Autonomous Driving Speed Control With Continuous Towing Point
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Solution Overview
Problem
Autonomous driving vehicles experience unstable virtual walls due to perceived noise and changing distances, leading to frequent speed jumps and compromised user experience.
Innovation Solution
The method involves determining a towing point and speed based on the motion status of obstacles, where both are continuous functions of the obstacle's motion, allowing for a continuous speed constraint to be provided, and generating a virtual wall with penetrable or impenetrable states based on collision risk.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the virtual wall is set based on threshold distance comparison, then speed constraint is provided when needed, but the virtual wall becomes unstable and causes frequent speed jumps when distance changes around the threshold
Solution Approach 1:
The patent changes the parameter representation from binary (virtual wall set/not set) to continuous (towing point position). The towing point's longitudinal position is calculated as a continuous function of the distance to the target vehicle, allowing smooth transitions instead of abrupt on/off switching. This resolves the instability caused by threshold comparisons while maintaining appropriate speed constraints.
2Adaptability or versatility
If the virtual wall is frequently set and not set due to distance changes, then the system responds to varying traffic conditions, but the ego vehicle experiences frequent acceleration and deceleration affecting user experience
Solution Approach 1:
The patent implements continuous action by always maintaining a towing point that provides continuous speed constraint guidance. The towing point's position and speed are continuously adjusted based on the target vehicle's motion status, ensuring smooth and continuous speed control rather than intermittent on/off constraints. This eliminates frequent acceleration/deceleration while maintaining adaptability to traffic conditions.
3Reliability
If the virtual wall is set at the rear of another vehicle when horizontal distance is less than threshold, then collision avoidance is enabled, but the towing point becomes unstable when distance changes around the threshold
Solution Approach 1:
The patent transforms the towing point position from a discrete location (at the rear of another vehicle when threshold is met) to a continuous parameter that smoothly varies with distance. The longitudinal position is calculated using a continuous function that considers the target vehicle's position and motion status, ensuring the towing point remains stable even when distance fluctuates around the threshold value.
Data Source
AI summary
The present application discloses autonomous driving methods and apparatuses that may be applied to an intelligent vehicle and an autonomous driving vehicle. An example method includes: obtaining a motion status of an obstacle; determining a location of a towing point and a speed of the towing point based on the motion status of the obstacle, where both the location of the towing point and the speed of the towing point are continuous functions of the motion status of the obstacle; and obtaining expected acceleration of an ego vehicle based on the location of the towing point and the speed of the towing point.