Safety Module Lane Coordinate System for Automated Driving
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Solution Overview
Problem
Current automated driving systems face challenges in ensuring safety and operational safety, particularly in complex real-world scenarios with changing road geometries and dynamic obstacles, as they often rely on ideal assumptions that do not account for real-world conditions, leading to inconsistencies and potential safety issues.
Innovation Solution
The implementation of a safety module that converts real-world road geometries into a situation-based lane coordinate system, using a bijective embedding to abstract from changing road geometries and incorporate worst-case assumptions, allowing for accurate safety calculations and safe behavior in dynamic situations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If automated driving systems rely on ideal assumptions for safety calculations, then the calculations are mathematically consistent, but they fail to account for real-world conditions leading to safety issues
Solution Approach 1:
The patent introduces a coordinate system transformation as an intermediary layer between the ideal safety model and real-world road geometries. This transformation maps complex real-world coordinates into a standardized lane-based coordinate system, allowing the safety calculations to remain mathematically consistent while adapting to various real-world conditions through the transformation process
Solution Approach 2:
The patent changes the parameter representation by transforming physical road geometry parameters into abstract lane coordinate parameters. This allows the safety model to work with idealized parameters in the lane coordinate system while the coordinate transformation handles the complexity of real-world variations, resolving the contradiction between mathematical consistency and real-world adaptability
2Reliability
If the system uses detailed real-world road geometries for safety calculations, then it accounts for real-world conditions, but the computational complexity increases
Solution Approach 1:
The patent extracts the essential geometric information needed for safety calculations by transforming detailed real-world road geometries into a simplified lane-based coordinate system. This extraction process removes unnecessary computational complexity while retaining the critical spatial relationships needed for safety assessments
Solution Approach 2:
The patent creates a simplified copy of the real-world road geometry in the form of a lane-based coordinate system. This copy retains the essential spatial relationships and topological information needed for safety calculations while being computationally much simpler to process than the full real-world geometry
3Measurement precision
If the system transforms road geometries into a lane coordinate system, then safety calculations become more accurate, but the processing time increases
Solution Approach 1:
The patent performs the coordinate system transformation as a preliminary step before safety calculations. By pre-processing the road geometry data into the lane-based coordinate system, the system avoids repeated transformations during safety assessments, thereby improving calculation accuracy while minimizing the time penalty to a single preprocessing operation
Data Source
AI summary
According to various aspects, a safety module is described including: one or more processors configured to receive road information representing a geometry of one or more roads in a Cartesian coordinate system, determine a lane coordinate system based on the received road information, the lane coordinate system including a plurality of lane segments arranged along a longitudinal direction and along a lateral direction of the lane coordinate system, wherein a length information and a width information are assigned to each of the lane segments, and determine a potential collision event based on the lane coordinate system.