Autonomous Vehicle Obstacle Avoidance Trajectory
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Solution Overview
Problem
Conventional methods for autonomous vehicle obstacle avoidance, such as generating geometric avoidance circles and real-time clothoid curves, face inefficiencies due to unnecessary calculations and increased computational loads, particularly in determining driving paths.
Innovation Solution
A system and method that generates a valid trajectory based on the vehicle's speed, steering angle, lateral acceleration, and yaw rate, allowing for real-time control of the driving path to avoid obstacles by calculating a rotatable range and setting a target position within this trajectory.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a geometric avoidance circle trajectory is generated to control steering for obstacle avoidance, then the vehicle can avoid obstacles, but unnecessary circle trajectory calculations are consumed leading to time loss
Solution Approach 1:
The patent extracts only the necessary portion of the avoidance circle trajectory that the vehicle will actually pass through, rather than calculating the entire circle. By determining a rotatable range based on current steering angle and calculating only the valid trajectory within this range, the system eliminates unnecessary trajectory calculations while maintaining obstacle avoidance capability.
Solution Approach 2:
The patent makes the trajectory calculation dynamic by adjusting the rotatable range according to the vehicle's current steering angle. The valid trajectory is generated based on the actual rotatable range rather than a fixed circular path, allowing the system to adapt to different driving conditions and reduce calculation time.
2Stability of the object's composition
If a clothoid curve is generated in real-time as a driving trajectory, then the vehicle can follow a smooth path, but the calculation load is increased
Solution Approach 1:
The patent extracts only the necessary segment of the clothoid curve within the valid trajectory range, rather than generating the entire curve. By limiting calculations to the rotatable range and valid trajectory portion, the system maintains smooth path following while significantly reducing the real-time calculation load.
Solution Approach 2:
The patent applies partial action by calculating only the portion of the trajectory that is actually needed for obstacle avoidance within the rotatable range, rather than generating complete trajectories. This partial calculation approach maintains sufficient smoothness for safe avoidance while reducing computational complexity.
Data Source
AI summary
A system and method of avoiding an obstacle for an autonomous vehicle is provided. The system includes an valid trajectory generation unit configured to generate a circle in which the vehicle is located in a center position of a circle, calculate a rotatable range of the vehicle, and generate an valid trajectory estimated that the vehicle passes based on the generated circle and rotatable range; an obstacle detection unit configured to detect the obstacle located in front of the vehicle; and a driving path control unit configured to control a driving path of the vehicle when a position of the detected obstacle is included within the generated valid trajectory.