Redundant Vehicle Pose Generation for Navigation Failover
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Solution Overview
Problem
Autonomous vehicles face navigation challenges when their control units fail, leading to inaccurate determination of location and orientation, which can result in the route planning system's inability to safely guide the vehicle.
Innovation Solution
Implementing a dual pose generation system using two or more components that independently determine the pose of the autonomous vehicle using different sensor data, allowing for redundancy and continued operation even if one component fails, by comparing poses and switching to a fallback trajectory if discrepancies exceed thresholds.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a single control unit is used to determine pose, then the system is simple, but the reliability deteriorates when the control unit fails
Solution Approach 1:
The patent implements a dual-component pose determination system where each component (first and second pose determination components) independently determines pose using different sensor data. This local differentiation ensures that if one component fails, the other can still provide accurate pose information, thereby improving reliability without requiring a completely complex system architecture
Solution Approach 2:
The system prepares fallback mechanisms in advance by having two independent pose determination components ready. When the primary pose determination component fails, the system can switch to the secondary component without interruption, providing beforehand cushioning against failure and maintaining continuous operation
2Reliability
If redundant pose determination components are implemented, then reliability improves, but device complexity increases
Solution Approach 1:
Both the first and second pose determination components perform the same universal function of determining vehicle pose, but they use different sensor data sources. This multi-functionality approach allows the system to maintain reliability through redundancy while keeping each component's design relatively simple and focused on a single task
Solution Approach 2:
The system creates a redundant copy of the pose determination functionality through a second component that mirrors the first component's function. This copying approach improves reliability by having backup capability while maintaining simplicity through functional duplication rather than complex interdependent systems
Data Source
AI summary
Techniques for performing multiple simultaneous pose generation for an autonomous vehicle. For instance, a system that navigates the autonomous vehicle can include at least a first component that determines first poses for the autonomous vehicle using at least a first portion of sensor data captured by one or more sensors and a second component that determines second poses for the autonomous vehicle using at least a second portion of the sensor data. The first component may have more computational resources than the second component and determine poses at a different frequency than the second component. The system may generate trajectories for the autonomous vehicle using the first poses when the first component is operating correctly. Additionally, the system may generate trajectories for the autonomous vehicle using the second poses when the first component is not operating correctly.