Lateral Offset Trajectory Planning Under Vehicle Dynamics Constraints
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Solution Overview
Problem
Existing driver assistance systems fail to effectively utilize vehicle dynamics for emergency evasive maneuvers due to late detection of objects and high sensor uncertainties, leading to potential exceedance of controllability limits and increased calibration efforts.
Innovation Solution
A method for generating a lateral displacement trajectory that directly considers system-specific actuator and state variable constraints through an analytical approach using a state variable filter, enabling online trajectory planning with optimized utilization of controllability limits.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If optimization methods are used for trajectory planning to directly consider constraints, then the consideration of actuator and state variable constraints is improved, but the computing power required increases significantly
Solution Approach 1:
The patent replaces complex optimization algorithms with a simplified analytical model that uses a state variable filter to directly compute trajectories satisfying constraints. This substitution of the computational approach reduces processing requirements while maintaining constraint compliance.
Solution Approach 2:
The patent transforms the trajectory planning problem by changing parameters to a flat output representation, allowing constraints to be directly incorporated into the filter design. This parameter transformation enables constraint satisfaction without requiring iterative optimization.
2Device complexity
If simplifications are made to derive actuator limits from yaw rate limits, then the implementation complexity is reduced, but significant deviations between assumed and actual vehicle dynamics occur
Solution Approach 1:
The patent introduces a state variable filter as an intermediary that directly incorporates both actuator and state variable constraints into the trajectory computation. This intermediary element ensures accurate vehicle dynamics representation without requiring complex simplifications.
3Reliability
If the maximum yaw rate is only reached at a single point in time, then the controllability limits are satisfied, but the potential for accident prevention remains unused
Solution Approach 1:
The patent employs a dynamic state variable filter that continuously adapts the trajectory to maximize yaw rate utilization within constraints. This dynamic approach allows the system to operate at or near controllability limits throughout the maneuver duration, not just at single points in time.
Data Source
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AI summary
The invention relates to a method for generating a lateral offset trajectory for an at least partly automated mobile platform, having the following steps: providing a target lateral offset; inverting a provided dynamic model of the mobile platform; providing at least one limit of a system variable of the dynamic model in order to determine the lateral offset trajectory; determining a time sequence of lateral offset trajectory points for the inverted dynamic model using a state variable filter, based on the at least one limit of the system variable, and the target lateral offset as an input signal, wherein each point of the time sequence of the lateral offset trajectory is determined analytically using the state variable filter; and determining a time sequence of values of at least one manipulated variable for the mobile platform, using the inverted dynamic model and the time sequence of lateral offset trajectory points as an input signal for the inverted dynamic model, in order to generate the lateral offset trajectory.