External Path Planning for Autonomous Vehicle Transfer in Gated Areas
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Solution Overview
Problem
Conventional methods for transferring motor vehicles from one position to another in areas separated from general road traffic face challenges due to complex calculations and the need to account for various vehicle-specific parameters and dynamic environments, leading to inefficiencies and inaccuracies, especially when dealing with different vehicle types and classes.
Innovation Solution
A method where a vehicle-external planning device determines the target path for a motor vehicle, taking into account vehicle-specific parameters and environmental information, allowing for precise route planning without additional external sensors, and enabling autonomous or semi-autonomous operation, with the possibility of remote control in case of conflicts.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a central processing unit calculates trajectories for multiple vehicles considering individual vehicle parameters, then the routing accuracy is improved, but the calculation time and system complexity increase significantly
Solution Approach 1:
The system divides the trajectory calculation task into two segments: a central processing unit performs static route planning considering vehicle parameters and area geometry, while each vehicle's on-board computer handles dynamic obstacle detection and real-time path adjustment. This segmentation allows accurate routing without centralized real-time calculation for all vehicles.
Solution Approach 2:
The central processing unit performs preliminary trajectory calculation before vehicles enter the restricted area, using vehicle-specific parameters and static environmental data. This preliminary action prepares optimized routes in advance, eliminating the need for complex real-time centralized calculation when multiple vehicles are present.
2Measurement precision
If individual vehicle parameters are considered in trajectory calculation, then the routing precision for different vehicle types is improved, but the device complexity increases
Solution Approach 1:
The system applies local quality by having each vehicle type use its specific parameters (length, width, turning radius) only in the trajectory calculation phase, while the execution phase uses standardized autonomous driving control. This allows precise routing for different vehicle types without requiring complex specialized systems for each vehicle class.
Solution Approach 2:
The central processing unit acts as an intermediary that receives vehicle parameter data, calculates optimized trajectories considering individual vehicle characteristics, and transmits these pre-calculated paths to vehicles. This intermediary handles the complexity of individual parameter consideration centrally, keeping individual vehicle systems simple.
3Reliability
If trajectories of multiple vehicles are calculated considering dynamic environments, then the safety is improved, but the calculation complexity and time increase
Solution Approach 1:
The system implements dynamics by allowing each vehicle to independently adjust its trajectory in real-time based on detected obstacles and environmental changes, rather than relying on continuous centralized recalculation. This dynamic local adaptation maintains safety without the complexity of centralized real-time optimization for multiple vehicles.
Solution Approach 2:
Each vehicle is equipped with sensors that provide feedback about obstacles and environmental conditions, which the on-board computer uses to adjust the pre-calculated trajectory in real-time. This feedback mechanism ensures safety by allowing individual vehicles to respond to dynamic conditions without requiring complex centralized coordination.
Data Source
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AI summary
The invention relates to a method for transferring, preferably for automated transferring, a motor vehicle from its current position to a target position, wherein both the current position and the target position are located in an area separated from general road traffic, preferably by a barrier and/or gate system. Furthermore, the motor vehicle to be transferred is capable of operating in an autonomous or semi-autonomous first driving mode M1. In this mode, the motor vehicle, with the aid of a driver assistance system, automatically performs both longitudinal and lateral guidance along a predetermined path. According to the invention, the method comprises the following steps: transmitting at least one piece of vehicle information, concerning a property of the motor vehicle, from the motor vehicle to a planning device external to the vehicle.Determining a target path from the vehicle's current position to its destination position by the vehicle-external planning unit, taking into account the transmitted vehicle information (at least one piece of information). Transmitting the target path determined by the vehicle-external planning unit to the vehicle and moving the vehicle from its current position to the destination position in the first driving mode M1 along the transmitted target path.