Vehicle Perception for Early Detection in Unprotected Turns
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Solution Overview
Problem
Autonomous vehicles face challenges in safely maneuvering in high-speed traffic scenarios due to the need for precise object detection, which can be delayed by occlusions and noise in sensor data, potentially leading to unsafe merging or turning actions.
Innovation Solution
Implementing a multi-level sensor range system with a first, less precise sensor range adjacent to the outer bounds of sensor reach and a second, more precise range closer to the vehicle, allowing for earlier detection and response to objects with lower confidence values, using techniques like signal-to-noise ratio filtering and cross-validation across different sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the autonomous vehicle waits for high-confidence detection within the second sensor range before taking action, then the measurement precision is improved, but the response time is delayed and safety is compromised
Solution Approach 1:
The system performs preliminary detection actions in the first sensor range with lower confidence thresholds, allowing the vehicle to prepare for potential hazards before they enter the high-confidence second sensor range. This preliminary action enables earlier response without compromising final detection accuracy.
Solution Approach 2:
The sensor detection range is segmented into two distinct zones: a first sensor range with lower confidence thresholds for early detection, and a second sensor range with higher confidence thresholds for confirmed detection. This segmentation allows different detection strategies to be applied at different spatial distances.
2Reliability
If the autonomous vehicle uses a single sensor range with high confidence threshold, then the detection reliability is improved, but the ability to detect objects at long range is reduced
Solution Approach 1:
Different confidence thresholds are applied to different spatial zones: the first sensor range (longer distance) uses lower confidence thresholds to enable early detection, while the second sensor range (closer distance) uses higher confidence thresholds for reliable confirmation. This local differentiation of detection quality optimizes both range and reliability.
3Loss of time
If the autonomous vehicle reacts to low-confidence detections in the first sensor range, then the response time is improved and safety is enhanced, but the risk of false positive detections increases
Solution Approach 1:
Low-confidence detections in the first sensor range trigger preliminary precautionary actions rather than definitive responses. The vehicle prepares for potential hazards by slowing down or positioning itself safely, but does not take drastic actions until high-confidence confirmation is received, thereby reducing false positive impacts.
Solution Approach 2:
The system applies a cushioning effect by requiring multiple detection confirmations before executing critical maneuvers. Low-confidence detections initiate gentle preparatory actions that can be easily reversed if proven false, while high-confidence detections trigger definitive responses.
Data Source
AI summary
A system and method are provided for early detection of objects by a perception system of a vehicle, and triggering a precautionary action by the vehicle in response without waiting for a more precise detection. The vehicle has a multi-level sensor range, wherein a first level of the sensor range is adjacent an outer bounds of the sensor range and has a first confidence value, and a second level of the sensor range is within the first range and has a second, higher confidence value. In situations when oncoming traffic is traveling at a high rate of speed, the vehicle responds to noisier detections, or objects perceived with a lower degree of confidence, rather than waiting for verification which may come too late.