Ancillary Control Device Coordinate Alignment for Automated Driving

Resolve Bottlenecks,
Find Innovative SolutionsGenerate Solutions

Solution Overview

Problem

In automatic driving systems, the requirement for congruent coordinate systems between main and ancillary control devices is not met due to different latencies and process chains, leading to misalignment and inaccurate vehicle positioning along emergency operation trajectories.

Innovation Solution

The method involves a main control device determining regular and emergency operation trajectories in a vehicle-fixed coordinate system and transferring this information to an ancillary control device, which compensates for any angle errors between the two coordinate systems using lane course data to ensure accurate vehicle guidance to an emergency stop position.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If the main control device and ancillary control device use different coordinate systems with different latencies and process chains, then each control device can operate independently, but the coordinate systems become misaligned causing inaccurate vehicle positioning along emergency trajectories

Engineering Contradiction:

Improveindependent operation of control devicesVSAvoidvehicle positioning accuracy

Core Design Contradiction:

ReliabilityVSMeasurement precision

Solution Approach 1:

The patent introduces an intermediary transformation process that converts coordinates from the main control device's coordinate system to the ancillary control device's coordinate system. This intermediary transformation accounts for the rotational misalignment between the two coordinate systems, enabling accurate position transfer while maintaining independent operation of both control devices.

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The patent applies parameter transformation by calculating the rotational angle between the two coordinate systems and using this angle to transform position parameters. The transformation parameters (rotation angle, offset values) are determined based on the specific geometric relationship between the coordinate systems, allowing precise coordinate conversion.

Inventive Principle:

Principle #35Parameter changes

2Measurement precision

If the coordinate systems of the two control devices are made congruent, then vehicle positioning accuracy improves, but the system loses flexibility in handling different latency and process chain configurations

Engineering Contradiction:

Improvevehicle positioning accuracyVSAvoidsystem flexibility

Core Design Contradiction:

Measurement precisionVSAdaptability or versatility

Solution Approach 1:

The patent implements a dynamic coordinate transformation approach where the transformation parameters are not fixed but are calculated based on the actual operational state and geometric relationship between the two control devices. This allows the system to adapt to different latency and process chain configurations while maintaining positioning accuracy.

Inventive Principle:

Principle #15Dynamics

3Productivity

If the ancillary control device uses its own independent coordinate system, then it can process emergency trajectories independently, but the trajectory becomes rotated relative to the main control device's trajectory

Engineering Contradiction:

Improveindependent emergency response capabilityVSAvoidtrajectory alignment accuracy

Core Design Contradiction:

ProductivityVSManufacturing precision

Solution Approach 1:

The coordinate transformation acts as an intermediary that bridges the independent coordinate systems of the two control devices. It allows the ancillary control device to maintain its independent coordinate system and processing capability while ensuring that the emergency trajectory aligns correctly with the main control device's trajectory through mathematical transformation.

Inventive Principle:

Principle #24Intermediary (Mediator)

Data Source

PatentUS11608080B2Method for regulating the movement of a vehicle in an automated driving operation and device for carrying out the method

Publication Date: 2023.03.21 MERCEDES BENZ GROUP AG

AI summary

Vehicle movement in an automatic driving operation is regulated in an automatic driving operation, which is switchable between a regular operating mode and an emergency operating mode when a functional impairment of a main control device is established. In the regular operating mode, the regular desired trajectory, the emergency operation desired trajectory, and the lane course of a driving lane driven along by the vehicle are continuously determined in a coordinate system, fixed to the vehicle, of the main control device. The determined emergency operation desired trajectory and the determined lane course are supplied to the ancillary control device and stored there. In the emergency operating mode, the lane course of the driving lane driven along by the vehicle is determined in a coordinate system, fixed to the vehicle, of the ancillary control device. In the emergency operating mode, based on the lane course stored in the ancillary control device and the lane course stored in the ancillary control device, an angle error between the coordinate systems of the main control device and the ancillary control device is determined and its influence on the regulation carried out by the ancillary control device is compensated for.