Autonomous Driving Path Offsets for Occlusion-Aware Sensing
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Solution Overview
Problem
Autonomous vehicles face challenges in determining a driving plan effectively due to limited sensing ranges caused by obstacles, which restricts the collection of surrounding environment information and hinders the determination of risk levels in occluded regions.
Innovation Solution
An electronic device equipped with sensors generates a driving plan by determining a target position offset based on sensing range evaluations, allowing the vehicle to adjust its path to maximize the available sensing region and secure an optimal field of view for the sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the vehicle follows a straight driving path, then the control is simple and stable, but the sensing range is limited due to occlusions by obstacles
Solution Approach 1:
The driving plan is made dynamic by introducing position offsets that adjust the vehicle's path in real-time based on obstacle detection. Instead of following a fixed straight trajectory, the vehicle dynamically modifies its position relative to the original path to maintain optimal sensing coverage while navigating around occluding obstacles.
Solution Approach 2:
The system performs preliminary sensing range evaluation to predict potential occlusions before they occur. By evaluating the sensing range in advance and planning position offsets proactively, the vehicle prepares alternative paths that prevent sensing losses rather than reacting after occlusions happen.
2Loss of information
If the vehicle adjusts its path to avoid occlusions, then the sensing range is improved, but the driving control becomes more complex
Solution Approach 1:
The system changes the path position parameter by introducing offset values that shift the vehicle's trajectory. Instead of complex navigation algorithms, the solution modifies the position parameter relative to the original path, making the control adjustment mathematically simple while effectively avoiding occlusions and maintaining sensing coverage.
Solution Approach 2:
The driving plan incorporates feedback mechanisms where the vehicle continuously evaluates sensing range and adjusts position offsets based on detected occlusions. This closed-loop control ensures that path adjustments are made only when necessary and are optimized to maintain maximum sensing coverage with minimal control complexity.
3Illumination intensity
If the vehicle maintains a fixed driving path, then the control is simple, but the field of view for sensors is restricted
Solution Approach 1:
The solution adds a dimensional offset to the original two-dimensional path planning by introducing a position offset parameter that creates a three-dimensional solution space. This allows the vehicle to maintain simplicity in the base path while adding vertical adjustment capability to optimize sensor field of view without fundamentally complicating the path determination system.
Data Source
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AI summary
An electronic device and method for more accurate autonomous driving, where the electronic device includes a sensor disposed in a moving object and configured to generate sensing data, and a processor configured to determine a predicted position of the moving object and a region of interest (ROI) based on a driving plan of the moving object, select a target position offset based on an available sensing region of the sensor in the ROI and the predicted position, and update the driving plan of the moving object based on the target position offset.