Adaptive Driving Path Optimization for Autonomous Vehicles
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Solution Overview
Problem
Existing methods for determining reference lines for autonomous driving vehicles do not adequately incorporate vehicle dynamics, leading to uncomfortable driving experiences and lack of flexibility in adjusting driving behavior according to driver preferences.
Innovation Solution
A method that allows drivers to adapt a predefined reference line using a control unit and input device to specify a maximum lateral distance, enabling the calculation of a time-optimal driving path within a permissible area, while considering vehicle dynamics and allowing continuous adjustment of driving behavior through adjustable speed profiles and lateral acceleration limits.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If a center line of the desired lane is selected as the reference line, then the reference line is simple to determine, but the driving dynamics of the transportation vehicle are not incorporated leading to uncomfortable driving experiences
Solution Approach 1:
The reference line is transformed from a static geometric center line to a dynamic driving path that adapts to vehicle dynamics. The system calculates a time-optimal driving path that incorporates vehicle-specific parameters such as acceleration capabilities, braking performance, and lateral dynamics, allowing the reference line to dynamically adjust to the actual driving characteristics of the vehicle.
Solution Approach 2:
The system changes the parameters used to define the reference line from simple geometric coordinates to optimized trajectory parameters. By incorporating vehicle dynamics parameters (mass, inertia, friction coefficients) and optimizing the path based on time-optimal control theory, the reference line evolves from a fixed lane center to an adaptive driving trajectory that balances geometric constraints with vehicle capabilities.
2Adaptability or versatility
If individual sections of the reference line are adjusted by purely geometric optimization, then the driving line can be customized, but the dynamics of the transportation vehicle are still not incorporated
Solution Approach 1:
The system moves beyond static geometric optimization to dynamic trajectory optimization. Instead of adjusting individual line sections based on geometry alone, the entire driving path is recalculated as a time-optimal trajectory that continuously incorporates vehicle dynamics. This allows customization while ensuring the optimized path respects the actual physical capabilities of the vehicle.
3Adaptability or versatility
If predefined driving profiles with fixed parameters are used, then driving behavior can be selected, but the parameters cannot be easily adapted for individual drivers and continuous variation is not possible
Solution Approach 1:
The system replaces static driving profiles with a dynamic optimization framework. Instead of selecting from predefined parameter sets, the system continuously calculates the time-optimal driving path based on real-time vehicle state and driver preferences. This enables continuous variation of driving behavior rather than discrete profile selection.
Solution Approach 2:
The system enables drivers to easily adapt driving behavior through direct input of preferred parameters (such as maximum lateral acceleration or preferred lane position) without requiring complex configuration. The optimization algorithm automatically translates these simple driver preferences into an optimized driving path, making the system self-adapting to individual driver needs.
Data Source
AI summary
A method for adapting a predefined reference line for a transportation vehicle, a device, and a transportation vehicle. A predefined reference line is received by a control unit. A distance value of a maximum lateral distance from the predefined reference line is received by the control unit from an input device and a permissible area is specified that extends along the reference line and the lateral boundary of which is the maximum distance from the reference line that is specified by the distance value. A driving path optimized for a minimum driving time is calculated by a specified first mathematical optimization method starting from the current transportation vehicle position. The first mathematical optimization method has at least one boundary condition that requires a course of the driving path within the permissible area. The distance value is specified by a user input by the input device.