Moving Body Position Revision for Localization Error Control
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Solution Overview
Problem
Existing control systems for moving bodies, such as vehicles, face issues with abrupt fluctuations in estimated positions due to sensor abnormalities, leading to potential continuation of incorrect control, which can compromise safety and performance.
Innovation Solution
A control apparatus that revises estimated positions to ensure a displacement amount within a predetermined range, detects poor accuracy based on position differences, and executes emergency controls when necessary to prevent incorrect control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the estimated position is used directly for control without revision, then the control can respond quickly to position changes, but the control may continue while the position is incorrect due to abrupt fluctuations from sensor abnormalities
Solution Approach 1:
The control apparatus performs preliminary revision of the estimated position before using it for control. The position revision unit corrects the estimated position in advance by limiting displacement amounts and detecting poor accuracy, so that when control is executed, the position is already verified and less likely to cause unsafe continuation of control.
Solution Approach 2:
The position revision unit acts as an intermediary between the localization unit and the control unit. It mediates the estimated position by applying revision rules (limiting displacement, detecting poor accuracy) before passing the position to the control unit, thus filtering out potentially erroneous positions that would compromise control safety.
2Duration of action of stationary object
If the weighting to prediction position is increased when estimation is unsteady, then the control can maintain continuity, but the control may continue while the position is greatly erroneous due to historical errors in prediction
Solution Approach 1:
The control apparatus uses feedback by detecting the difference between consecutive estimated positions and comparing it against predetermined thresholds. When the displacement exceeds the threshold (indicating poor accuracy), the system identifies this feedback signal and switches to alternative control modes, preventing continuation of control with greatly erroneous positions.
Solution Approach 2:
The control apparatus dynamically adjusts control strategy based on the stability of position estimation. When position fluctuations are small, normal control continues; when fluctuations exceed thresholds, the system dynamically switches to emergency control or stops control, adapting to the current estimation quality rather than using fixed weighting.
3Measurement precision
If the displacement amount limit is applied to revise estimated position, then the position accuracy is improved by preventing abrupt fluctuations, but the control may not follow the true position changes when they are within normal ranges
Solution Approach 1:
The control apparatus applies partial revision by setting predetermined thresholds for displacement amounts. Only when the displacement exceeds these thresholds (excessive action) does the revision kick in to limit the position change. For normal displacements within thresholds, no revision is applied, allowing the control to follow true position changes accurately.
Solution Approach 2:
The system changes the parameter of position revision based on the magnitude of displacement. When displacement is within the predetermined range, the revision parameter is effectively disabled (no revision). When displacement exceeds the range, the revision parameter is activated to limit the position to within acceptable bounds, thus adapting the revision strength to the situation.
Data Source
AI summary
A control apparatus according to the present disclosure is configured to execute the following first to five processes. The first process is a localization of a moving body. The second process is revising an estimated position obtained by the localization such that a displacement amount with respect to a previous position is within a predetermined range. The third process is regarding a revised estimated position obtained as a position of the moving body in a current process, and performing a control of the moving body based on the revised estimated position. The fourth process is detecting a poor accuracy of the localization based on a difference between the estimated position and the revised estimated position. The fifth process is performing an emergency control corresponding to a magnitude of the difference when the poor accuracy of the localization is detected.