Autonomous Driving Path Offset for Sensor FOV Occlusion
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Solution Overview
Problem
Autonomous vehicles face challenges in maintaining an optimal field of view (FOV) for sensors due to obstacles, limiting the collection of surrounding information and the ability to determine risk levels in occluded regions.
Innovation Solution
An electronic device adjusts the driving plan to secure an available sensing region by selecting a target position offset based on the sensor's available region of interest (ROI), predicting the vehicle's position, and updating the driving plan to maximize sensor FOV through active sensing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of information
If the autonomous vehicle follows the original driving plan, then the driving path is maintained, but the sensor's field of view is blocked by obstacles limiting environmental data collection
Solution Approach 1:
The system performs preliminary action by predicting the vehicle's future position along the driving plan and proactively adjusting the driving plan before obstacles block the sensor's field of view. The processor calculates a position offset that moves the vehicle to a location where the sensor can maintain an unobstructed view of the region of interest, preventing information loss before it occurs.
Solution Approach 2:
The system applies dynamics by making the driving plan adjustable and adaptive rather than fixed. The processor dynamically modifies the driving plan by applying a position offset to the predicted vehicle position, allowing the vehicle to deviate from the original path when necessary to maintain optimal sensor visibility while still progressing toward the destination.
2Loss of information
If the vehicle adjusts position to maintain sensor FOV, then environmental data collection is improved, but the driving path deviates from the original plan
Solution Approach 1:
The system applies partial action by making minimal, necessary adjustments to the driving plan rather than completely deviating from it. The position offset is calculated to be just sufficient to clear the obstacle from the sensor's field of view while maintaining the overall driving direction and reaching the destination efficiently, avoiding excessive path deviation.
3Reliability
If the sensor monitors a fixed region of interest, then the monitoring function is simple, but obstacles block the sensing region limiting risk assessment
Solution Approach 1:
The system implements feedback by continuously monitoring whether obstacles block the sensor's field of view in the region of interest and using this information to adjust the driving plan. The processor evaluates the available sensing region at the predicted vehicle position and applies a position offset when blocking is detected, creating a closed-loop system that maintains reliable risk assessment capability.
Data Source
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.