Autonomous Lane Change Sensor Sharing System
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Solution Overview
Problem
Autonomous lane changing in vehicles is hindered by limitations in sensor data collection, particularly when on-board sensors are obstructed or insufficient for classifying a destination lane as clear, especially during high-speed changes or when behind a slowly moving vehicle, leading to complications in executing lane changes.
Innovation Solution
A process and system for sensor sharing between vehicles, where a host vehicle communicates with a confederate vehicle to combine sensor data, determining if the effective sensor ranges together cover a calculated perception range, and adjusting for obstacles like third vehicles or trailers, to authorize and execute lane changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of information
If on-board sensors are used for autonomous lane changing, then the vehicle can detect obstacles in its own lane, but the sensor range is insufficient to cover the destination lane when behind a slowly moving vehicle or when sensors are obstructed
Solution Approach 1:
The patent combines sensor data from multiple vehicles (host vehicle and confederate vehicles) to create a comprehensive perception of the destination lane. By merging radar and camera data from different spatial positions, the system overcomes individual sensor limitations and achieves complete coverage of the lane change zone.
Solution Approach 2:
The patent introduces confederate vehicles as intermediary elements that provide additional sensor data. These confederate vehicles act as extended sensing nodes, sharing their sensor information with the host vehicle through vehicle-to-vehicle communication to fill detection gaps.
2Reliability
If the vehicle waits for complete sensor coverage before lane changing, then safety is improved, but the lane change execution time increases
Solution Approach 1:
The system performs preliminary sensor fusion and destination lane classification using available data from host and confederate vehicles before the lane change maneuver begins. This preliminary assessment allows the vehicle to proceed with lane changes more quickly once safety is confirmed, reducing execution time while maintaining safety.
Solution Approach 2:
The patent uses partial sensor coverage from confederate vehicles to make lane change decisions, rather than requiring complete independent verification. By accepting and processing partial data from external sources, the system makes timely decisions without waiting for full sensor coverage.
3Measurement precision
If the vehicle uses a larger perception range to ensure complete coverage, then detection accuracy improves, but the complexity of sensor coordination and data processing increases
Solution Approach 1:
The patent divides the perception task into segments handled by different vehicles. The host vehicle focuses on its immediate surroundings while confederate vehicles cover extended areas. This segmentation reduces individual processing complexity while achieving comprehensive coverage through coordinated data fusion.
Solution Approach 2:
The sensor fusion system is designed to process and integrate multiple data types (radar, camera) from multiple sources (host and confederate vehicles) using a unified algorithmic framework. This multi-functional approach handles varying data inputs systematically, managing complexity through standardized processing procedures.
Data Source
AI summary
A process for sensor sharing for an autonomous lane change is provided. The process includes, within a dynamic controller of a host vehicle, monitoring sensors of the host vehicle, establishing communication between the host vehicle and a confederate vehicle on a same roadway as the host vehicle, monitoring sensors of the confederate vehicle, within the dynamic controller of the host vehicle, utilizing data from the sensors of the host vehicle and data from the sensors of the confederate vehicle to initiate a lane change maneuver for the host vehicle, and executing the lane change maneuver for the host vehicle.