Autonomous Vehicle Yaw Sensor Calibration for GPS Loss Navigation
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Solution Overview
Problem
Existing autonomously controlled vehicles face challenges in maintaining safe operation when their positioning systems, such as GPS, lose location, leading to potential navigation errors and safety risks.
Innovation Solution
A method that utilizes the angular velocity sensor as a navigation system by calibrating it at suitable stop positions, combining the sensor's uncertainty with road path characteristics to ensure safe operation even when GPS data is lost.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the vehicle operates without GPS positioning data, then the vehicle can continue moving, but navigation accuracy deteriorates leading to potential safety risks
Solution Approach 1:
The system performs preliminary calibration of the angular velocity sensor at stop positions before potential GPS failure occurs. By pre-calibrating the sensor when the vehicle is stationary and GPS is still functional, the system ensures accurate navigation continues even after GPS signal loss, resolving the contradiction between maintaining operation and preserving navigation accuracy.
2Measurement precision
If the angular velocity sensor is calibrated frequently, then measurement accuracy improves, but operation time is lost due to stopping
Solution Approach 1:
The system implements periodic calibration at predetermined stop positions along the route rather than continuous calibration. The angular velocity sensor is calibrated only when the vehicle naturally stops at predefined locations, combining measurement accuracy improvement with minimal operational disruption. This periodic approach resolves the contradiction by achieving calibration goals without requiring frequent unscheduled stops.
3Measurement precision
If the vehicle stops at predetermined positions for calibration, then sensor accuracy is maintained, but productivity decreases due to interruptions
Solution Approach 1:
The system pre-identifies and plans calibration stop positions along the vehicle's route in advance. By determining these positions before the journey begins and scheduling calibrations at these predetermined locations, the system minimizes unplanned interruptions and optimizes the balance between maintaining sensor accuracy and preserving operational efficiency.
Solution Approach 2:
The system schedules calibration activities periodically at predetermined stop positions rather than continuously or on-demand. This periodic calibration approach ensures sensor accuracy is maintained at critical intervals while minimizing the total time the vehicle is stopped, thereby resolving the contradiction between measurement precision and productivity.
Data Source
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AI summary
The present disclosure relates to a method for controlling a driving operation of an autonomously controlled vehicle (100), the vehicle comprising an angular velocity sensor (120) for controlling the vehicle's lateral positioning along an operated road path (200) during a loss of location situation, the method comprising: obtaining (S1) 5 a signal indicative of a characteristics of a road path (200) for operation of the vehicle (100) determining (S2) an uncertainty parameter value of the angular velocity sensor (120) for an upcoming position (20) of the road path (200) ahead of the vehicle (100); and controlling (S3) the vehicle (100) to a stand-still operation at a stop position (10), prior to arrival at the upcoming position, along the road path for 10 calibration of the angular velocity sensor when the uncertainty parameter value indicates an unacceptable uncertainty in lateral deviation of the vehicle at the upcoming position.