Dual Buffer Zone System for Stable Nudge Decisions in Autonomous Driving
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Solution Overview
Problem
Conventional motion planning for autonomous driving vehicles lacks accuracy and stability due to the rapid toggling between nudge and non-nudge decisions at boundary conditions, primarily because it does not account for the differences in vehicle types and obstacles in the environment.
Innovation Solution
A dual buffer zone system is introduced, where obstacles are associated with either a first or second buffer zone based on their perceived nature, ensuring a stable planning decision by maintaining a predetermined buffer distance, thereby preventing rapid toggling between nudge and non-nudge outputs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If conventional motion planning applies same planning operations to all vehicles based on curvature and speed, then the planning process is simple and fast, but the planning accuracy and smoothness deteriorate due to not considering vehicle type differences
Solution Approach 1:
The patent applies different motion planning operations tailored to specific vehicle types (e.g., single-unit vehicles vs. articulated vehicles) and obstacle characteristics. Instead of a uniform planning approach, the system selects planning strategies based on local vehicle properties and environmental conditions, improving planning accuracy for each vehicle type while maintaining overall system efficiency.
2Adaptability or versatility
If the planning decision rapidly toggles between nudge and non-nudge at boundary conditions, then the system responds sensitively to environmental changes, but the stability of the nudge decision deteriorates
Solution Approach 1:
The system performs preliminary actions by pre-calculating buffer zones and determining nudge decisions in advance based on obstacle characteristics and vehicle state. This preliminary planning prevents rapid toggling by establishing stable decision boundaries before execution, reducing oscillations between nudge and non-nudge states while maintaining adaptive response to environmental changes.
Data Source
AI summary
Embodiments described herein disclose systems and methods for a dual buffer zone system to ensure a stable nudge for autonomous driving vehicles. In one embodiment, a system perceives a driving environment surrounding an autonomous driving vehicle (ADV), including perceiving one or more obstacles within a view of the ADV. For each of the one or more obstacles, if a previous planning decision for the obstacle is not a nudge, the system associates a first buffer zone with the obstacle. Otherwise, the system associates a second buffer zone with the obstacle. Based on the associated buffer zone for the obstacle, the system determines a planning decision to nudge the obstacle to ensure a buffer distance between the ADV and the obstacle. The system generates a trajectory for the ADV based on the planning decisions for the one or more obstacles.