Ego Vehicle Sensor Blockage Detection Using Prior and Posterior Probabilities
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Solution Overview
Problem
Current sensor blockage detection methods in ego vehicles are limited and lack ground truth, often failing to accurately identify blockages due to environmental conditions, which can lead to restricted fields of view and potential safety hazards.
Innovation Solution
A method that determines the blockage probability of a sensor by combining prior blockage probabilities calculated from external data sources and sensor performance data, using environmental conditions and occupancy probabilities, to identify blockages more precisely and efficiently, without relying on sensor data from other sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If current sensor blockage detection methods are used, then the detection process is simple, but the detection accuracy is insufficient and lacks ground truth
Solution Approach 1:
The patent introduces an intermediary system that compares sensor data with map data and environmental information to detect blockages. This intermediary approach provides ground truth for validation without requiring complex additional sensors, thereby improving detection accuracy while maintaining reasonable system complexity
Solution Approach 2:
The system implements feedback by continuously comparing expected sensor readings (derived from map data and environmental conditions) with actual sensor data. This feedback mechanism enables accurate blockage detection by identifying discrepancies between expected and observed sensor performance
2Reliability
If sensor blockage detection is not performed, then the system operation is simple, but safety is compromised due to restricted field of view
Solution Approach 1:
The system performs preliminary blockage detection by comparing sensor data with map data and environmental information before making safety-critical decisions. This preliminary action identifies potential blockages early, allowing the system to maintain reliable operation without requiring complex real-time intervention mechanisms
Solution Approach 2:
An intermediary detection mechanism using map data and environmental information provides safety validation without requiring additional complex sensing systems. This intermediary approach ensures passenger safety by detecting blockages that would otherwise go unnoticed
3Measurement precision
If external data sources are used to determine prior blockage probability, then ground truth is established, but data processing complexity increases
Solution Approach 1:
The system performs preliminary processing of external data sources to determine prior blockage probabilities before actual blockage detection. By pre-processing and storing relevant environmental and map data, the system establishes ground truth without incurring excessive processing delays during critical detection moments
Solution Approach 2:
The system selectively processes only the necessary external data sources required for blockage detection rather than analyzing all available data. This partial action approach maintains high detection accuracy by focusing on relevant data while minimizing processing time and computational overhead
Data Source
AI summary
A method determines a blockage of a sensor of a plurality of sensors of an ego vehicle. The method determines a prior blockage probability of the sensor of the plurality of sensors; receives sensor data of the sensor of the plurality of sensors; determines a performance of the sensor based on the received sensor data; calculates a posterior blockage probability based on the prior blockage probability of the sensor and the performance of the sensor; and determines the blockage of the sensors using the calculated posterior blockage probability.