Autonomous Driving Route Biasing for Articulated Vehicle Off-Tracking
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Solution Overview
Problem
Autonomous driving systems face challenges in controlling vehicles with multiple bodies, such as tractors and trailers, especially in sections with high curvature, where off-tracking can lead to increased risk of collisions due to deviations from the driving lane.
Innovation Solution
An autonomous driving control apparatus that includes a sensor device, memory, and controller, which determines the curvature of the driving road and generates a biased driving route based on information about the road, vehicle features, and kingpin angle, optimizing the route to maintain the vehicle close to the center of the lane by calculating expected distances and optimization state information.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the autonomous driving control apparatus controls the vehicle to follow the center of the driving lane, then the driving route is simple and easy to control, but the trailer body deviates from the lane center due to off-tracking, causing collision risk
Solution Approach 1:
The system performs preliminary action by predicting the future positions of both tractor and trailer bodies along the driving lane center, then calculates offset values in advance that will compensate for off-tracking effects. This allows the trailer to stay within lane boundaries even though it naturally deviates from the center during curved driving.
Solution Approach 2:
The system changes the control parameter from simple lane center following to offset-based positioning. By calculating and applying offset values that account for the trailer's off-tracking characteristics, the system transforms the control approach to maintain proper lane positioning while accommodating the physical constraints of articulated vehicle dynamics.
2Reliability
If the autonomous driving control apparatus generates a biased driving route to compensate for off-tracking, then the lane keeping accuracy improves, but the control system complexity increases
Solution Approach 1:
The system implements feedback by continuously monitoring the actual positions of the tractor and trailer bodies, comparing them against the predicted positions along the biased driving route, and adjusting the offset values accordingly. This closed-loop control ensures accurate lane keeping while systematically managing the complexity through structured feedback mechanisms.
Solution Approach 2:
The control system is segmented into distinct functional modules: one module predicts body positions along the lane center, another calculates offset values, a third generates the biased driving route, and a final module executes control commands. This segmentation manages complexity by dividing the control task into manageable, specialized components.
3Productivity
If the vehicle drives through high curvature sections at high speed, then the productivity is maintained, but the off-tracking effect increases, causing safety risks
Solution Approach 1:
The system applies preliminary anti-action by proactively generating a biased driving route that anticipates and counteracts the off-tracking effect before it causes safety issues. By pre-calculating the appropriate offset based on curvature information and vehicle characteristics, the system neutralizes the harmful off-tracking effect in advance, allowing high-speed traversal of curved sections without compromising safety.
Data Source
AI summary
An apparatus is introduced for an autonomous driving control. The apparatus may comprise a sensor device, a memory configured to store instructions, and a controller operatively connected to the sensor device and the memory, wherein the instructions, when executed by the controller, may cause the apparatus to determine, based on a driving route, curvature of a driving road on which a vehicle is driving, determine, by the sensor device and based on the curvature exceeding a threshold curvature, information associated with at least one of the driving road, lines of the driving road, a feature of the vehicle, or a kingpin angle between bodies of the vehicle, generate a biased driving route based on at least one of the determined information or the driving route, and control the vehicle to drive on the driving road along the biased driving route.