Autonomous Vehicle Lateral Path Commitment for Smooth Trajectory Shifts
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Solution Overview
Problem
Autonomous vehicles experience sudden changes in lateral movement during trajectory transitions, leading to uncomfortable or unsafe acceleration and jerk for passengers due to the lack of effective trajectory transition planning that considers environmental changes and current trajectory information.
Innovation Solution
The planning system generates multiple potential trajectories, evaluates them based on a lateral movement plan, and selects a subsequent trajectory that minimizes deviation from the current path, using a trajectory transition plan to ensure smooth and safe transitions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the autonomous vehicle transitions to a new trajectory to adapt to environmental changes, then the adaptability improves, but the lateral acceleration and jerk increase causing passenger discomfort
Solution Approach 1:
The system performs preliminary action by determining a lateral movement plan before executing the trajectory transition. This plan includes a lateral path commitment level that is determined in advance based on the current trajectory and environmental conditions, allowing the vehicle to prepare for smooth transitions rather than making abrupt changes
Solution Approach 2:
The system applies dynamics by making the lateral path commitment level adjustable and time-varying. The commitment level is dynamically modified based on the vehicle's current state and environmental conditions, allowing the trajectory to adapt smoothly to changes while maintaining passenger comfort through controlled transition characteristics
2Object-affected harmful factors
If the autonomous vehicle maintains commitment to the current trajectory, then passenger comfort improves, but the ability to respond to environmental changes deteriorates
Solution Approach 1:
The system applies parameter changes by modifying the lateral path commitment level as a continuous parameter that balances comfort and adaptability. This commitment level is adjusted based on environmental conditions and vehicle state, allowing the system to maintain comfort while responding to changes by smoothly transitioning when necessary
Solution Approach 2:
The system uses feedback by continuously monitoring environmental conditions and vehicle state to adjust the lateral path commitment level. This feedback mechanism ensures the vehicle responds appropriately to environmental changes while maintaining passenger comfort through controlled transition characteristics
3Reliability
If the autonomous vehicle generates multiple trajectories for transition, then the safety improves, but the computational complexity increases
Solution Approach 1:
The system applies segmentation by dividing the trajectory transition process into distinct components: generating multiple candidate trajectories, evaluating them against the lateral movement plan, and selecting the optimal trajectory. This segmentation allows for systematic safety verification while managing computational complexity through structured processing
Data Source
AI summary
Provided are methods for lateral path commitment, which can include obtaining scene data associated with a scene of an autonomous vehicle, the autonomous vehicle navigating the scene according to a first trajectory, detecting a change to the scene based on the scene data, and based on the change to the vehicle scene, generating a plurality of second trajectories, wherein the plurality of second trajectories are different from the first trajectory. Some methods described also include comparing the plurality of second trajectories with the first trajectory, selecting a particular trajectory of the plurality of second trajectories for the autonomous vehicle based on a lateral movement plan and the comparing the plurality of second trajectories with the first trajectory, and navigating the autonomous vehicle according to the particular trajectory. Systems and computer program products are also provided.