By catching potential errors in advance and requesting re-planning, the system prevents unsafe maneuvers from occurring, thereby improving safety while allowing smooth operation to continue when the primary system is functioning correctly.
Solution Approach 2:
The secondary system provides feedback to the primary system when validation failures are detected, triggering re-planning of the trajectory. This feedback loop improves safety by ensuring erroneous maneuvers are corrected while maintaining ease of operation through automated correction rather than abrupt system takeovers.
Data Source
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AI summary
A vehicle may include a primary system for generating data to control the vehicle and a secondary system that validates the data and/or other data to avoid collisions. For example, the primary system may localize the vehicle, detect an object around the vehicle, predict an object trajectory, and generate a trajectory for the vehicle. The secondary system may localize the vehicle, detect an object around the vehicle, predict an object trajectory, and evaluate a trajectory generated by the primary system. The secondary system may also monitor components of the vehicle to detect an error. If the secondary system detects an error with a trajectory generated by the primary system and/or an error with a component of the vehicle, the secondary system may cause the vehicle to perform a maneuver, such as decelerating, changing lanes, swerving, etc.