Adaptive Trajectory Point Spacing for Vehicle Path Tracking
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Solution Overview
Problem
The driving performance of vehicles can decrease when intervals between trajectory points representing a target trajectory are constant, leading to reduced accuracy and control in navigating various road conditions.
Innovation Solution
A vehicle control system that dynamically sets intervals between trajectory points based on real-time information about the driving environment and vehicle state, such as road curvature, obstacle distance, friction coefficient, and vehicle speed, to maintain accurate trajectory tracking and improve steering control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If intervals between trajectory points are kept constant, then the control system is simple to implement, but the driving performance and trajectory tracking accuracy decrease under varying road conditions
Solution Approach 1:
The patent applies the dynamics principle by making the interval between trajectory points variable rather than fixed. The control device dynamically adjusts the interval distance based on road curvature information, setting shorter intervals in high-curvature sections and longer intervals in low-curvature sections. This dynamic adjustment maintains trajectory tracking accuracy under varying road conditions while avoiding the need for a uniformly complex control system.
Solution Approach 2:
The patent applies the local quality principle by applying different interval settings to different sections of the trajectory based on local road characteristics. Specifically, the control device sets shorter intervals in high-curvature sections where precise tracking is critical and longer intervals in low-curvature sections where less precision is required. This localized adjustment optimizes tracking accuracy where needed while maintaining system simplicity elsewhere.
2Manufacturing precision
If intervals between trajectory points are shortened to improve tracking accuracy, then trajectory tracking accuracy improves, but the control processing load and system complexity increase
Solution Approach 1:
The patent applies the local quality principle by concentrating computational resources only where needed. Instead of uniformly shortening intervals throughout the entire trajectory, the control device selectively shortens intervals only in high-curvature sections where precise tracking is critical. This localized approach improves tracking accuracy in critical areas while minimizing the overall control processing load and system complexity.
Solution Approach 2:
The patent applies the parameter changes principle by dynamically adjusting the interval parameter based on road curvature conditions. The control device changes the interval parameter from a fixed value to a variable value that adapts to local road characteristics, thereby optimizing the balance between tracking accuracy and processing complexity without requiring the system to maintain high complexity across all operating conditions.
3Productivity
If intervals between trajectory points are lengthened to reduce processing load, then control processing load decreases, but trajectory tracking accuracy and responsiveness deteriorate
Solution Approach 1:
The patent applies the local quality principle by applying different interval lengths to different trajectory sections based on local road characteristics. The control device lengthens intervals in low-curvature sections where processing efficiency can be improved without sacrificing accuracy, while maintaining shorter intervals in high-curvature sections where precision is critical. This localized differentiation achieves both processing efficiency and tracking accuracy.
Solution Approach 2:
The patent applies the parameter changes principle by making the interval parameter adaptive rather than fixed. The control device changes the interval parameter based on road curvature conditions, lengthening it in low-curvature sections to improve processing efficiency and keeping it short in high-curvature sections to maintain tracking accuracy. This dynamic parameter adjustment resolves the contradiction between processing efficiency and tracking precision.
Data Source
AI summary
According to an aspect of the present invention, a vehicle control device, a vehicle control method, and a vehicle control system acquire a setting condition including at least one of information related to a driving environment of a driving road on which a vehicle travels and information related to a state of the vehicle; set, based on the setting condition, an interval between trajectory points representing a target trajectory along which the vehicle is caused to travel; and output a control command that causes the vehicle to travel along the target trajectory. This makes it possible to prevent the driving performance of a vehicle from decreasing even when the conditions surrounding the vehicle change.