Autonomous Vehicle Path Planning Using Dynamic Obstacle Repulsion
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Solution Overview
Problem
Conventional path planning in autonomous driving systems primarily focuses on obstacle avoidance based on location, leading to suboptimal driving experiences and safety due to single-factor consideration, affecting the smoothness and safety of the driving process.
Innovation Solution
A method for path planning that considers both the location and motion attribute information of obstacles, using repulsion ring coefficients to identify hazard levels and plan smoother, safer paths by incorporating repulsion velocity and acceleration coefficients, repulsion ring range coefficients, and repulsion ring size parameters to determine turning radii and repulsive forces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If path planning is based only on obstacle location from the perspective of obstacle avoidance, then safety of driver and vehicle is ensured, but driving process cannot proceed smoothly affecting driving experience
Solution Approach 1:
The patent changes the parameters considered in path planning from only static location to include dynamic motion attributes (velocity, acceleration, motion direction). By introducing motion attribute information and calculating repulsion ring coefficients based on these parameters, the system dynamically adjusts the repulsion ring range and repulsion coefficient, enabling smoother path planning that maintains safety while improving driving experience.
2Device complexity
If path planning considers only single factor (location), then calculation is simple, but driving process cannot proceed smoothly
Solution Approach 1:
The patent introduces dynamic elements to path planning by considering motion attributes (velocity, acceleration, motion direction) of both the vehicle and obstacles. The repulsion ring coefficient is dynamically calculated based on these motion parameters, allowing the repulsion ring range to adapt in real-time, thereby achieving smoother driving processes while managing calculation complexity through structured parameter integration.
3Ease of operation
If repulsion ring coefficient is determined based on location and motion attribute information, then traveling path becomes smoother improving driving experience, but calculation complexity increases
Solution Approach 1:
The patent applies preliminary action by pre-defining the structure and calculation methodology for repulsion ring coefficients based on motion attribute information. The system establishes predetermined relationships between motion parameters (velocity, acceleration, motion direction) and repulsion ring characteristics, enabling smoother path planning while managing calculation complexity through structured preliminary formulations.
Data Source
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AI summary
A method and an apparatus for path planning, a controller, and a mobile object are provided, and belong to the field of autonomous driving. The method includes: obtaining a location of an obstacle (2, 3, 4, or 5) around a mobile object (1) and motion attribute information, where the motion attribute information is used to describe an attribute and a motion state of the obstacle (2, 3, 4, or 5) and a motion state of the mobile object (1); determining a repulsion ring coefficient of the obstacle (2, 3, 4, or 5) based on the location of the obstacle (2, 3, 4, or 5) and the motion attribute information, where the repulsion ring coefficient is used to identify a hazard level of a collision between the mobile object (1) and the obstacle (2, 3, 4, or 5); and planning a traveling path for the mobile object (1) in a first section based on the repulsion ring coefficient. This improves driving experience.