Lane Change Path Planning Using 3x3 Grid Safety Assessment
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Solution Overview
Problem
Existing lane change assistant systems for vehicles are not applicable at low speeds, lacking the capability to ensure safe and convenient lane changes across all speed conditions.
Innovation Solution
A method that generates a 3×3 grid based on vehicle speed and surrounding circumstances, using sensor data to determine safe lane change spaces and plan paths for lane changes, ensuring compliance with safety movement strategies regardless of speed, by processing traveling speed and surrounding circumstance data to select relevant information and generate lane change spaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If lane change assistant systems use fixed safety distance criteria designed for high-speed driving (over 60 km/hr), then lane change assistance works well at high speeds, but the system becomes inapplicable at low speeds
Solution Approach 1:
The patent applies dynamics by making the safety distance criteria variable rather than fixed. The system dynamically adjusts safety distance thresholds based on the vehicle's current speed, allowing the lane change assistant to adapt its safety parameters in real-time. This enables the system to maintain reliability across different speed conditions by adjusting the safety margins appropriately for each operating regime.
Solution Approach 2:
The patent implements parameter changes by modifying the safety distance parameter based on speed conditions. The system transitions from using a fixed safety distance (suitable only for high-speed operation) to using speed-dependent safety distance parameters. This allows the same lane change assistant system to reliably operate across both high-speed and low-speed conditions by changing its safety parameters according to the current operating speed.
2Reliability
If the system uses a comprehensive 3×3 grid evaluation model to assess lane change safety, then lane change safety is improved across all speeds, but the computational complexity and decision-making time increase
Solution Approach 1:
The patent applies segmentation by dividing the surrounding environment into a structured 3×3 grid model. This grid segments the spatial assessment into discrete zones (front-left, front-center, front-right, center-left, center-center, center-right, back-left, back-center, back-right), allowing the system to evaluate lane change safety in organized portions rather than as a single complex continuous space. This segmentation makes the evaluation more manageable and systematic.
Solution Approach 2:
The patent introduces a spatial dimensionality approach by using the 3×3 grid to represent the surrounding environment. This dimensional framework adds structure to the safety assessment by organizing evaluation criteria across multiple spatial zones simultaneously, enabling comprehensive safety checking across different directional sectors around the vehicle in a systematic manner.
3Measurement precision
If the system processes multiple traveling speed and surrounding circumstance data points with time-sorting, then the accuracy of lane change space determination is improved, but the data processing time and computational load increase
Solution Approach 1:
The patent applies preliminary action by pre-organizing and time-sorting the incoming sensor data streams before they are used for lane change decision-making. By maintaining time-sorted sequences of traveling speed and surrounding circumstance data in advance, the system prepares the data in a ready-to-use format, eliminating the need for complex real-time sorting during critical decision moments and reducing processing delays.
Data Source
AI summary
A method of lane change and path planning that receives sensed signals from multiple sensors through a car computer on a vehicle to generate multiple traveling speed time-sorted information and multiple surrounding circumstance time-sorted information, and to further generate a 3×3 grid corresponding to the surroundings of the vehicle; when receiving a signal to switch on the turn signals, the car computer selects data within a time interval from those traveling speed time-sorted information and surrounding circumstance time-sorted information, respectively; and then the selected data is to be processed together with the 3×3 grid to generate a lane change space, and through a decision strategy to determine whether the lane change space complies with a safety movement strategy, and then the car computer generates a planned path of movement, such that a safest space for assisting lane change is provided for improving convenience and safety.