Cooperative Trajectory Validation for Stable V2X Maneuver Planning
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Solution Overview
Problem
Cooperative maneuver planning in vehicle-to-X communication is hindered by significant delays in sensor data processing and transmission, leading to outdated trajectory information that can result in safety-critical situations due to the age of data used for decision-making, particularly in rapidly changing traffic environments.
Innovation Solution
An electronic control device for a first vehicle receives a planned trajectory from a second vehicle, tests it for consistency with current environmental information, and either uses or discards it based on latency and collision-free criteria, executing alternative trajectory planning if necessary to ensure safety, thereby preventing the use of outdated trajectories.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If sensor data is processed and transmitted through multiple vehicles in a delay chain, then cooperative maneuver planning can be achieved, but the trajectory information becomes outdated and safety is compromised
Solution Approach 1:
The patent applies preliminary action by having the first vehicle perform contradiction testing on the received planned trajectory before finalizing its own trajectory planning. This advance verification ensures that outdated trajectory information from the second vehicle is checked for consistency with current environmental conditions, preventing safety issues before they occur. The testing step acts as a preemptive measure to validate the usability of delayed trajectory data.
2Productivity
If received trajectories are used without verification, then maneuver planning speed is maintained, but incorrect trajectories may be executed leading to safety-critical situations
Solution Approach 1:
The patent implements feedback by having the first vehicle's maneuver planning device use the results of the contradiction test to determine whether to adopt the second vehicle's planned trajectory. The testing device provides feedback information about trajectory consistency, and this feedback loops back to the maneuver planning device, which adjusts its planning accordingly. This closed-loop feedback mechanism ensures both speed and accuracy by automatically validating trajectory information before execution.
Data Source
AI summary
A method for improving the stability of cooperative driving maneuver planning, comprises:receiving a planned trajectory of a second vehicle by a vehicle-to-X communication device of the first vehicle;testing the planned trajectory of the second vehicle for absence of contradiction with environmental information of the first vehicle by a test device of the first vehicle, the environmental information of the first vehicle acquired by a sensor of the first vehicle;executing trajectory planning by a maneuver planning device of the first vehicle andusing the planned trajectory of the second vehicle for the trajectory planning of the first vehicle when the absence of contradiction is confirmed; andnot using the planned trajectory of the second vehicle for the trajectory planning of the first vehicle otherwise;outputting a signal for executing a planned trajectory of the first vehicle.An electronic control device of the first vehicle carries out the method.