Cooperative Sensing for Shared Autonomy in Vehicles
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Solution Overview
Problem
Current vehicle autonomy systems lack efficient methods for cooperative sensing and data sharing between vehicles with varying levels of autonomy, limiting their ability to enhance each other's sensing capabilities and path planning, especially in complex traffic scenarios.
Innovation Solution
A cooperative sensing system that includes a rendezvous module for vehicle identification, a positioning module for determining cooperative positions, and a negotiation module for parameter exchange, allowing a principal vehicle with higher autonomy to share sensor data and control with a subordinate vehicle, thereby enhancing the subordinate vehicle's autonomy level.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If a high autonomy vehicle relies solely on its own sensing ability to track and mirror the lead vehicle, then the vehicle can operate independently without communication, but the lead vehicle receives no benefit and the system lacks cooperative sensing capability
Solution Approach 1:
The patent merges the sensing capabilities of multiple vehicles by establishing a cooperative relationship where the lead vehicle's sensors and the follower vehicle's sensors are combined to create a unified perception system. This allows both vehicles to benefit from expanded sensing coverage and improved path planning, resolving the contradiction between autonomous operation and cooperative capability.
Solution Approach 2:
The patent introduces vehicular communication as an intermediary mechanism that enables information exchange between the lead vehicle and follower vehicle. Through broadcast messages containing sensor data, the system facilitates cooperative sensing while maintaining each vehicle's operational independence, thus achieving both autonomy and adaptability.
2Ease of operation
If vehicles with varying autonomy levels operate independently without communication, then each vehicle maintains operational simplicity, but they cannot share sensor data to enhance collective sensing capabilities
Solution Approach 1:
The patent implements preliminary action by having vehicles pre-establish communication protocols and sensor data sharing frameworks before encountering complex traffic scenarios. The follower vehicle is pre-configured to receive and process sensor data from the lead vehicle, enabling seamless information sharing without complicating real-time operations.
3Extent of automation
If the follower vehicle performs all sensing and decision-making independently, then it achieves full autonomy operation, but it cannot leverage the lead vehicle's sensing ability even when the lead vehicle has superior sensors
Solution Approach 1:
The patent makes the follower vehicle's decision-making system universal by enabling it to process both its own sensor data and the lead vehicle's sensor data. The follower vehicle maintains its independent decision-making capability while also being able to leverage the lead vehicle's superior sensing ability when available, thus achieving both autonomous operation and enhanced measurement precision.
Data Source
AI summary
Systems and methods for shared autonomy through cooperative sensing are described. According to one embodiment, a cooperative sensing system includes a rendezvous module that receives broadcast messages from a plurality of cooperating vehicles on the roadway. The rendezvous module also selects a subordinate vehicle from the plurality of cooperating vehicles based on the autonomy level of the subordinate vehicle as compared to an autonomy level of a principal vehicle. The cooperative sensing system also includes a positioning module that determines a cooperative position of the principal vehicle and the subordinate vehicle. The cooperative sensing system further includes a negotiation module that receives at least one cooperating parameter from the subordinate vehicle. The cooperative sensing system includes a perception module that initiates cooperative automation the subordinate vehicle according to the at least one cooperating parameter when the principal vehicle and the subordinate vehicle are positioned in the cooperative position.