Router Flag Mapping for Autonomous Vehicle Route Limitations
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Solution Overview
Problem
Autonomous vehicles face challenges in navigating routes that exceed their capabilities, such as steep hills or sharp turns, due to limitations in their sensor systems and routing maps that are not dynamically updated, leading to potential failures and inefficiencies in route planning.
Innovation Solution
The implementation of router flags on routing maps to identify and omit problematic routes based on autonomous vehicle limitations, allowing for proactive avoidance of unsafe areas by dynamically updating the routable graph, customized for specific vehicle types and capabilities.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If blacklists are used to remove problematic lanes from the routable graph, then the autonomous vehicle avoids routes it cannot navigate, but the system becomes reactive and cannot proactively prevent failures
Solution Approach 1:
The system applies router flags to the routing map in advance based on autonomous vehicle limitations (e.g., maximum hill grade, minimum turn radius). This preliminary action prevents the vehicle from attempting impossible routes before failures occur, transforming the reactive blacklist approach into a proactive prevention system.
Solution Approach 2:
The system uses feedback from autonomous vehicle operational data to identify and flag routes that exceed vehicle capabilities. This feedback loop enables continuous improvement of the routable graph, ensuring routes are progressively refined to match actual vehicle performance characteristics.
2Stability of the object's composition
If blacklists are applied across all autonomous vehicles, then consistent routing is maintained, but the system cannot be customized to different vehicle capabilities
Solution Approach 1:
The system applies different router flags to different autonomous vehicles based on their specific capabilities. Each vehicle receives a customized routable graph with flags tailored to its unique limitations (e.g., one vehicle may have hill grade limitations while another has turn radius limitations), enabling both consistency in approach and customization in application.
Solution Approach 2:
The routable graph becomes dynamic and adaptable to each vehicle's capabilities rather than being static and universal. Router flags are dynamically applied based on vehicle specifications, allowing the system to maintain routing consistency through a unified methodology while adapting to diverse vehicle capabilities.
3Reliability
If the routing map is updated frequently to reflect world changes, then the map remains accurate, but the system complexity increases
Solution Approach 1:
Router flags are applied to the routing map in advance during map updates, encoding vehicle limitation information directly into the map data structure. This preliminary encoding simplifies subsequent route planning operations, as the vehicle can quickly query flagged routes without complex real-time analysis of vehicle capabilities versus route characteristics.
Data Source
AI summary
Systems and methods provide for routing an autonomous vehicles based on an assessment of its limitations. The autonomous vehicle can avoid problematic routes by applying a set of rules to a map, where the set of rules are associated with a feature that causes a failure of the autonomous vehicle due to an autonomous vehicle limitation. Based on the application of the set of rules, a portion of a route on the map that is associated with the feature can be identified, and an identifier can be applied to the identified portion of the route associated with the feature on a routing map. The portion of the route can be omitted from a routable graph applied to the routing map, such that the route for the autonomous vehicle is generated in accordance with the routable graph.