Autonomous Driving Path Computation with Asymmetric Transition Curves

The patent applies asymmetry by setting different target vehicle speeds for the acceleration section (lower speed) and deceleration section (higher speed) of the transition curves. This asymmetric speed profile causes the transition curve lengths to differ, with the deceleration section having a shorter length. This resolves the contradiction by making the steering wheel movement characteristics consistent between acceleration and deceleration phases, eliminating driver discomfort while maintaining manageable path computation complexity through systematic speed parameter differentiation.

The patent applies parameter changes by systematically varying the target vehicle speed parameter between the acceleration and deceleration sections. Specifically, the deceleration section uses a higher target vehicle speed than the acceleration section, which directly changes the transition curve characteristics. This parameter change approach achieves comfortable and consistent steering wheel movement while keeping the computation methodology systematic and manageable, resolving the contradiction between operational comfort and computational complexity.

The patent applies partial action by implementing transition curves only in the acceleration and deceleration sections where steering speed changes occur, rather than applying them to the entire driving path. The constant speed section uses direct turning without transition curves. This selective application maintains steering speed stability during critical phases while minimizing the overall path length increase, resolving the contradiction between steering smoothness and path efficiency.