Autonomous Vehicle Localization Delay Evaluation Using Reference Curves
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Solution Overview
Problem
There is a lack of efficient methods to evaluate the localization system of autonomous driving vehicles, which is crucial for motion planning and control, as existing systems do not effectively determine the quality and system delay of localization systems.
Innovation Solution
A computer-implemented method is introduced that involves equipping autonomous driving vehicles with two localization systems: a known reference system and a target system. The vehicle drives concurrently with both systems, and by generating and comparing localization curves, the system delay and quality of the target system are determined, allowing for compensation in path planning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a single localization system is used in autonomous driving vehicles, then the system complexity is low, but the measurement precision of localization quality and system delay cannot be determined
Solution Approach 1:
The patent introduces a reference localization system as an intermediary standard to evaluate the target localization system. The reference system provides known-accuracy localization data that serves as a benchmark, enabling precise measurement of the target system's performance without requiring complex external measurement equipment. This mediator approach resolves the contradiction by enabling accurate measurement while keeping the overall system architecture relatively simple.
Solution Approach 2:
The patent employs a reference localization system that replicates the functionality of the target system but with known, calibrated performance characteristics. By creating this copy with established accuracy, the system can compare and measure the target system's localization quality and delay without needing complex external measurement infrastructure, thus improving measurement precision while controlling device complexity.
2Measurement precision
If dual localization systems are deployed concurrently, then the measurement precision of system delay is improved, but the device complexity increases
Solution Approach 1:
The patent segments the localization evaluation function into two distinct systems: a reference system with known characteristics and a target system under evaluation. This segmentation allows each system to be optimized independently while their concurrent operation enables precise delay measurement through comparison, resolving the contradiction between improved measurement precision and increased device complexity.
Solution Approach 2:
The patent utilizes parameter changes in the localization data from two systems operating at different accuracy levels and time delays. By analyzing variations in localization parameters (position, time stamps) from both systems, the method can precisely determine system delay while the computational processing manages the complexity of handling dual system data streams.
3Measurement precision
If localization curves from two systems are compared, then the system delay can be determined accurately, but the data processing complexity increases
Solution Approach 1:
The patent replaces complex mechanical or physical measurement methods with computational analysis of localization curves. Instead of using physical timing equipment or complex measurement apparatus, the system uses algorithmic comparison of positional and temporal data from two localization systems, substituting mechanical complexity with software-based curve analysis that achieves high measurement precision.
Solution Approach 2:
The patent employs feedback mechanisms where the comparison results of localization curves are used to iteratively refine the system delay determination. By continuously analyzing the correlation and time shifts between reference and target system curves, the method achieves accurate delay measurement while the feedback loop manages data processing complexity through systematic refinement rather than brute-force analysis.
Data Source
AI summary
A first localization system performs a first localization using a first set of sensors to track locations of the ADV along the path from a starting point to a destination point. A first localization curve is generated as a result representing the locations of the ADV along the path tracked by the first localization system. Currently, a second localization system performs a second localization using a second set of sensors to track the locations of the ADV along the path. A second localization curve is generated as a result representing the locations of the ADV along the path tracked by the second localization system. A system delay of the second localization system is determined by comparing the second localization curve against the first localization curve as a localization reference. The system delay of the second localization system can then be utilized to compensate path planning of the ADV subsequently.