Dynamic Driving Reference Line Adjustment for Obstacle Avoidance
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Solution Overview
Problem
Traditional methods for generating driving reference lines for unmanned vehicles do not adequately ensure safety due to insufficient obstacle avoidance capabilities, as they primarily consider traffic ability at the lane level without guaranteeing the safety of the driving reference line.
Innovation Solution
A method and apparatus that acquire position information of obstacles, determine safety range parameters based on vehicle and obstacle parameters, and adjust polynomial curves to generate an updated driving reference line that avoids obstacles while minimizing route cost, ensuring safe travel.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If traditional methods generate driving reference line offline based on high precision map, then traffic ability at lane level is improved, but safety of driving reference line deteriorates due to insufficient obstacle avoidance capability
Solution Approach 1:
The patent transforms the static offline-generated driving reference line into a dynamic online-adjusted reference line. The system continuously monitors obstacle positions and dynamically adjusts the polynomial curve coefficients to modify the driving reference line in real-time, enabling the system to adapt to changing environmental conditions while maintaining safety
Solution Approach 2:
The patent performs preliminary safety verification by acquiring obstacle position information and calculating safety range parameters before finalizing the driving reference line adjustment. The system pre-calculates whether the adjusted reference line would satisfy safety requirements, and only applies adjustments that pass the safety verification, preventing unsafe trajectories from being generated
2Reliability
If driving reference line is adjusted to avoid obstacles, then obstacle avoidance ability is improved, but route cost increases due to deviation from original path
Solution Approach 1:
The patent changes the parameters of the polynomial curve (coefficients) that defines the driving reference line. By adjusting these parameters within certain bounds, the system can modify the trajectory to avoid obstacles while minimizing deviations from the original path, thus balancing safety with route efficiency
Solution Approach 2:
The patent applies partial adjustment to the driving reference line by modifying only the polynomial curve coefficients within the safety range, rather than completely re-planning the entire route. This partial action approach makes minimal necessary changes to avoid obstacles while keeping the overall route close to the original optimal path, reducing energy loss
3Measurement precision
If safety range parameter is determined based on vehicle and obstacle parameters, then precision of safety assessment is improved, but computational complexity increases
Solution Approach 1:
The patent replaces complex comprehensive safety assessments with a simplified parameter-based calculation system. Instead of performing complex simulations or multi-factor analyses, the system uses vehicle parameters, obstacle parameters, and pre-calculated safety range parameters in a straightforward computational model to determine safety, achieving both precision and efficiency
Data Source
AI summary
A method and apparatus for processing a driving reference line, and a vehicle are provided. The method comprises: acquiring position information of at least one obstacle in a range covered by an original driving reference line; determining a safety range parameter based on the position information of the at least one obstacle; adjusting a coefficient of a polynomial curve corresponding to the original driving reference line based on the safety range parameter, to obtain an adjusted polynomial curve; and determining an adjusted driving reference line based on the updated polynomial curve. The safety problem of the driving reference line caused by the insufficient obstacle avoidance ability of the driving reference line is solved.