Trajectory Validation for Autonomous Vehicle Collision Avoidance
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Solution Overview
Problem
Autonomous vehicle collision detection systems can be inoperable or ineffective due to errors in the processing pipeline, leading to unsafe vehicle maneuvers and potential collisions.
Innovation Solution
A secondary system that validates trajectories generated by a primary system, checking for errors and compatibility with the vehicle's capabilities, and takes control to avoid collisions by selecting a valid trajectory, such as a contingent or tertiary trajectory, to ensure safe operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a primary system generates trajectories with high complexity processing pipeline, then the system can handle complex scenarios, but errors may be introduced causing unsafe maneuvers
Solution Approach 1:
A secondary system acts as an intermediary between the primary system and vehicle control. The secondary system receives trajectories from the primary system, validates them independently, and either approves them for execution or generates alternative safe trajectories. This intermediary layer prevents erroneous trajectories from causing unsafe maneuvers while preserving the primary system's ability to handle complex scenarios.
Solution Approach 2:
The secondary system performs preliminary validation of trajectories before they are executed by the vehicle control system. By checking trajectory validity in advance ( examining collision risks, maneuver feasibility, and system capabilities), the secondary system prevents unsafe maneuvers from occurring, rather than reacting after errors are introduced.
2Reliability
If a secondary validation system is added to check trajectories, then collision avoidance improves, but device complexity increases
Solution Approach 1:
The validation system is segmented into distinct functional modules: trajectory reception module, validation module (checking collision risks, maneuver feasibility, system capabilities), and control module (approving or generating alternatives). This segmentation allows each module to perform its specific function efficiently, making the overall complex system more manageable and maintainable.
Solution Approach 2:
The secondary system is designed to be self-sufficient in validating trajectories and generating alternatives when needed. It independently assesses trajectory safety without requiring external intervention, and can autonomously generate alternative trajectories or activate safety measures when collisions are detected, reducing the need for additional external systems.
Data Source
AI summary
A vehicle may include a primary system and a secondary system to validate operation of the primary system and to control the vehicle to avoid collisions. For example, the secondary system may receive multiple trajectories from the primary system, such as a primary trajectory and a secondary, contingent, trajectory associated with a deceleration or other maneuver. The secondary system may determine if a trajectory is associated with a potential collision, if the trajectory is consistent with a current or previous pose, if the trajectory is compatible with a capability of the vehicle, etc. The secondary system may select the primary trajectory if valid, the secondary trajectory if the primary trajectory is invalid, or another trajectory generated by the secondary system if the primary trajectory and the secondary trajectory are invalid. If no valid trajectory is determined, the vehicle may decelerate at a maximum rate.