Backup Trajectory Conversion for Stable Blind Stop Vehicle Control
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Solution Overview
Problem
Current vehicle control systems experience lateral oscillations during blind stop maneuvers due to deficient control references, leading to unstable vehicle behavior when critical failures occur, such as GPS signal loss or sensor failures.
Innovation Solution
The backup trajectory converter generates a smoother path by converting trajectory points into an absolute path, interpolating points for higher resolution, determining closest points and measurement points, and calculating lateral and heading offsets, eliminating the need for vehicle frame conversion and spline usage, which reduces noise and oscillations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional vehicle control systems use vehicle frame conversion and spline interpolation for path tracking, then the system can process trajectory data, but lateral oscillations and noise occur during blind stop maneuvers
Solution Approach 1:
The patent extracts and removes the problematic vehicle frame conversion and spline interpolation steps from the traditional processing chain. By directly using absolute path coordinates without converting to vehicle frame or applying spline smoothing, the system eliminates the source of lateral oscillations and noise while maintaining essential path tracking functionality.
Solution Approach 2:
Instead of converting absolute path coordinates to vehicle frame coordinates (traditional approach), the patent inverts the approach by directly utilizing absolute path coordinates in the global reference frame. This inversion eliminates the coordinate transformation step that introduces oscillations, allowing the vehicle controller to directly compare current position with target path points.
2Measurement precision
If the system uses detailed trajectory processing with vehicle frame conversion, then path accuracy can be maintained, but the computational complexity and processing time increase
Solution Approach 1:
The patent removes the complex vehicle frame conversion and spline interpolation operations from the control system. By directly using absolute path coordinates, the system maintains path tracking accuracy while significantly reducing computational complexity and eliminating unnecessary processing steps.
3Reliability
If the system performs blind stop maneuvers with traditional control references, then the vehicle can stop safely, but lateral oscillations occur causing unstable behavior
Solution Approach 1:
During blind stop maneuvers, the patent extracts and eliminates the problematic control reference generation steps (vehicle frame conversion and spline interpolation) that cause lateral oscillations. By directly using absolute path coordinates, the system maintains safety while achieving stable vehicle behavior without oscillations.
Solution Approach 2:
The patent inverts the traditional approach by not converting to vehicle frame coordinates during blind stop maneuvers. Instead, it directly uses absolute path coordinates to generate control references, which eliminates the source of lateral oscillations and provides stable vehicle behavior during critical failures.
Data Source
AI summary
Disclosed are systems and techniques for controlling one or more operations of a vehicle. For example, according to some aspects, a process may include determining a path associated with the vehicle and determining at least two points on the path located closest to a pose of the vehicle. The process may include determining a measurement point on a segment between at least two points that is closest to the pose of the vehicle. The process may further include determining a lateral offset, a heading offset, and/or a curvature of the path based on at least two points and the measurement point.