Autonomous Vehicle Path Planning for Tractor-Trailer Stability
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Solution Overview
Problem
Autonomous vehicles, especially those with tractors and trailers, face challenges in determining safe driving paths that consider risks and stability, particularly in dynamic environments, which affects collision prevention and user riding quality.
Innovation Solution
An autonomous driving control apparatus that calculates and evaluates multiple driving path candidates using a path calculation device and controller, generating grid maps to assess risks based on object positions and probabilities, and determines the optimal path by weighing factors like driving stability and detour degree.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If multiple driving path candidates are evaluated considering swept paths of tractor and trailer, then collision risk is reduced, but calculation complexity increases
Solution Approach 1:
The autonomous vehicle is segmented into multiple parts (tractor and trailer) for independent swept path calculation. Each part's swept path is calculated separately based on its own trajectory and dimensions, then combined to determine overall collision risk. This segmentation allows complex multi-body dynamics to be broken down into manageable computational units while maintaining accurate collision assessment.
2Stability of the object's composition
If driving path is determined considering both tractor and trailer swept paths, then driving stability is improved, but path determination time increases
Solution Approach 1:
Swept paths for both tractor and trailer are calculated in advance before final path determination. By pre-calculating the spatial envelopes of both vehicle parts for multiple candidate paths, the system prepares collision risk data ahead of time, enabling faster final path selection while maintaining comprehensive stability assessment.
3Reliability
If multiple path candidates are evaluated with risk assessment, then safety is improved, but computational load increases
Solution Approach 1:
The system evaluates multiple driving path candidates with comprehensive risk assessment, but applies partial action by focusing computational resources on the most promising paths. After initial swept path calculations for all candidates, the system prioritizes evaluation of paths with lower preliminary risk scores, reducing overall computational load while maintaining safety through thorough assessment of critical options.
Data Source
AI summary
An autonomous driving control apparatus for determining a driving path of an autonomous vehicle and a method thereof are provided. A path calculation device calculates paths swept by a part or all of a body of an autonomous vehicle with respect to two or more driving path candidates of the autonomous vehicle. A controller determines risks for the two or more driving path candidates based on the swept paths, and determines a driving path of the autonomous vehicle based on the risks determined for the two or more driving path candidates. The autonomous driving control apparatus prevents a risk of collision between a trailer part and an object to ensure stability of autonomous driving.