Evasive Steering Control Using an Odometry Buffer
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Solution Overview
Problem
Existing vehicle stabilization systems struggle to maintain good trajectory following or resume trajectory after an evasive steering maneuver, especially in the absence of lane lines or when perception is degraded.
Innovation Solution
A vehicle management system that includes an odometry buffer to maintain vehicle pose data, detect steering maneuvers, and formulate an odometry path to align the vehicle's heading with a relative pose, using data from sensors and an inertial measurement unit to stabilize the vehicle during evasive maneuvers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the vehicle uses traditional trajectory following systems, then the system structure is simple, but the system fails to maintain good trajectory following after evasive steering maneuvers, especially when lane lines are absent or perception is degraded
Solution Approach 1:
The system pre-calculates and stores an odometry path buffer containing multiple potential trajectory segments before the vehicle completes an evasive maneuver. This preliminary preparation allows the vehicle to quickly resume stable trajectory following after the maneuver without requiring complex real-time recalculation, thus improving reliability while managing complexity
Solution Approach 2:
The patent introduces an odometry buffer as an intermediary data structure that stores historical pose information and pre-computed path segments. This buffer acts as a mediator between the vehicle's current state and the trajectory control system, providing stable reference data that improves trajectory following reliability without requiring the entire system to become more complex
2Reliability
If the vehicle relies on perception systems to detect lane lines for trajectory control, then the system can follow lanes accurately when visible, but the system fails when lane lines are absent or perception is degraded
Solution Approach 1:
The system creates a copy of the vehicle's odometry data (historical position and orientation information) and stores it in the odometry buffer. This copied data serves as a reliable reference for trajectory control when external perception of lane lines fails, allowing the vehicle to maintain trajectory following reliability independent of environmental conditions
Solution Approach 2:
The system pre-computes and stores multiple potential path segments in the odometry buffer before the vehicle needs to resume trajectory control. This preliminary computation of alternative paths enables the vehicle to adapt to various environmental conditions (presence or absence of lane lines) without requiring complex real-time decision-making, thus improving both reliability and environmental adaptability
3Reliability
If the vehicle completes evasive steering maneuvers without assistance, then the system operation is simple, but the vehicle may experience uncontrolled lane excursions and instability
Solution Approach 1:
The system continuously monitors the vehicle's actual trajectory during and after evasive maneuvers by comparing it against the stored odometry path buffer. This feedback mechanism detects deviations and triggers appropriate corrective actions, ensuring vehicle stability without requiring complex real-time control interventions, thus maintaining ease of operation while improving reliability
Data Source
AI summary
A computer-implemented method that, when executed by data processing hardware, causes the data processing hardware to perform operations comprising, determining vehicle pose data of a host vehicle, maintaining an odometry buffer with the vehicle pose data, detecting a steering maneuver of the host vehicle, determining a relative pose of the host vehicle upon initiation of the steering maneuver using the odometry buffer, formulating an odometry path for aligning a heading of the host vehicle with a heading of the relative pose, and completing the steering maneuver according to the odometry path.