Automated Driving Trajectory Adaptation for System-Limit Parking
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Solution Overview
Problem
Existing driver assistance systems face challenges in reliably and efficiently repeating driving maneuvers, particularly parking maneuvers, due to recorded trajectories exceeding system limits when automated, leading to potential termination or inefficiencies.
Innovation Solution
A device and method that adapt recorded driving trajectories to comply with vehicle system limits by adding additional driving moves and changes of direction, minimizing deviations, and optimizing the trajectory to ensure safe and efficient automated performance, using environmental data and cost functions to determine an adapted path that meets system constraints.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If the recorded driving trajectory is used for automated performance, then the driving maneuver can be repeated automatically, but the trajectory may exceed system limits (steering angle, acceleration, speed) causing the system to terminate or fail
Solution Approach 1:
The system performs preliminary analysis of the recorded trajectory before automated execution to identify segments that exceed system limits. By detecting these exceedances in advance, the system can prepare appropriate adaptations (such as modifying steering angles or adding intermediate maneuvers) to ensure reliable automated execution without actual limit violations.
Solution Approach 2:
The system dynamically adapts the recorded trajectory by selectively modifying segments that exceed system limits while preserving segments that are within limits. This dynamic adjustment allows the trajectory to be customized for automated execution, transforming a static recorded path into a flexible, adaptively modified trajectory that complies with system constraints.
2Extent of automation
If the recorded trajectory is modified to comply with system limits, then automated execution becomes possible, but deviations from the original recorded trajectory increase
Solution Approach 1:
The system applies different quality levels of modification to different segments of the trajectory. Segments within system limits are preserved with high fidelity (minimal deviation), while only segments exceeding limits are modified. This localized approach ensures that the overall trajectory remains as close as possible to the original recorded path while achieving automated execution capability.
Solution Approach 2:
The system modifies specific parameters (steering angle, acceleration, speed) only where necessary to comply with system limits, rather than altering the entire trajectory. By changing parameters locally at exceedance points and maintaining original parameters elsewhere, the system minimizes overall deviation while enabling automated execution.
3Extent of automation
If additional driving moves are added to the trajectory to comply with system limits, then the trajectory becomes executable automatically, but the execution time and complexity increase
Solution Approach 1:
The system segments the trajectory into portions within limits and portions exceeding limits. By identifying and isolating only the problematic segments, the system can apply minimal necessary modifications (such as adding intermediate steering adjustments) rather than restructuring the entire trajectory, thus reducing the increase in execution time.
Solution Approach 2:
The system efficiently handles limit exceedances by implementing minimal necessary adjustments rather than elaborate workarounds. For example, it may apply a single corrected steering angle adjustment to bypass a limit violation rather than adding multiple intermediate maneuvers, thereby rushing through the correction process and minimizing additional execution time.
Data Source
AI summary
A device for determining a driving trajectory for repeated performance of a vehicle maneuver is disclosed. The device is configured to determine that a driving trajectory recorded for the driving maneuver exceeds a system limit of the vehicle for the automated performance of the driving maneuver. The device is further configured to determine a driving trajectory for the driving maneuver which is adapted with regard to the recorded driving trajectory and does not exceed the system limit of the vehicle, and to provide and/or use the adapted driving trajectory for automated performance of the driving maneuver.