Bending Strip Trajectory Model for Autonomous Driving
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Solution Overview
Problem
Current autonomous driving methods lack the ability to dynamically and selectively influence trajectory characteristics based on real-time vehicle-specific features and driving conditions, such as energy consumption and kinetosis, while ensuring optimal adherence to roadway boundaries.
Innovation Solution
A method and device for autonomous driving that utilize a bending strip model with discrete elements and spring elements to calculate a trajectory that optimally satisfies boundary conditions and quality measures, such as minimal curvature or energy consumption, using the principle of virtual displacement and finite element methods, allowing adaptive and real-time trajectory planning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If traditional trajectory calculation methods are used, then the trajectory can be determined, but the ability to dynamically and selectively influence trajectory characteristics based on real-time vehicle-specific features and driving conditions is lacking
Solution Approach 1:
The patent applies parameter changes by modifying the quality measure parameters (such as curvature, energy consumption, kinetosis) to dynamically influence trajectory characteristics. The bending strip model allows selective adjustment of these parameters based on real-time vehicle-specific features and driving conditions, enabling adaptive trajectory optimization without requiring a completely complex system redesign.
2Reliability
If the trajectory calculation considers multiple quality measures (curvature, energy consumption, kinetosis), then the trajectory optimization improves, but the calculation complexity increases
Solution Approach 1:
The patent segments the trajectory calculation into discrete elements along the bending strip. Each element can independently contribute to different quality measures (curvature, energy consumption, kinetosis), allowing the system to optimize multiple parameters simultaneously. This segmentation approach manages calculation complexity by breaking down the overall optimization problem into smaller, more manageable segments.
3Measurement precision
If the bending strip model with discrete elements is used, then the trajectory calculation becomes mathematically verifiable and reproducible, but the computational requirements increase
Solution Approach 1:
The patent employs a dynamic bending strip model where discrete elements can adapt their configuration based on boundary conditions and quality measures. This dynamic approach allows the system to achieve mathematically verifiable and reproducible trajectory calculations by maintaining a balance between model fidelity and computational efficiency, adjusting the level of detail as needed for different driving scenarios.
Data Source
AI summary
Method and device for autonomous driving of a vehicle on a roadway in a direction of travel. A trajectory for driving on the roadway in the direction of travel is determined. A bending strip of limited length defines the trajectory, wherein the bending strip is fixed at one end thereof in a node which defines a starting point of the trajectory. A course of the trajectory is determined, starting from the starting point, in dependence on a bending line of the bending strip, which line extends, starting from the node, to the other end of the bending strip. A representation of a roadway boundary defines a boundary condition for the determination of the trajectory. A quality measure is defined in dependence on a property of the bending strip. The bending line which satisfies the boundary condition and for which the quality measure has an extremal value is determined.