Vehicle Trajectory Control in Degraded Visual Environments
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Solution Overview
Problem
Existing systems struggle to effectively navigate vehicles in degraded visual environments due to lacking or unreliable sensor data, which impairs obstacle identification and vehicle orientation, affecting both autonomous and manual operations.
Innovation Solution
A method and system that identify a degraded visual environment and determine adaptive trajectories to search for improved navigation conditions, including first and second segments based on the vehicle's phase, using sensor data analysis and decision prompts to ensure reliable navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the vehicle operates in a degraded visual environment using existing systems, then the vehicle can maintain basic navigation, but the reliability of obstacle identification and vehicle orientation deteriorates
Solution Approach 1:
The system dynamically adjusts the trajectory based on real-time sensor data quality assessment. When visual degradation is detected, the system transitions from following the original predetermined route to executing a search trajectory that moves the vehicle to locations with improved sensor data quality, then transitions back to the original route once quality improves
Solution Approach 2:
The system introduces an intermediary trajectory (search trajectory) between the vehicle and the degraded visual environment. This intermediary path allows the vehicle to temporarily relocate to areas with better sensor data quality, effectively mediating the conflict between maintaining navigation and avoiding degraded environments
2Stability of the object's composition
If the vehicle follows a predetermined route in a degraded visual environment, then the navigation path is maintained, but the ability to identify obstacles and orient the vehicle deteriorates
Solution Approach 1:
The system dynamically switches between two operational modes: following the original predetermined route when sensor data quality is adequate, and executing a search trajectory when quality degrades. This dynamic adjustment maintains navigation stability while preserving sensor data quality
Solution Approach 2:
The system continuously monitors sensor data quality and uses this feedback to determine when to deviate from the predetermined route and when to return. The feedback loop ensures that trajectory adjustments are made only when necessary, maintaining overall navigation stability
3Loss of information
If the vehicle searches for improved navigation environments, then sensor data quality improves, but the time to complete the route increases
Solution Approach 1:
The system performs a partial search for improved navigation environments by executing a search trajectory only when and where sensor data quality degrades. Rather than continuously searching or taking excessive detours, the system applies just enough action to restore data quality, minimizing time loss
Solution Approach 2:
The system changes the trajectory parameter dynamically based on sensor data quality thresholds. When quality drops below a threshold, the trajectory parameter switches from original route to search trajectory; when quality improves, it switches back, optimizing the balance between data quality and time efficiency
Data Source
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AI summary
In an example, a method for controlling a vehicle in a degraded visual environment is provided. The method includes identifying a degraded visual environment corresponding to a phase of a route followed by the vehicle. The method includes determining, based on the phase of the route, a first segment of a trajectory of the vehicle along which to search for a location with an improved navigation environment. The method includes causing the vehicle to follow the first segment until: (i) identifying the improved navigation environment, or (ii) reaching an end of the first segment without identifying the improved navigation environment. The method includes determining a second segment of the trajectory based on whether the improved navigation environment has been identified. The method includes causing the vehicle to follow the second segment.