Autonomous Vehicle Interface Module Trajectory Verification
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Solution Overview
Problem
Autonomous vehicles face challenges in accurately navigating based on time-based trajectories generated by autonomy computing systems, as these trajectories may not account for real-time changes in vehicle conditions such as traction and dynamics, potentially leading to unsafe operations or deviations from planned paths.
Innovation Solution
A vehicle interface module that verifies the execution of time-based trajectories within the autonomous vehicle's capabilities, converts them into spatial paths, and interfaces with low-level controls to modify forces, while also communicating changes in conditions to the autonomy computing system to generate updated trajectories based on current state and road conditions, ensuring safe navigation and preserving authority for collision mitigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the autonomous vehicle strictly follows the time-based trajectory generated by the autonomy computing system, then the vehicle can maintain planned navigation efficiency and speed, but the vehicle may deviate from the planned path or operate unsafely when real-time vehicle conditions (traction, dynamics) change
Solution Approach 1:
The vehicle interface module continuously monitors real-time vehicle conditions (traction, dynamics) and compares them against the planned trajectory requirements. When deviations are detected, the system provides feedback to adjust the trajectory while maintaining overall navigation efficiency. This closed-loop feedback mechanism ensures safety without completely sacrificing productivity.
Solution Approach 2:
The system dynamically adjusts the trajectory based on real-time vehicle conditions. Instead of rigidly following a static time-based trajectory, the vehicle interface module modifies the path and timing parameters adaptively, allowing the autonomous vehicle to maintain safe operation while minimizing deviations from the planned navigation route.
2Reliability
If the vehicle interface module verifies and adjusts trajectories in real-time based on vehicle conditions, then the vehicle can operate safely within its capabilities, but the system complexity increases due to additional verification and communication processes
Solution Approach 1:
The vehicle interface module serves as an intermediary layer between the autonomy computing system and the vehicle controls. It receives trajectories from the autonomy system, verifies them against real-time vehicle conditions, and translates approved trajectories into control commands. This intermediary architecture isolates the complexity of verification logic from both the high-level planning and low-level control systems.
Solution Approach 2:
The navigation system is segmented into distinct functional modules: the autonomy computing system generates trajectories, the vehicle interface module verifies and adapts them, and the vehicle controls execute the adjusted commands. This segmentation allows each module to focus on specific tasks, reducing overall system complexity while maintaining safety through specialized verification functions.
3Measurement precision
If the autonomy computing system generates detailed time-based trajectories, then the navigation precision and path accuracy can be maintained, but the system cannot adapt to real-time changes in vehicle conditions and road environment
Solution Approach 1:
The system transforms static time-based trajectories into dynamic adaptive paths. The vehicle interface module continuously adjusts trajectory parameters based on real-time vehicle conditions and road environment, maintaining path accuracy while enabling real-time adaptability. This dynamic approach allows the vehicle to follow the planned path closely while accommodating changing conditions.
Solution Approach 2:
Real-time feedback from vehicle sensors and environmental monitoring feeds into the vehicle interface module, which adjusts the trajectory accordingly. This feedback loop preserves the precision of the originally planned path while incorporating real-time adaptability, allowing the system to maintain accurate navigation even as conditions change.
Data Source
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AI summary
The present disclosure provides a vehicle interface for an autonomous vehicle. In particular, the systems and methods of the present disclosure can, responsive to receiving, from an autonomy computing system of an autonomous vehicle, a time-based trajectory for the autonomous vehicle, verify that execution of the time-based trajectory is within parameters of the autonomous vehicle. Responsive to verifying that execution of the time-based trajectory is within the parameters of the autonomous vehicle, the time-based trajectory can be converted into a spatial path for the autonomous vehicle, and one or more controls of the autonomous vehicle can be interfaced with such that the autonomous vehicle tracks the spatial path.