Local Graph Routing for Vehicle Lane-Level Obstacle Detours
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Solution Overview
Problem
Conventional vehicle navigation systems lack the ability to dynamically update routes in response to obstacles or blockages, leading to suboptimal vehicle actions and inefficiencies.
Innovation Solution
A planning component generates a local graph that includes candidate paths and lane references, allowing vehicles to dynamically reroute around obstacles and optimize navigation based on real-time conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If conventional navigation systems use fixed routes, then system complexity is reduced, but adaptability to obstacles and blockages deteriorates
Solution Approach 1:
The patent implements dynamic routing by generating multiple candidate paths and enabling the vehicle to switch between them based on real-time conditions. The system transitions from static fixed routes to dynamic adaptive routing, where the navigation path can change in response to obstacles, blockages, or traffic conditions, directly resolving the contradiction between system complexity and route adaptability.
2Adaptability or versatility
If the system generates comprehensive local graph data with candidate paths, then routing adaptability improves, but processing power requirements increase
Solution Approach 1:
The patent segments the navigation problem into local graph generation within bounded regions rather than processing entire route networks. By dividing the environment into manageable local graphs with finite candidate paths, the system achieves dynamic routing capability while constraining processing requirements to localized areas, resolving the contradiction between adaptability and processing power.
Solution Approach 2:
The system generates only the necessary candidate paths within local graphs rather than computing all possible routes. This partial action approach provides sufficient routing alternatives for adaptability without the excessive processing burden of exhaustive path generation, directly addressing the power consumption issue.
3Adaptability or versatility
If the system pre-calculates all possible paths, then routing options increase, but loss of time in computation increases
Solution Approach 1:
The patent performs preliminary generation of local graphs and candidate paths within bounded regions before the vehicle encounters obstacles or requires rerouting. This advance preparation of localized path options provides ready-to-use routing alternatives without requiring time-consuming computations during critical decision moments, resolving the contradiction between routing options and computation time.
Data Source
AI summary
Techniques for generating a local graph are described herein. A vehicle may receive a destination and generate a preferred path thereto. The vehicle may generate a local graph based on the preferred path which may define a subregion of the environment within which the vehicle may perform dynamic routing operations. For example, the vehicle may determine a local boundary which may define the subregion. Further, the vehicle may identify one or more junction(s) located within the local boundary and identify candidate (or alternative) driving lane(s) exiting such junction(s). The vehicle may generate a lane reference (e.g., optimized trajectory for the vehicle to follow to the destination) for each candidate driving lane. In such cases, the local boundary, the candidate driving lanes, and/or lane reference(s) may be data represented in the local graph. The vehicle may be controlled based on the local graph.