Autonomous Driving Control Device Using Pre-calculated Target Values
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Solution Overview
Problem
In autonomous driving systems, when the higher-level control device fails, the lower-level control devices struggle to maintain coordinated operation, leading to control errors and divergence from the intended vehicle trajectory due to lack of redundancy and high calculation load.
Innovation Solution
A higher-level control device outputs control target values to a lower-level control device, which holds these values for a specific period. When the higher-level device fails, the lower-level device continues operation based on these stored values, correcting any divergence between actual and intended actions by determining and adjusting steering and velocity commands.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the higher-level control device is designed with high calculation capability to handle complex autonomous driving control, then the control precision is improved, but the device complexity and cost increase
Solution Approach 1:
The control system is divided into higher-level control devices that generate control target values and lower-level control devices that execute control actions. This segmentation allows the higher-level device to focus on high-level decision-making while the lower-level device handles real-time control execution, reducing the calculation burden on each individual device while maintaining overall control precision.
Solution Approach 2:
The higher-level control device calculates and stores control target values in advance for a predetermined period. By performing the calculation action beforehand, the system prepares control data that can be used during system failures, ensuring continuous operation without requiring redundant higher-level control devices.
2Reliability
If redundancy is introduced in the higher-level control device to ensure continuous operation during failures, then the reliability is improved, but the device complexity and cost increase
Solution Approach 1:
The higher-level control device calculates and stores control target values in advance for a predetermined period. By performing the calculation action beforehand, the system prepares control data that can be used during system failures, ensuring continuous operation without requiring redundant higher-level control devices.
Solution Approach 2:
The lower-level control device holds a copy of the control target values generated by the higher-level device. This copying mechanism allows the lower-level device to continue execution even when the higher-level device fails, providing reliability without duplicating the complex higher-level control functionality.
3Productivity
If the lower-level control device continues control independently based on stored command values when the higher-level device fails, then the productivity is improved, but the control precision deteriorates due to accumulated control errors
Solution Approach 1:
The lower-level control device monitors the actual control actions and compares them with the stored control target values. When deviations are detected, the lower-level device generates correction commands to adjust the control actions, ensuring that control precision is maintained even during independent operation without the higher-level device.
4Reliability
If the lower-level control device holds control target values for a predetermined period, then the reliability is improved, but the loss of time increases due to delayed updates
Solution Approach 1:
The lower-level control device holds control target values for a predetermined period, which is sufficient to cover typical failure scenarios. By maintaining a buffer of pre-calculated control values, the system ensures continuous operation during failures while minimizing the time delay, as the held period is optimized to be just long enough to handle expected failure durations.
Data Source
AI summary
An object of the present invention is to enhance the reliability of an autonomous driving system. The autonomous driving system includes: a higher-level control device 1 that outputs a control target value of an actuator group based on an action plan of a vehicle; and a lower-level control device 2 that controls the actuator group of the vehicle based on a command from the higher-level control device 1. The lower-level control device 2 holds the control target value of the vehicle provided by the higher-level control device 1 over a specific period. When the higher-level control device 1 does not satisfy a desired function, the lower-level control device 2 is configured to be controlled based on the held control target value. The action plan is followed by determining and correcting a difference between an actual action value and the control target value of the vehicle.