Automated Vehicle Steering with Heterogeneous Trajectory Validation
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Solution Overview
Problem
Existing redundant systems for automated vehicles are not infallible, as faulty sensors or sensing schemes can result in unsafe and unreliable motion planning, despite redundancy measures.
Innovation Solution
A control system with two processing systems is implemented, where the first processing system forms a main perception and computes trajectories, and the second processing system forms an auxiliary perception using a subset of sensors to validate these trajectories, thereby reducing computational efforts while enhancing inconsistency detection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If full redundancy is implemented using all perception sensors in both processing systems, then reliability is improved, but computational requirements increase
Solution Approach 1:
The patent segments the sensor set into two distinct groups: a first set of perception sensors used by the first processing system to generate primary motion plans, and a second set of perception sensors used by the second processing system to generate secondary motion plans. This segmentation allows each processing system to use a subset of sensors rather than all sensors, reducing the computational load on each system while maintaining redundancy through the independent parallel processing of both systems.
2Measurement precision
If heterogeneous sensor subsets are used for main and auxiliary perceptions, then inconsistency detection is improved, but system complexity increases
Solution Approach 1:
The patent applies asymmetry by using different (heterogeneous) subsets of perception sensors for the first and second processing systems. The first processing system uses a first set of perception sensors while the second processing system uses a second set of perception sensors, where the sets are not identical. This asymmetric configuration enables the systems to detect inconsistencies between their independently generated motion plans, as different sensor subsets may perceive the environment differently, revealing potential errors or anomalies in the perception or planning processes.
Data Source
AI summary
The invention is notably directed to a control system for steering an automated vehicle in a designated area, where the automated vehicle comprises a drive-by-wire (DbW) system. The control system includes a set of perception sensors (e.g., lidars, cameras, as well as radars, sonars, GPS, and inertial measurement units), which are arranged in a designated area. The control system further includes a control unit, which is in communication with the perception sensors and the DbW system, and which comprises two processing systems, i.e., a first processing system and a second processing system, which are in communication with each other. The first processing system is configured to form a main perception based on signals from each of the perception sensors of the set, estimate states of the vehicle based on feedback signals from the DbW system, and compute trajectories for the automated vehicle based on the main perception formed and the estimated states. The second processing system is configured to form an auxiliary perception based on signals from only a subset of the perception sensors, validate the computed trajectories based on the auxiliary perception formed, and cause the control unit to forward the validated trajectories to the DbW system of the automated vehicle. This way, the vehicle can be remotely steered through the DbW system based on the validated trajectories forwarded to the DbW system. In other words, distinct perceptions are formed from overlapping sets of sensors, whereby one of the perceptions formed is used to validate trajectories obtained from the other. This requires less computational efforts, inasmuch as less signals (and therefore less information) are required to form the auxiliary perception. However, doing so is more likely to allow inconsistencies to be detected, thanks to the heterogeneity of sensor signals considered in input to the main and auxiliary perceptions. The invention is further directed to related methods and computer program products.