V2X Infrastructure Lane Detection for Autonomous Vehicles
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Solution Overview
Problem
Autonomous driving vehicles (ADVs) face challenges in reliably determining lane boundaries, which is critical for safe navigation, especially at higher levels of autonomy, as existing methods may not provide sufficient accuracy or redundancy.
Innovation Solution
The implementation of a vehicle-to-everything (V2X) communication-based system that uses V2X communication data from infrastructure to determine distances and relative locations, allowing the ADV to retrieve lane information and generate trajectories for autonomous control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If lane boundaries are perceived only by onboard sensors of the ADV, then the system structure remains simple, but the reliability and accuracy of lane boundary detection are insufficient
Solution Approach 1:
The patent introduces roadside infrastructure (RSU, cameras, sensors) as intermediary components that assist the ADV in detecting lane boundaries. These intermediaries provide additional detection capabilities and data sources, improving reliability without requiring the ADV itself to have overly complex sensing systems. The infrastructure acts as a mediator between the vehicle and the road environment.
Solution Approach 2:
The patent combines multiple data sources including onboard ADV sensors, roadside infrastructure sensors, map data, and V2X communication data to determine lane boundaries. This merging of multiple independent detection systems creates a redundant and more reliable determination mechanism, where the failure of one system can be compensated by others.
2Measurement precision
If multiple data sources and V2X communication systems are integrated to improve lane boundary detection reliability, then detection accuracy improves, but system complexity increases
Solution Approach 1:
The patent divides the lane boundary detection system into distinct functional modules: onboard sensing module, V2X communication module, map data module, and determination module. Each module has a specific function and processes specific types of data. This segmentation allows for independent optimization of each module and simplifies the overall system architecture by creating clear interfaces between components.
Solution Approach 2:
The determination module serves multiple functions: it processes data from various sources (sensors, V2X, maps), performs data fusion, validates consistency, and outputs lane boundary information. This multi-functional design reduces the need for separate specialized components for each function, thereby managing complexity while maintaining high measurement precision.
3Reliability
If V2X communication data from multiple infrastructures is used to determine relative location, then navigation reliability improves, but communication and processing complexity increases
Solution Approach 1:
The system performs preliminary actions by pre-establishing communication channels with roadside infrastructure and pre-processing V2X data before critical navigation decisions are needed. The determination module proactively calculates relative locations using multiple infrastructure data sources in advance, so that when navigation decisions are required, the information is already prepared and validated, reducing real-time processing complexity.
Solution Approach 2:
The system implements feedback mechanisms where the determined relative location and lane boundary information are continuously validated against new V2X data and sensor inputs. This feedback loop ensures navigation reliability by detecting and correcting deviations or errors in real-time, while the structured feedback process manages complexity through systematic data comparison and validation protocols.
Data Source
AI summary
According to some embodiments, a system receives, at a first sensor of the ADV, a first and a second V2X communication data from a first infrastructure and a second infrastructure respectively. The system determines a first distance from the ADV to the first infrastructure and a second distance from the ADV to the second infrastructure based on the first and the second V2X communication data. The system determines a relative location of the ADV to the first or the second infrastructure based on the first and the second distances and a predetermined distance between the first infrastructure and the second infrastructure. The system retrieves lane information based on the relative location of the ADV to the first or the second infrastructure. The system generates a trajectory based on the lane information to control the ADV autonomously according to the trajectory.