Autonomous Vehicle Stop Planning for Safe Speed-Reducing Maneuvers
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Solution Overview
Problem
Autonomous vehicles face challenges in efficiently responding to requests for immediate or speed-reducing maneuvers, particularly in identifying suitable stopping locations and adapting trajectory plans in dynamic environments.
Innovation Solution
The system enables autonomous vehicles to analyze various data sources, including traffic, sensor, and map data, to identify and adapt to target stopping locations, and execute trajectory plans in response to requests from occupants, teleoperators, or software processes, while continuously updating the target location based on new data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the autonomous vehicle stops immediately or within a short time/distance, then safety is improved, but the ability to identify a suitable stopping location becomes more difficult
Solution Approach 1:
The system continuously identifies and evaluates potential stopping locations in advance before a stop request is made. When a stop request is received, the pre-identified candidate locations can be quickly assessed and selected, enabling rapid stopping while maintaining safety. This preliminary preparation resolves the contradiction by having stopping options ready before they are needed.
Solution Approach 2:
The system dynamically updates the evaluation of stopping locations based on real-time sensor data, map data, and changing road conditions. The set of candidate stopping locations and their quality assessments are continuously adjusted as the vehicle moves and the environment changes, allowing the system to adapt quickly to new situations while maintaining safe stopping capabilities.
2Adaptability or versatility
If the system continuously updates target location based on new data, then adaptability is improved, but computational complexity increases
Solution Approach 1:
The system focuses computational resources on evaluating stopping locations in the immediate vicinity of the vehicle rather than the entire road network. By concentrating analysis on local areas where stopping is most likely needed and where the vehicle has the greatest flexibility, the system achieves high adaptability to local conditions while limiting computational complexity to manageable levels.
Solution Approach 2:
The system evaluates a limited set of candidate stopping locations with high quality rather than exhaustively analyzing all possible locations. By focusing on a subset of promising candidates identified through preliminary filtering based on map data and sensor information, the system achieves sufficient adaptability without the computational burden of complete evaluation.
3Measurement precision
If the system evaluates multiple data sources including traffic, sensor, and map data, then stopping location accuracy is improved, but processing time increases
Solution Approach 1:
The system pre-processes and stores relevant information from map data and historical traffic patterns in accessible formats. When a stop request is made, this pre-prepared information can be quickly combined with current sensor data to accurately identify stopping locations, reducing the time needed to process multiple data sources while maintaining high accuracy.
Solution Approach 2:
The system prioritizes processing sensor data and traffic information for locations in the immediate vicinity of the vehicle, where stopping is most likely to occur. By concentrating detailed multi-source evaluation on local areas rather than the entire road network, the system achieves high stopping location accuracy for relevant areas while minimizing overall processing time.
Data Source
AI summary
Among other things, a vehicle drives autonomously on a trajectory through a road network to a goal location based on an automatic process for planning the trajectory without human intervention; and an automatic process alters the planning of the trajectory to reach a target location based on a request received from an occupant of the vehicle to engage in a speed-reducing maneuver.