Vehicle Trajectory Constraint Control Under Sensor Uncertainty
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Autonomous and semi-autonomous vehicles face challenges in navigating with precision due to navigational uncertainties arising from sensor impairments, environmental conditions, and map inaccuracies, leading to potential deviations from intended paths.
Innovation Solution
A navigational constraint control system that utilizes an on-board sensor network, virtual hazard inference, and processor-controlled engine and steering systems to detect external objects, calculate navigational constraints, and adjust vehicle trajectory to mitigate deviations based on uncertainties.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If autonomous vehicles navigate using standard sensor networks and prestored path indices, then basic navigation functionality is achieved, but navigational deviations occur due to sensor impairments, environmental conditions, and map inaccuracies
Solution Approach 1:
The system performs preliminary calculations of navigational constraints before actual navigation occurs. The processor calculates maximum lateral and longitudinal deviations in advance based on sensor uncertainties, creating a safety envelope that guides real-time navigation decisions and prevents deviations before they occur.
Solution Approach 2:
The patent introduces virtual hazards as an intermediary concept between actual obstacles and vehicle response. By inferring potential hazards from sensor uncertainties and environmental conditions, the system creates virtual constraint boundaries that mediate between imperfect sensor data and safe navigation decisions, allowing the vehicle to navigate reliably despite measurement imprecisions.
2Adaptability or versatility
If the vehicle uses a rigid reference trajectory from prestored path index, then navigation path is clearly defined, but the vehicle cannot adapt to real-time environmental conditions and sensor uncertainties
Solution Approach 1:
The system transforms the static reference trajectory into a dynamic navigation envelope by calculating time-varying lateral and longitudinal constraints. These constraints adapt in real-time based on sensor uncertainties and environmental conditions, allowing the vehicle to dynamically adjust its permissible deviation boundaries while maintaining systematic control through automated processor-based calculations.
3Reliability
If the vehicle maintains strict adherence to the reference trajectory, then path following accuracy is maximized, but safety is compromised when sensor uncertainties or environmental conditions create false trajectory information
Solution Approach 1:
The system applies preliminary anti-action by calculating maximum permissible deviations before navigation errors occur. By establishing virtual hazard boundaries based on sensor uncertainties and environmental conditions, the system preemptively prevents unsafe trajectory adherence, allowing the vehicle to deviate from the reference path when necessary while maintaining safety through pre-calculated constraint boundaries.
Data Source
AI summary
A vehicle includes a vehicle engine, a steering control unit, an on-board sensor network and a navigational constraint control system. The vehicle engine generates a torque output of the vehicle. The steering control unit controls a steering angle of the vehicle. The on-board sensor network is programmed to detect external objects within a detection zone. The navigational constraint control system has a memory for storing a path index for the vehicle's navigation. The processor is programmed to determine a reference trajectory from the path index. The processor is further programmed to calculate navigational constraints for the determined reference trajectory to determine a nominal trajectory based on information detected by the on-board sensor network. The processor is programmed to control at least one of the vehicle engine and the steering control unit in accordance with the nominal trajectory.