Cooperative Driving Trajectory Selection for Stable Maneuver Coordination
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Solution Overview
Problem
Existing cooperative driving maneuver systems exhibit unstable cooperation behavior due to varying effort assessments and frequent termination of cooperative maneuvers, especially in dynamically changing traffic situations.
Innovation Solution
A method and device for cooperative maneuver coordination that uses a tuple effort limiting value to stabilize cooperation by adjusting the threshold for selecting egoistic or altruistic trajectories, ensuring vehicles minimize disproportionate interventions and maintain consistent cooperation through a decentralized communication protocol.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If vehicles frequently reassess effort values in dynamically changing traffic situations, then the system adapts to current conditions, but cooperation becomes unstable and terminates frequently
Solution Approach 1:
The patent implements dynamic adjustment of the tuple effort limiting value based on cooperation duration. The limiting value increases as cooperation progresses, allowing the system to adapt to changing traffic situations while maintaining stable cooperation. This dynamic parameter adjustment enables the system to be more permissive initially and more restrictive over time, balancing adaptability with cooperation stability.
Solution Approach 2:
The patent changes the threshold parameter (tuple effort limiting value) based on the duration of cooperation. By modifying this parameter dynamically, the system resolves the contradiction between adapting to new conditions and maintaining stable cooperation. The parameter change strategy allows effort assessments to vary with cooperation stage, ensuring both adaptability and reliability.
2Productivity
If vehicles prioritize egoistic trajectories with lowest effort values, then individual vehicle efficiency is maximized, but disproportionate interventions in steering, braking, or acceleration occur
Solution Approach 1:
The patent introduces the tuple effort limiting value as an intermediary mechanism that mediates between individual vehicle efficiency and cooperative stability. This intermediary parameter prevents vehicles from making disproportionate interventions by filtering trajectory selections through the limiting value threshold, thus reducing harmful effects while maintaining productivity.
Solution Approach 2:
The patent applies beforehand cushioning by pre-establishing the tuple effort limiting value before trajectory selection. This pre-set threshold cushions against excessive egoistic behavior by preventing selections that would cause disproportionate interventions, thereby reducing harmful effects before they occur while still allowing efficient trajectory choices within acceptable bounds.
Data Source
AI summary
Disclosed is cooperative coordination of driving maneuvers of a vehicle with foreign maneuvers of a foreign vehicle, wherein a trajectory family is generated which comprises multiple planned-ahead ego trajectories having a reference trajectory. Tuples are then formed from an ego trajectory and a foreign trajectory or an additional foreign trajectory, the tuple is assessed using a tuple effort value and collision-free tuples are determined. If the ego vehicle has the right-of-way, an egoistic and an altruistic trajectory are selected. Based on the difference between the tuple effort values of the tuple comprising the altruistic trajectory and the tuple comprising the egoistic trajectory, the egoistic trajectory is selected if the difference is greater than a limiting value, otherwise the altruistic trajectory is selected, and the selected trajectory is sent as a reference trajectory to the foreign vehicle, wherein the limiting value is increased with progressing cooperation duration.