Autonomous Vehicle Calibration via Planned Trajectory Data Collection
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Solution Overview
Problem
Existing autonomous vehicle calibration methods face challenges in collecting high-quality traveling data efficiently due to manual driving limitations, which are prone to errors and restricted by environmental conditions, leading to poor calibration quality and slow data collection speeds.
Innovation Solution
An autonomous vehicle calibration method utilizing VIL/MOP processing to automatically collect traveling data by embedding a vehicle in a simulation loop, combining simulation and real-world testing, enabling precise trajectory tracking and speed control to enhance data quality and efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual driving is used to collect traveling data, then the vehicle can be operated flexibly, but the trajectory precision and data quality deteriorate
Solution Approach 1:
The autonomous vehicle performs data collection automatically without human intervention. The vehicle autonomously navigates along the designed trajectory, collects sensing data from sensors, and returns to the starting point, eliminating manual driving operations while maintaining high trajectory precision through automated control systems
Solution Approach 2:
The patent replaces manual mechanical driving with an automated control system that uses sensing fusion, trajectory planning, and motion control modules. This substitution enables precise trajectory tracking by replacing human-operated mechanical control with automated electronic control systems that can accurately follow predefined paths
2Measurement precision
If data re-collection is performed to improve quality, then calibration precision improves, but data collection time increases
Solution Approach 1:
The system performs preliminary trajectory planning and sensor calibration before actual data collection. The trajectory planning module pre-calculates the optimal path, and sensors are pre-calibrated to ensure high-quality data collection in a single pass, eliminating the need for repeated data collection
Solution Approach 2:
The autonomous driving system incorporates real-time feedback through sensing fusion that continuously monitors trajectory tracking accuracy and data quality. This feedback mechanism allows the system to make real-time adjustments to maintain high data quality throughout the collection process, ensuring calibration precision without requiring multiple collection passes
3Adaptability or versatility
If manual driving data collection is used, then environmental constraints are reduced, but collection speed and efficiency deteriorate
Solution Approach 1:
The autonomous vehicle independently performs data collection operations without human intervention, enabling continuous operation不受 environmental constraints affecting human drivers. The automated system can operate consistently across different environmental conditions, maintaining high data collection speed and efficiency
Solution Approach 2:
The system optimizes data collection parameters including trajectory speed, sampling frequency, and sensor configurations to maximize collection efficiency. By adjusting these parameters automatically, the system achieves high productivity while adapting to various environmental conditions through the autonomous control framework
Data Source
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AI summary
This application relates to the field of autonomous vehicle technologies, and provides an autonomous vehicle calibration method. The method includes: obtaining designed trajectory information, where the designed trajectory information is information in a vehicle coordinate system; converting the obtained designed trajectory information into information in a world coordinate system; generating a planning trajectory of a vehicle based on a current position of the vehicle, where the generated planning trajectory includes a collection trajectory and a start trajectory, the collection trajectory corresponds to a designed traveling trajectory indicated by the designed trajectory information, and the start trajectory is from the current position of the vehicle to a start point of the collection trajectory; controlling the vehicle to automatically travel along the planning trajectory; and when the vehicle arrives at the start point of the collection trajectory, starting to collect traveling data, where the traveling data is used to calibrate a calibration object of the vehicle. The method according to this application is used, so that high-quality traveling data can be automatically and quickly collected. For example, calibration precision of calibration objects such as a camera, a radar, and the like can be improved.