Lateral Vehicle Offset for Forward Sensor Visibility
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Solution Overview
Problem
Automated and autonomous driving modes are hindered by forward-looking sensors being obstructed by target vehicles, which reduces their field of view and preview distance, limiting the functionality of these driving modes.
Innovation Solution
A method and system that determine if lateral movement within the host vehicle's lane is appropriate to improve sensor visibility by generating commands for the host vehicle to move laterally, allowing the sensors to see around the obstructing target vehicle and enhance the preview distance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the host vehicle maintains a stable position in the lane, then lane keeping stability is improved, but sensor visibility is reduced due to obstruction by target vehicles
Solution Approach 1:
The system dynamically adjusts the host vehicle's lateral position within the lane based on real-time sensor obstruction detection. When obstruction is detected, the vehicle transitions from a static centered position to a dynamic offset position that improves sensor visibility while maintaining lane keeping through continuous control adjustments
Solution Approach 2:
The system changes the lateral position parameter of the host vehicle within the lane to optimize sensor visibility. By adjusting the lateral offset parameter dynamically, the system resolves the contradiction between maintaining stable lane keeping and improving sensor visibility around obstructing vehicles
2Loss of information
If the host vehicle moves laterally to improve sensor visibility, then field of view is improved, but lane keeping stability deteriorates
Solution Approach 1:
The control system implements dynamic lateral movement commands that adjust the vehicle's position within the lane based on real-time obstruction detection. This dynamic adjustment allows the vehicle to move laterally only when and where needed to improve sensor visibility while maintaining overall lane keeping stability through continuous feedback control
Solution Approach 2:
The system applies local lateral position adjustments rather than global lane changes. By making small, localized positional adjustments within the lane, the system improves sensor visibility in specific directions while maintaining overall lane keeping stability and not disrupting the general lane following behavior
3Productivity
If forward-looking sensors are positioned to maximize preview distance, then autonomous driving functionality is improved, but sensor obstruction by target vehicles increases
Solution Approach 1:
The system resolves the obstruction problem by introducing a lateral dimension to the sensor's field of view. Instead of only looking straight ahead (one dimension), the vehicle positions itself laterally offset within the lane, creating a two-dimensional viewing angle that allows sensors to see around obstructing vehicles while maintaining maximum preview distance
Solution Approach 2:
The system dynamically changes the lateral position parameter of the host vehicle to optimize the sensor's effective field of view. By adjusting this parameter in response to detected obstructions, the system maintains autonomous driving functionality while mitigating the harmful effect of sensor obstruction
Data Source
AI summary
A system and method designed to improve sensor visibility for a host vehicle operating in an autonomous driving mode when one or more forward-looking sensors are being occluded or obstructed. According to an exemplary embodiment, when a forward-looking object detection sensor is being obstructed by a target vehicle located closely ahead of the host vehicle, the method determines if lateral movement by the host vehicle within its own lane is appropriate to improve sensor visibility around the target vehicle. If lateral movement is deemed appropriate, the method generates lateral movement commands that dictate the direction and distance of the lateral movement by the host vehicle. This may enable the object detection sensors to at least partially see around the obstructing target vehicle and improve the preview distance of the sensors.