Autonomous Vehicle Speed Control Near Occluded Collision Zones
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Solution Overview
Problem
Self-driving vehicles cannot sense occluded areas, leading to potential collisions with objects emerging from behind occluding objects, compromising the safety of autonomous driving.
Innovation Solution
A vehicle control method that determines a hard brake speed limit point and potential collision point based on the vehicle's planned path and occluding object position, calculating a speed limit value to control the vehicle's speed and prevent collisions by detecting occluding objects and calculating the necessary deceleration rates to avoid risks.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the vehicle maintains high speed for productivity, then efficiency is improved, but collision risk increases when occluding objects are present
Solution Approach 1:
The system performs preliminary detection of occluding objects and calculates speed limit values before the vehicle reaches the occluded area. By determining the hard brake speed limit point and potential collision point in advance, the system establishes safe speed limits that allow the vehicle to maintain efficient travel while preparing for potential emergency braking, thus resolving the contradiction between productivity and safety.
2Reliability
If the vehicle reduces speed to improve safety in occluded areas, then collision risk is reduced, but travel time increases
Solution Approach 1:
The system applies speed limitation locally only in the specific occluded area where collision risk exists, rather than reducing speed throughout the entire journey. By calculating a specific speed limit value for the hard brake speed limit point based on the distance to the potential collision point, the vehicle maintains high speed in safe areas and only slows down when necessary, thus minimizing time loss while improving safety in critical zones.
3Reliability
If the vehicle increases detection range to improve safety, then occluded area monitoring is enhanced, but system complexity increases
Solution Approach 1:
The system uses the occluding object itself as an intermediary to extend detection capability. By detecting the occluding object and using its position information to calculate the occluded area and potential collision points, the system indirectly monitors regions that would otherwise be undetectable. This approach enhances safety without requiring additional sensors or complex detection systems, as it leverages existing detection capabilities combined with computational geometry.
Data Source
AI summary
A vehicle control method, a vehicle control apparatus, an electronic device and a self-driving vehicle all relates to the field of self-driving and intelligent transportation technologies. The method includes: when a vehicle is moving, in a case that an occluding object is detected, determining a hard brake speed limit point and a potential collision point according to a planned path of the vehicle and position information of the occluding object; calculating a speed limit value of the hard brake speed limit point based on a distance between the hard brake speed limit point and the potential collision point; in a case that a planned speed of the vehicle at the hard brake speed limit point is less than or equal to the speed limit value, controlling the vehicle to move at the planned speed.