Autonomous Lane Change Trajectory Planning for Dynamic Obstacles
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Solution Overview
Problem
Conventional autonomous vehicle control systems fail to accurately predict collisions with dynamic obstacles, particularly when interacting with other proximate dynamic vehicles, leading to unsafe and uncomfortable lane change maneuvers.
Innovation Solution
A system and method for automated lane change control that considers the positions, headings, speed, and acceleration of proximate dynamic vehicles, using sensors and a computing device to generate a lane change trajectory, which includes a longitudinal positioning phase and a lateral steering phase to ensure safe and comfortable lane changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If conventional autonomous vehicle control systems use polynomial expressions to represent spatial information of the driving path, then the system complexity is reduced, but the accuracy of predicting future positions of proximate dynamic vehicles deteriorates
Solution Approach 1:
The patent changes the parameters used for prediction from simple polynomial spatial representations to a comprehensive set of vehicle state parameters including position, velocity, acceleration, and heading angle. This allows the system to accurately predict future positions of proximate dynamic vehicles while maintaining manageable system complexity through structured parameter organization.
2Ease of operation
If the autonomous vehicle performs lane change maneuvers without considering proximate dynamic vehicles, then the maneuver execution is simplified, but the safety of the lane change deteriorates
Solution Approach 1:
The patent applies preliminary action by predicting the future positions of proximate dynamic vehicles before executing the lane change maneuver. The controller determines whether it is safe to change lanes based on predicted vehicle positions and maintains a safety distance, ensuring safety is verified in advance rather than during the maneuver execution.
3Reliability
If the autonomous vehicle maintains a conservative safety distance from all proximate vehicles, then collision risk is reduced, but the comfort and smoothness of lane change maneuvers deteriorates
Solution Approach 1:
The patent applies local quality by determining safety distances individually for each proximate dynamic vehicle based on its specific state (position, velocity, acceleration, heading). Rather than applying a uniform conservative safety distance to all vehicles, the system calculates appropriate safety distances locally for each vehicle, enabling smooth lane changes when conditions permit while maintaining collision avoidance when necessary.
Data Source
AI summary
A system and method for automated lane change control for autonomous vehicles are disclosed. A particular embodiment is configured to: receive perception data associated with a host vehicle; use the perception data to determine a state of the host vehicle and a state of proximate vehicles detected near to the host vehicle; determine a first target position within a safety zone between proximate vehicles detected in a roadway lane adjacent to a lane in which the host vehicle is positioned; determine a second target position in the lane in which the host vehicle is positioned; and generate a lane change trajectory to direct the host vehicle toward the first target position in the adjacent lane after directing the host vehicle toward the second target position in the lane in which the host vehicle is positioned.