Vehicle Sensor Fusion for Dynamic Navigation
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Solution Overview
Problem
Current vehicle navigation systems face challenges in providing high integrity perception and fault tolerance, especially in dynamic environments with obstacles and varying weather conditions, due to errors in location sensing devices like GPS and vision-based triangulation systems.
Innovation Solution
A system and method utilizing a versatile robotic control module with a machine controller connected to a steering, propulsion, and braking system, along with a sensor system featuring redundant sensors that select and prioritize data based on weather conditions and dynamic environments, allowing for accurate navigation and obstacle avoidance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If GPS and vision-based triangulation systems are used for vehicle navigation, then location sensing capability is provided, but errors occur in dynamic environments with obstacles and varying weather conditions
Solution Approach 1:
The patent combines multiple redundant sensors (GPS receivers, vision-based triangulation systems, and other location sensing devices) into an integrated sensor system that processes data from all sources simultaneously. This merging allows the system to cross-validate measurements and maintain accurate location sensing even when individual sensors fail or provide erroneous data due to environmental conditions.
Solution Approach 2:
The machine controller dynamically changes operational parameters by selecting which sensor data to trust based on environmental conditions. The system monitors weather conditions, obstacle presence, and signal quality, then adjusts its reliance on different sensor types accordingly, switching between GPS, vision-based triangulation, or alternative sensors to maintain navigation accuracy.
2Reliability
If redundant sensors are implemented in the sensor system, then fault tolerance is improved, but device complexity increases
Solution Approach 1:
The machine controller serves multiple functions: it processes data from all redundant sensors, identifies weather conditions, selects appropriate sensor data based on environmental factors, and controls vehicle operations. This multi-functionality consolidates what could be separate complex systems into a single controller, reducing overall system complexity while maintaining fault tolerance through redundant sensing.
3Measurement precision
If the machine controller selects sensor data based on weather conditions, then navigation accuracy is maintained, but processing complexity increases
Solution Approach 1:
The machine controller continuously monitors weather conditions and pre-assesses the reliability of each sensor type before navigation decisions are made. By preliminarily identifying favorable and unfavorable conditions for each sensor and pre-selecting appropriate data sources, the system avoids complex real-time processing during critical navigation moments, simplifying the control logic while maintaining accuracy.
Data Source
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AI summary
The illustrative embodiments provide an apparatus for processing sensor data and controlling the movement of a vehicle. In an illustrative embodiment, an operating environment around the vehicle is identified and sensor data is selected from a set of sensors. The movement of the vehicle is controlled based on the operating environment identified. In another illustrative embodiment, a sensor system has some sensors that are more accurate in a particular environment than other sensors. A dynamic condition is identified by the sensor system and commands are sent to the steering system, the propulsion system, and the braking system to move the vehicle using the sensor data detected by the sensor system. The environment is identified using the plurality of different types of sensors on the vehicle.