Vehicle Map Corridor Validation via Sensor Comparison
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Solution Overview
Problem
Existing automatic driving vehicle systems face challenges in maintaining accurate map data due to changes in road conditions, such as altered lane markings, moved guardrails, or new infrastructure, which necessitates a method for validating and updating map data to ensure safety and precise vehicle location.
Innovation Solution
A method involving the comparison of a planning map's map corridor with a sensor corridor, using a threshold value to determine their identity, allowing the vehicle to switch to a sensor corridor for operation if they are not identical, thereby validating the map corridor without requiring adjustments to the planning or localization maps, and utilizing sensor-specific features like lane markings or guardrails for reliable validation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the vehicle relies on pre-created map data for localization and operation, then the system can operate with established navigation infrastructure, but the map data becomes outdated when road conditions change (lane markings altered, guardrails moved, infrastructure added/removed)
Solution Approach 1:
The system continuously compares sensor-detected corridors with map-defined corridors to detect discrepancies. When differences are found, the system uses sensor corridors as feedback to override outdated map data, ensuring the vehicle operates with current environmental information without requiring manual map updates.
Solution Approach 2:
The vehicle performs self-validation by comparing its own sensor observations against map data. The system autonomously determines whether to trust map corridors or sensor corridors based on this comparison, eliminating the need for external map validation services or manual updates.
2Reliability
If the system validates map corridors by comparing with sensor corridors, then safety is improved through real-time verification, but the system complexity increases due to additional validation logic and threshold comparisons
Solution Approach 1:
The system introduces a deviation threshold parameter to simplify the validation decision. By comparing whether corridor deviations exceed this threshold, the system transforms a complex validation problem into a simple parameter comparison, reducing computational complexity while maintaining safety.
3Adaptability or versatility
If the vehicle uses sensor corridor detection to validate map accuracy, then the system can operate with outdated maps without adjustments, but the detection precision requirements for sensors increase
Solution Approach 1:
The system performs preliminary sensor scanning to detect corridors and features before validation. By pre-detecting environmental features and storing them for comparison, the system reduces the precision burden during critical validation moments, as the preliminary detection provides a reference framework for subsequent comparisons.
Data Source
AI summary
In a method for operating a vehicle, a planning map and a localization map are provided, the vehicle is localized on the localization map, a map corridor indicated in the planning map is selected based on the localization, a sensor corridor is ascertained using a sensor unit of the vehicle, and the map corridor is compared to the sensor corridor. Using a specified threshold value for a deviation between the map corridor and the sensor corridor, it is decided whether the map corridor and the sensor corridor are identical. The map corridor is utilized for operating the vehicle if the map corridor and the sensor corridor are identical, and the sensor corridor is utilized for operating the vehicle if the map corridor and the sensor corridor are not identical.