Rooftop Sensor Repositioning for Low-Clearance Autonomous Driving
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Solution Overview
Problem
Autonomous vehicles with rooftop sensors face limitations in navigating areas with low clearances due to their increased height, reducing their service area and efficiency, especially in urban environments.
Innovation Solution
The rooftop sensors can be dynamically repositioned to adjust their height by collapsing or swiveling support structures, allowing the vehicle to pass under low-clearance obstacles, using motors and computing devices to determine optimal activation times based on map information and sensor data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If rooftop sensors are mounted on the autonomous vehicle to enable detection of objects in surroundings, then the sensor detection capability is improved, but the total vehicle height increases which restricts navigation through low clearance zones
Solution Approach 1:
The support structure is designed to be dynamically adjustable between extended and retracted positions. The motorized actuator enables the support structure to change its length, allowing the rooftop sensor to be positioned at different heights relative to the vehicle body. This dynamic adjustment resolves the contradiction by enabling the sensor to be high for detection when needed while low for navigating clearance zones.
Solution Approach 2:
The support structure is configured to nest within or alongside the vehicle body when retracted. The motorized mechanism allows the support structure to be stored compactly when not in use, reducing the overall height profile of the vehicle. This nesting approach allows the sensor to be integrated into the vehicle's height profile while maintaining the capability to extend when detection capability is prioritized.
2Speed
If the support structure is extended to increase sensor height for better detection range, then the detection range is improved, but the vehicle cannot pass through low clearance obstacles
Solution Approach 1:
The motorized actuator enables real-time adjustment of the support structure between extended and retracted states. The controller receives inputs about upcoming obstacles and dynamically commands the actuator to retract before low clearance zones and extend in open areas. This dynamic control allows the system to optimize detection range when possible while adapting to clearance constraints when necessary.
Solution Approach 2:
The controller uses sensor data and map information to predict upcoming low clearance obstacles and proactively commands the motor to retract the support structure in advance. This preliminary action ensures the vehicle is in the correct configuration before encountering the obstacle, preventing collision while maintaining detection capability when the path is clear.
3Adaptability or versatility
If the rooftop sensor is repositioned frequently to adapt to different clearance zones, then the adaptability is improved, but the system complexity increases
Solution Approach 1:
The motorized actuator serves multiple functions: extending the support structure for detection, retracting for clearance zones, and positioning the sensor at intermediate heights. The controller integrates with the vehicle's existing sensor suite and route planning systems, allowing the single actuator mechanism to work within the broader autonomous vehicle control architecture. This multi-functionality reduces the need for separate mechanisms for each adjustment scenario.
Solution Approach 2:
The controller automatically determines when to extend or retract the support structure by processing sensor data and comparing it against map information about upcoming obstacles. The system self-regulates without requiring manual intervention or complex external control systems. The motor actuator responds to controller commands based on real-time conditions, allowing the system to adapt autonomously to varying clearance zones.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This adjustment enhances the vehicle's ability to navigate through low-clearance areas, increasing its service area and operational efficiency in urban environments.
Implementation Method 1
causing a motor to reposition the rooftop sensor
Data Source
AI summary
Aspects of the disclosure relate to repositioning a rooftop sensor of an autonomous vehicle when needed to reduce the overall height of the autonomous vehicle. For instance, while an autonomous vehicle is being controlled in an autonomous driving mode, a low clearance zone may be identified. An activation location may be determined based on the low clearance zone and a current speed of the autonomous vehicle. Once the activation location is reached by the autonomous vehicle, a motor may be caused to reposition the rooftop sensor. In addition, in some instances, after the autonomous vehicle has passed the low clearance zone, the motor may be caused to reposition the rooftop sensor again.