Automated Driving Trajectory Control for Sensor Occlusion Reduction
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Solution Overview
Problem
Existing vehicle sensors face performance degradation due to occlusions, limiting detection capabilities and increasing costs when additional sensors are added to enhance performance.
Innovation Solution
A control device generates a target trajectory for automated driving that adjusts the vehicle's orientation to minimize occlusions by rotating the rear direction relative to the roadway when occlusions are detected, utilizing multiple sensors with overlapping detection areas to enhance sensing range.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If hardware is improved or sensor numbers are increased to upgrade overall sensor performance, then sensor detection performance is improved, but hardware cost increases
Solution Approach 1:
The system changes the operational parameters of existing sensors by dynamically adjusting their detection patterns and coordination modes. When occlusion is detected, the control device modifies how sensors are utilized (changing their effective parameters) rather than adding hardware, thereby maintaining detection performance without increasing cost.
Solution Approach 2:
The control device enables existing sensors to perform multiple functions by coordinating them dynamically. Sensors that would normally have fixed roles can adapt to different detection needs based on occlusion conditions, maximizing the utility of existing hardware without requiring additional sensors.
2Measurement precision
If sensors are used to detect objects around the vehicle, then detection capability is provided, but occlusions limit detection distance and accuracy
Solution Approach 1:
The control device acts as an intermediary that processes information from multiple sensors and coordinates their detection efforts. When one sensor's view is occluded, the control device mediates by redirecting detection tasks to other sensors with unobstructed views, thereby maintaining measurement precision despite occlusions.
Solution Approach 2:
The system merges the detection capabilities of multiple sensors into a unified detection system. By combining data from sensors with different fields of view and merging their detection results, the system overcomes individual sensor occlusions and maintains accurate object detection.
3Device complexity
If a fixed sensor configuration is used for automated driving, then system simplicity is maintained, but adaptability to occlusion conditions decreases
Solution Approach 1:
The control device introduces dynamic adjustment capabilities to the sensor system. While the physical sensor configuration remains fixed and simple, the system dynamically adapts sensor usage patterns, detection priorities, and data fusion strategies based on real-time occlusion conditions, thereby achieving versatility without increasing physical complexity.
Data Source
AI summary
A control device for a vehicle including a first sensor and a second sensor. The control device includes a processor configured to function as: a data receiving part, receiving sensor data from the first sensor; an occlusion detection part, detecting a presence of an occlusion around the vehicle based on the sensor data received; a target trajectory generating part, generating the predetermined target trajectory of the vehicle for automated driving of the vehicle, the predetermined target trajectory is set such that the vehicle is configured to enter a roadway from an outside of the roadway via a rear direction of the vehicle; wherein in a case when the occlusion detection part detects the presence of the occlusion, the predetermined target trajectory is generated such that, when the vehicle enters the roadway, the rear direction of the vehicle relative to the roadway is set such that the occlusion is reduced.