Autonomous Vehicle Motion Planning With Between-Update Corrections
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Solution Overview
Problem
Conventional movement control systems for autonomous vehicles lack stability due to their inability to address changes in the external environment between control plan updates, leading to decreased self-driving stability.
Innovation Solution
A movement control system that includes a planner for updating the control plan based on first external environment information and a corrector for periodically correcting the plan using second external environment information, such as inertial force data, between update cycles to maintain stable autonomous travel.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the action planning unit updates the control plan only at first timings with comprehensive external environment information, then the processing load is reduced, but the stability of autonomous travel deteriorates because events occurring between updates are not addressed
Solution Approach 1:
The control plan update process is segmented into two distinct operations: (1) comprehensive updates by the action planning unit at first timings using full external environment information, and (2) incremental corrections by the behavior correction unit at second timings using specific event information. This segmentation allows the system to maintain stability through frequent corrections without overwhelming the processing system with full updates at every interval.
Solution Approach 2:
The system maintains continuous control plan refinement through the behavior correction unit that operates between comprehensive updates. This continuous correction process ensures that the control plan remains accurate and responsive to changing conditions, preventing gaps in control stability while managing processing load through targeted rather than comprehensive corrections.
2Reliability
If the action planning unit frequently updates the control plan with comprehensive external environment information, then the stability of autonomous travel is improved, but the processing load and computational complexity increase
Solution Approach 1:
The behavior correction unit extracts and processes only the specific event information relevant to control plan corrections, rather than processing all comprehensive external environment information. This extraction approach significantly reduces processing load by focusing computational resources only on the critical changes that occurred between comprehensive updates, while still maintaining control stability.
Solution Approach 2:
The system performs partial updates through the behavior correction unit that handles only the necessary corrections based on specific events, rather than performing complete comprehensive updates at every interval. This partial action approach provides sufficient correction to maintain stability without the excessive computational burden of full re-planning at every time step.
Data Source
AI summary
A movement control system is a movement control system of a moving body configured to be moved by a driving system. The movement control system includes a planner, a corrector, and a controller. The planner is configured to execute an update process of updating a control plan of the driving system in accordance with reference information including first external environment information regarding an external environment of the moving body. The corrector is configured to execute, at a second timing between a plurality of first timings at each of which the update process is executed, a correction process of correcting the control plan in accordance with second external environment information regarding the external environment of the moving body. The second external environment information is different from the first external environment information. The controller is configured to control the driving system in accordance with the control plan.