Automated Vehicle Control With Trajectory Deviation Testing
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Solution Overview
Problem
Existing automatic vehicle control systems, such as automatic valet parking, rely heavily on infrastructure sensors, but lack robust mechanisms to verify infrastructure reliability and react to unforeseen events, particularly in complex environments like parking garages with obstacles or people.
Innovation Solution
A method for automatically controlling a vehicle that includes receiving driving specifications from an external infrastructure, deviating from the specified trajectory in a test mode to verify infrastructure detection, and sending error signals if the infrastructure fails to respond, allowing the vehicle to switch back to normal mode upon receiving a response.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the vehicle relies on infrastructure sensors for automatic control, then the device complexity of the vehicle is reduced, but the reliability of the system decreases due to inability to verify infrastructure reliability
Solution Approach 1:
The vehicle performs preliminary actions by intentionally deviating from the specified trajectory before actual operation to test whether the infrastructure detects the deviation. This advance verification ensures the infrastructure is functioning correctly before relying on it for normal operation, thereby resolving the contradiction between reduced vehicle complexity and system reliability.
Solution Approach 2:
The system implements feedback by monitoring whether the infrastructure responds to intentional deviations. The vehicle sends test deviations and evaluates the infrastructure's response to determine if it is functioning correctly. This feedback mechanism allows the vehicle to verify infrastructure reliability without adding complex sensors, balancing simplicity with reliability.
2Productivity
If the vehicle follows the specified trajectory without deviations, then the productivity is maintained, but the reliability verification capability is lost
Solution Approach 1:
The vehicle performs periodic trajectory deviations at scheduled intervals during normal operation. These periodic test deviations allow the system to verify infrastructure reliability without continuously deviating, thus maintaining productivity while periodically confirming system reliability. The deviations are temporary and the vehicle returns to the normal trajectory after verification.
3Reliability
If the vehicle deviates from the specified trajectory to test infrastructure, then the reliability verification is improved, but the loss of time occurs during testing
Solution Approach 1:
The vehicle performs partial deviations from the trajectory - small, controlled deviations that are sufficient to test infrastructure detection capability without excessive deviation. This partial action approach verifies reliability while minimizing the time lost during testing, as the vehicle only needs to deviate enough to trigger infrastructure detection, not perform large unnecessary maneuvers.
Data Source
AI summary
A method for automatically controlling a vehicle based on a driving specification received from an external infrastructure. In a normal mode the vehicle is controlled along a trajectory specified thereby and in a test mode the vehicle is controlled along a test trajectory that deviates from the trajectory specified by the driving specification, and/or is controlled using test parameters. This allows the reliable operation of the infrastructure to be verified.