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A Multiobjective Systems Architecture Model for Sensor Selection in Autonomous Vehicle Navigation

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Complex Systems Design & Management (CSDM 2019)

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Abstract

Understanding and quantifying the performance of sensing architectures on autonomous vehicles is a necessary step towards certification. However, once this evaluation can be performed, the combinatorial number of potential sensors on the vehicle limits the efficiency of a design tradespace exploration. Several figures of merit emerge when choosing a sensor suite; its performance for a specific autonomy task, its monetary cost, energy consumption, and contribution to the latency of the entire system. In this paper, we present formulations to evaluate a sensor combination across these dimensions for the localization and mapping task, as well as a method to enumerate architectures around the Pareto Front efficiently. We find that, on a benchmarked environment for this task, combinations with LiDARs are situated on the Pareto Front.

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Acknowledgements

The authors would like to thank Antonio Terán Espinoza, Dr. Vasileios Tzoumas, and Professor Luca Carlone, from MIT.

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Authors and Affiliations

  1. Massachusetts Institute of Technology, Cambridge, MA, 02139, USA

    Anne Collin, Afreen Siddiqi & Olivier de Weck

  2. Hitachi America, Ltd., Farmington Hills, MI, 48335, USA

    Yuto Imanishi

  3. Hitachi Automotive Systems Americas, Inc., Farmington Hills, MI, 48335, USA

    Yukti Matta

  4. Hitachi Automotive Systems, Ltd., Hitachinaka, Ibaraki, 312-8503, Japan

    Taisetsu Tanimichi

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  1. Anne Collin
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  3. Yuto Imanishi
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  5. Taisetsu Tanimichi
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  6. Olivier de Weck
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Corresponding author

Correspondence to Anne Collin .

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Editors and Affiliations

  1. Laboratoire Génie Industriel, University of Paris-Saclay, Gif-sur-Yvette, France

    Guy André Boy

  2. Sirehna, Bouguenais, France

    Alan Guegan

  3. CESAMES, Paris, France

    Daniel Krob

  4. Route de Gizy - CC VV163, Velizy-Villacoublay, France

    Vincent Vion

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Collin, A., Siddiqi, A., Imanishi, Y., Matta, Y., Tanimichi, T., de Weck, O. (2020). A Multiobjective Systems Architecture Model for Sensor Selection in Autonomous Vehicle Navigation. In: Boy, G., Guegan, A., Krob, D., Vion, V. (eds) Complex Systems Design & Management. CSDM 2019. Springer, Cham. https://doi.org/10.1007/978-3-030-34843-4_12

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  • DOI: https://doi.org/10.1007/978-3-030-34843-4_12

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-34842-7

  • Online ISBN: 978-3-030-34843-4

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