Autonomous Driving Turn Path Generation for Narrow U-Turns
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing methods for generating continuous curvature paths for vehicle navigation, particularly in narrow turn sections like U-turns, result in paths that are excessively long and difficult to control, often requiring vehicle stops and are inefficient in using clothoid and circle configurations.
Innovation Solution
An autonomous driving control apparatus utilizing a processor that determines a turn path with continuously changing curvature, employing deep neural networks to estimate maximum curvature and steering angular speed, and generates paths using clothoid and circle curves to optimize vehicle navigation through narrow sections.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a conventional continuous curvature path is generated using two turn paths with clothoids and circles, then the path provides continuous curvature for smooth turning, but the path length becomes very long and cannot be used in narrow sections such as U-turn sections
Solution Approach 1:
The patent changes the fundamental parameters of path generation by using a single clothoid curve instead of the conventional two-clothoid-one-circle sequence. This parameter change allows the path to achieve continuous curvature while significantly reducing path length, enabling navigation in narrow sections like U-turns that were previously impossible with the conventional approach
Solution Approach 2:
The patent segments the turn path into a clothoid section and a straight line section, where the clothoid provides continuous curvature change and the straight line connects to the target point. This segmentation allows optimization of each section's function, achieving both smooth turning and reduced path length
2Ease of operation
If the end point of the clothoid is determined only after all calculations are finished, then the continuous curvature path can be generated, but it is difficult to place the end point at a position desired by the user
Solution Approach 1:
The patent performs preliminary action by allowing the user to specify the desired end point position before path calculation begins. The system then uses this predetermined end point to calculate the appropriate clothoid parameters and length, ensuring the path reaches the exact desired location while maintaining continuous curvature
Data Source
AI summary
An autonomous driving control apparatus and a method for generating a driving path thereof are provided. The autonomous driving control apparatus includes a processor that receives a driving path from a navigation device. The processor is configured to determine whether there is a turn section on the driving path, determines a turn path, a curvature of which continuously changes in response to determining that there is the turn section on the driving path, and outputs the turn path.