Autonomous Vehicle Safe-Stop Trajectory Mapping
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Solution Overview
Problem
Autonomous vehicles face challenges in performing emergency stops, especially when encountering obstacles, as existing systems lack efficient methods to safely navigate and stop the vehicle while minimizing damage and ensuring passenger safety.
Innovation Solution
An autonomous vehicle urgent stop system that utilizes vehicle sensors and environmental sensors to map a safe-stop trajectory, avoiding obstacles and decelerating the vehicle to a stop, by integrating speed and steering control systems with an urgent stop controller that receives data from various sensors, including radar, lidar, and visual sensors, to manage emergency triggers and ensure safe stopping.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If the autonomous vehicle performs a traditional emergency stop, then the stopping time is reduced, but the vehicle may collide with obstacles or cause damage
Solution Approach 1:
The system pre-maps multiple potential safe-stop trajectories in advance using environmental sensor data. When an emergency trigger event occurs, the controller selects from pre-calculated trajectories rather than computing in real-time, enabling rapid response without collision risk.
Solution Approach 2:
The safe-stop trajectory is dynamically adjusted based on real-time environmental conditions detected by sensors. The controller modifies the pre-mapped trajectory to avoid obstacles while maintaining efficient stopping, balancing speed and safety adaptively.
2Object-affected harmful factors
If the autonomous vehicle maps a safe-stop trajectory avoiding obstacles, then collision damage is minimized, but the stopping time increases
Solution Approach 1:
Multiple safe-stop trajectories are pre-mapped considering various obstacle scenarios. This allows the system to select an optimal trajectory quickly during emergencies without performing complex real-time path planning, reducing decision time while ensuring safety.
Solution Approach 2:
The controller adjusts trajectory parameters such as deceleration rate and path curvature based on the selected safe-stop trajectory and real-time conditions. By optimizing these parameters, the system achieves the safest possible stopping path within minimum time.
3Reliability
If the autonomous vehicle uses multiple sensors for emergency stop, then the safety is improved, but the system complexity increases
Solution Approach 1:
The system integrates data from multiple sensor types (environmental sensors, vehicle sensors) into a unified emergency stop control framework. The controller processes combined sensor inputs to determine safe-stop trajectories, achieving comprehensive safety through sensor fusion rather than separate processing systems.
Solution Approach 2:
The urgent stop controller serves multiple functions: receiving emergency triggers, processing sensor data, mapping safe-stop trajectories, and controlling vehicle dynamics. This multi-functional design consolidates complexity into a single coordinated system rather than requiring separate specialized systems for each function.
Data Source
AI summary
An autonomous vehicle urgent stop system is disclosed. The autonomous vehicle urgent stop system may include one or more vehicle sensors and/or one or more environmental sensors that either part of the autonomous vehicle or separate from the autonomous vehicle sensors. The urgent stop system may map a safe-stop trajectory for the autonomous vehicle based on the trajectory of the autonomous vehicle and environmental data received from an environmental sensor. The safe-stop trajectory ends in the autonomous vehicle being stopped. In response to an emergency trigger event, the urgent stop system may direct the autonomous vehicle to follow the safe-stop trajectory.