Motion Manager Arbitration for Conflicting Vehicle Kinematic Plans
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Solution Overview
Problem
In vehicles with multiple applications setting kinematic plans, sporadic or conflicting plans can hinder the execution of intended operations, particularly in autonomous driving systems, due to differences in detection accuracy and image analysis.
Innovation Solution
A motion manager arbitrates between kinematic plans from various systems, prioritizing one plan over others based on request information, and distributes motion requests to actuators to prevent interference, ensuring the intended operations are executed.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple systems set kinematic plans independently, then each system can operate autonomously according to its own detection and analysis, but the execution of one kinematic plan may be hindered by conflicting plans from other systems
Solution Approach 1:
The motion manager serves as an intermediary between multiple independent systems (autonomous driving system, driver assistance systems) and the actuator system. It receives kinematic plans from various systems, arbitrates between conflicting plans using priority rules, and distributes the selected plan to actuators. This mediator role resolves the contradiction by maintaining autonomous operation capability of individual systems while ensuring reliable plan execution through centralized coordination.
Solution Approach 2:
The control architecture is segmented into independent functional modules: multiple systems can independently generate kinematic plans based on their own detection and analysis, while the motion manager separately handles arbitration and distribution. This segmentation allows each system to maintain its autonomous operation capability while the overall system achieves reliable plan execution through modular coordination.
2Reliability
If a motion manager arbitrates between multiple kinematic plans, then plan execution reliability is improved by preventing conflicts, but the system complexity increases due to additional arbitration logic
Solution Approach 1:
The arbitration mechanism uses parameter-based priority assignment where each kinematic plan is associated with a priority level. The motion manager compares priority parameters of conflicting plans and selects the highest priority plan. This parameter-based approach simplifies the arbitration logic compared to complex conflict detection and resolution algorithms, improving reliability while controlling system complexity.
3Productivity
If priority-based selection is used among kinematic plans, then the intended operations can be executed without interference, but information from lower-priority systems may be lost
Solution Approach 1:
The motion manager implements feedback by notifying lower-priority systems when their kinematic plans are not selected for execution. This feedback mechanism allows the system to maintain operational efficiency by executing the highest priority plan without interference, while simultaneously preserving information from lower-priority systems through notification, enabling them to adjust or re-submit plans as appropriate.
Data Source
AI summary
A motion manager includes one or more processors. The one or more processors are configured to receive each piece of information indicating kinematic plans from a plurality of systems. The systems include a first system and a second system. The one or more processors are configured to receive, from the first system, request information requesting to select a first kinematic plan by prioritizing the first kinematic plan set in the first system over a second kinematic plan set in the second system The one or more processors are configured to arbitrate the kinematic plans. The one or more processors are configured to distribute a motion request to the vehicle to at least one of actuators. The motion request is set based on arbitration results.