Automated Vehicle Control With HD Map Fallback Planning
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Solution Overview
Problem
High-definition (HD) maps are essential for reliable automated driving but can become outdated or inaccurate, leading to safety issues when the localization module fails, causing dangerous maneuvers or system shutdowns.
Innovation Solution
A method and control unit that utilizes both HD-based and map-less surroundings models for trajectory planning, enabling seamless switching between modes to ensure safe operation even when HD maps are unavailable or inaccurate.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the system relies on HD maps for localization and trajectory planning, then the automated driving function can operate intelligently and efficiently, but the system becomes vulnerable to safety failures when HD maps are outdated or inaccurate
Solution Approach 1:
The patent applies local quality by implementing different operational modes (normal mode using HD maps for intelligent driving, and safety mode using map-less sensor data for basic safety) within the same automated driving system. The system selectively activates the appropriate mode based on localization accuracy assessment, allowing the vehicle to maintain intelligent driving capabilities when HD maps are reliable while switching to safe basic operation when map accuracy deteriorates.
2Reliability
If the system shuts down or performs dangerous maneuvers when localization fails, then safety is compromised, but continuing operation with inaccurate HD maps may also be unsafe
Solution Approach 1:
The patent implements dynamics by creating a dynamic switching mechanism between normal mode and safety mode based on real-time localization accuracy assessment. When localization accuracy falls below a threshold, the system dynamically transitions from HD map-dependent intelligent driving to map-less sensor-based safe operation, avoiding both premature shutdown and dangerous maneuvers with inaccurate map data.
Solution Approach 2:
The patent applies beforehand cushioning by preparing a fallback safety mode in advance that can be activated when HD map localization fails. This pre-prepared alternative ensures that the system has a safe operational mode ready before localization failures occur, preventing dangerous situations rather than reacting to them after they happen.
3Adaptability or versatility
If the system uses only map-based planning, then intelligent driving functions are available, but the system lacks flexibility when HD maps are unavailable
Solution Approach 1:
The patent applies universality by designing a dual-mode planning system that can operate in both normal mode (using HD maps for intelligent driving) and safety mode (using map-less sensor data for basic safe operation). This multi-functional architecture allows the same automated driving system to adapt to different operational conditions, maintaining flexibility whether HD maps are available or not.
Data Source
AI summary
A method for controlling an automated vehicle. In a first method part, the instantaneous surroundings of the automated vehicle are detected using an on-board surroundings sensor system. A localization of the automated vehicle takes place based on a comparison of the data of the surroundings sensor system to a previously provided HD localization map. A map-based surroundings model is generated, in a second method part representing a normal mode, and is used for planning the behavior and the trajectory of the automated vehicle. In a third method part representing a safety mode, carried out in parallel to or as an alternative to the first method part, the instantaneous surroundings of the automated vehicle are detected using the on-board surroundings sensor system. Based on the data ascertained in the process, a map-less surroundings model is generated and used for planning the behavior and the trajectory of the automated vehicle.