Vehicle Trajectory Planning for Sensor Field-of-View Coverage
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Solution Overview
Problem
Autonomous vehicles face a risk of collision due to limited sensor field of view, necessitating multiple or advanced sensors to ensure complete area coverage during navigation, which increases cost and complexity.
Innovation Solution
A method for planning a driving trajectory that includes additional vehicle maneuvers to ensure each section of the path is within the sensor's field of view before traversal, allowing for reduced sensor requirements by optimizing sensor usage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If multiple environment perception sensors are equipped to observe all areas around the vehicle, then the risk of collision is reduced, but the cost and device complexity increase
Solution Approach 1:
The vehicle performs preliminary scanning actions by deviating from the expected travelling path to cover areas that would otherwise not be observable. The trajectory planning includes additional manoeuvres that proactively scan the environment before the vehicle reaches certain positions, ensuring complete area coverage without requiring multiple sensors positioned around the vehicle.
Solution Approach 2:
Instead of adding sensors in different spatial positions around the vehicle, the solution adds observation coverage by introducing temporal and trajectory dimensions. The single sensor achieves comprehensive coverage by varying the vehicle's path over time, scanning areas from different positions along the modified trajectory rather than having simultaneous multi-point observation.
2Device complexity
If the sensor field of view is limited, then the device complexity is reduced, but the area coverage capability deteriorates
Solution Approach 1:
The system performs preliminary scanning by deviating from the direct path to cover areas that would otherwise remain unobserved. The trajectory includes preparatory manoeuvres that position the sensor to scan regions ahead of or beside the vehicle's main path, ensuring complete coverage despite the sensor's limited instantaneous field of view.
Solution Approach 2:
The observation system becomes dynamic by varying the vehicle's trajectory rather than maintaining a fixed path. The sensor's effective coverage area expands through temporal dynamics as the vehicle moves along a modified trajectory that systematically covers all required areas over time, transforming a static limited field of view into a dynamic comprehensive coverage system.
Data Source
AI summary
A method for planning a driving trajectory defining a travelling path for a vehicle, wherein the driving trajectory is intended to be followed by executing one or more vehicle manoeuvres and wherein the vehicle comprises at least one environment perception sensor having a sensor field of view he method includes planning the driving trajectory from a first point to a second point, by including at least one additional vehicle manoeuvre resulting in a deviation from an otherwise expected travelling path from the first point to the second point, so that each section of an area which the vehicle is intended to pass from the first point to the second point is covered in the sensor field of view at least one time during driving from the first point to the second point and at least before passing each respective section.