Autonomous Vehicle Lateral Lane Control With Two-Stage Planning
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Solution Overview
Problem
Current vehicle control systems for autonomous vehicles often fail to accurately control lateral lane driving positions, leading to inadequate service delivery, especially in services like ridesharing and logistics, due to low calculation accuracy and lack of customization options, causing anxiety for occupants and bystanders.
Innovation Solution
A vehicle control system comprising a first control device and a second control device, where the first device generates a driving plan with desired lateral lane positions, and the second device, using sensor information, adjusts the plan to ensure accurate control of vehicle position and speed based on surroundings, improving safety and service quality.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single control device generates and executes driving plans, then the system structure is simple, but the lateral lane driving position control accuracy is insufficient
Solution Approach 1:
The control system is divided into a first control device that generates the basic driving plan and a second control device that executes the driving operation. This segmentation allows the first device to focus on route planning while the second device focuses on precise lateral position control based on sensor feedback, thereby improving control accuracy without requiring complete system redesign.
Solution Approach 2:
The first control device acts as an intermediary between the route planning stage and the execution stage. It generates a driving plan that is then processed by the second control device, which uses sensor information to adjust the lateral lane driving positions. This intermediary structure enables better coordination between route objectives and real-time control accuracy.
2Adaptability or versatility
If service providers use their own programs to generate driving plans, then service customization is improved, but calculation accuracy for lateral lane positions deteriorates
Solution Approach 1:
The first control device serves as an intermediary that receives customized driving plans from service providers and processes them through standardized control algorithms. This allows service providers to input their specific route requirements while the second control device ensures accurate lateral position control using proven sensor-based calculations, combining customization with precision.
Solution Approach 2:
The system separates the driving plan generation function (which can be customized by service providers) from the lateral position control execution function (which uses accurate sensor-based calculations). This segmentation allows each component to be optimized independently - customization flexibility in planning and calculation precision in execution.
3Device complexity
If lateral lane driving positions are merely designated without sensor-based adjustment, then the driving plan generation is simple, but occupant safety and comfort deteriorate
Solution Approach 1:
The second control device continuously receives sensor information about the vehicle's actual position and surroundings, then adjusts the lateral lane driving positions accordingly. This feedback loop ensures that the driving plan adapts to real-time conditions, improving safety and comfort while maintaining a relatively simple overall system architecture.
Solution Approach 2:
The first control device prepares the basic driving plan in advance, and the second control device has the capability to make preliminary adjustments based on sensor data before executing the driving operation. This preliminary action ensures that safety and comfort considerations are addressed before the vehicle actually moves, reducing the need for complex real-time corrections.
Data Source
AI summary
A vehicle control system for an autonomous vehicle includes: a first control device configured to generate a first driving plan including desired lateral lane driving positions or desired lateral lane driving position ranges; a plurality of first sensors configured to obtain information on motion of the vehicle and information on surroundings of the vehicle; and a second control device configured to communicate with the first control device, generate, based on the first driving plan obtained from the first control device and the information obtained by the first sensors, a second driving plan different from the first driving plan, the second driving plan including target lateral lane driving positions or target lateral lane driving position ranges, and control driving operation of the vehicle based on the second driving plan.