Autonomous Vehicle Turn-Round Path Determination
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Solution Overview
Problem
Autonomous vehicles often fail to complete turn-rounds as planned due to limited executive abilities, necessitating a method that considers road and vehicle information to determine feasible turn-round paths.
Innovation Solution
A method and apparatus that determine a turn-round path by evaluating candidate paths based on road information, vehicle information, and historical statistical data, ensuring the vehicle's ability to successfully execute the turn-round within given constraints.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional global path search and real-time path planning are used, then a feasible path can be searched from the topological map, but the vehicle cannot complete turn-rounds due to limited executive abilities
Solution Approach 1:
The path planning process is divided into two distinct stages: global path search based on topological map, and real-time path planning considering vehicle executive abilities. This segmentation allows each stage to focus on specific requirements, improving overall reliability while managing complexity.
Solution Approach 2:
The system performs preliminary evaluation of turn-round feasibility by considering vehicle information (turning radius, speed limits) and road information (road width, curvature) before executing the turn-round maneuver. This preliminary action ensures the vehicle can complete the maneuver successfully.
2Productivity
If the vehicle follows the searched path without evaluation, then the path planning is simple, but the vehicle fails to complete turn-rounds due to executive ability limitations
Solution Approach 1:
The system performs partial evaluation by focusing only on critical parameters for turn-round feasibility (vehicle turning radius, road width, path curvature) rather than evaluating all possible path characteristics. This partial action improves execution efficiency while minimizing time loss.
Solution Approach 2:
The system uses feedback from vehicle information (executive abilities) and road information to evaluate and adjust the planned path in real-time. This feedback mechanism ensures the vehicle can complete turn-rounds efficiently by selecting paths matching its capabilities.
3Reliability
If turn-round paths are determined without considering vehicle and road information, then the planning process is simple, but the feasibility of path execution is low
Solution Approach 1:
The system applies local quality by considering specific vehicle characteristics (turning radius, maximum speed, acceleration) and local road conditions (width, curvature, surface) at the turn-round location. This localized information processing improves execution feasibility without requiring global analysis of all vehicle and road parameters.
Solution Approach 2:
The system changes evaluation parameters dynamically based on the specific turn-round scenario, adjusting which vehicle and road parameters are most critical for the current maneuver. This parameter adaptation improves reliability while managing information processing complexity.
Data Source
AI summary
A method and apparatus for determining a turn-round path of a vehicle, a device and a storage medium are provided. An embodiment of the method includes: determining a starting position and a target position for the vehicle to turn round on a road; determining, based at least partially on road information associated with the road and vehicle information associated with the vehicle, a candidate turn-round path between the starting position and the target position; evaluating the feasibility of the candidate turn-round path; and determining, based on the evaluation on the feasibility, a turn-round path by which the vehicle is to turn round on the road.