Autonomous Vehicle Route Loop Detection Using Overlap Tracking
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Solution Overview
Problem
Autonomous vehicles can become engaged in loops, repeatedly traversing the same route without reaching their destination due to failed pullover attempts, missed turns, lane changes, or software issues, leading to resource waste and poor user experience.
Innovation Solution
The vehicle's routing system uses a roadgraph to generate routes and track traversed locations, comparing them to identify overlaps, determining if the vehicle is in a loop, and initiating mitigation responses such as setting a new destination or connecting to remote assistance when necessary.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the autonomous vehicle continuously follows the planned route, then the vehicle maintains route adherence, but the vehicle may become engaged in an infinite loop and fail to reach destination
Solution Approach 1:
The system performs preliminary actions by tracking locations traversed during the trip and comparing them to the planned route before the vehicle becomes stuck in an infinite loop. This proactive detection allows the system to identify loop conditions early and trigger mitigation responses before complete failure occurs.
Solution Approach 2:
The system implements feedback by continuously monitoring the vehicle's location against the planned route and using this information to determine whether the vehicle is in a loop. The overlap value comparison provides feedback that triggers appropriate responses, allowing the system to adapt its behavior based on detected conditions.
2Reliability
If the vehicle detects and responds to loops by setting new destinations or requesting remote assistance, then the vehicle can exit loops and reach destination, but the trip time and computational resources increase
Solution Approach 1:
The system applies partial action by comparing only the necessary portions of the tracked locations with the planned route to calculate an overlap value. This selective comparison approach detects loops efficiently without requiring complete re-traversal or excessive computational analysis of the entire trip path.
Solution Approach 2:
The system changes parameters by adjusting the overlap threshold value that determines loop detection. By modifying this parameter, the system can balance between detection sensitivity and false positive rates, optimizing the trade-off between reliable loop detection and minimizing unnecessary trip interruptions.
Data Source
AI summary
Aspects of the disclosure provide for determining whether a vehicle is in a loop for an autonomous vehicle. For instance, a route from a current location of the vehicle to a destination for a trip may be generated. Locations traversed by the vehicle during the trip may be tracked. Locations of the route may be compared to the tracked locations to determine an overlap value. Whether the vehicle is in a loop may be determined based on the overlap value.