Vehicle Path Planning for Narrow-Road Passing After Evasive Maneuvers
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Solution Overview
Problem
Existing vehicle control systems do not provide a method for determining a traveling procedure for resuming travel after a host vehicle performs an escaping action on narrow roads, particularly in situations where passing an oncoming vehicle is required.
Innovation Solution
A vehicle control apparatus with a candidate area determination unit, action plan determination unit, trajectory generation unit, and action plan update unit to set and update a traveling procedure for the host vehicle to pass an oncoming vehicle on narrow roads, including determining passable areas and generating travel trajectories.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the host vehicle performs an escaping action to pass an oncoming vehicle on a narrow road, then the vehicles can pass each other safely, but there is no method to determine the traveling procedure for resuming travel after the escaping action
Solution Approach 1:
The traveling procedure is divided into discrete action steps (escaping action, resuming travel) with clear transition conditions. The action plan determination unit segments the complex maneuver into manageable stages, each with specific determination criteria, making the overall procedure less complex while ensuring safety.
Solution Approach 2:
The action plan determination unit determines the complete traveling procedure in advance, including both the escaping action and the subsequent resuming travel procedure. By planning the entire sequence beforehand with pre-defined transition conditions, the system avoids the complexity of determining procedures reactively during execution.
2Adaptability or versatility
If the vehicle control apparatus determines a complete action plan including escaping and resuming travel, then the traveling procedure is comprehensive, but the determination complexity increases
Solution Approach 1:
The action plan is dynamic and adaptable, allowing the vehicle to transition between different traveling procedures based on real-time conditions. The system maintains completeness by evaluating transition conditions continuously and updating the action plan accordingly, rather than using a fixed rigid procedure.
Solution Approach 2:
The action plan determination unit uses feedback from the current traveling state and environmental conditions to determine appropriate procedures. By continuously monitoring whether transition conditions are met and adjusting the action plan accordingly, the system achieves comprehensive coverage without excessive complexity.
Data Source
AI summary
A vehicle control apparatus appropriately resumes traveling after a host vehicle performs an escaping action. The vehicle control apparatus includes a candidate area determination unit that determines a passable area, which is an area where a host vehicle and an oncoming vehicle can pass each other, on a road where there is an area where the host vehicle and the oncoming vehicle cannot pass each other, an action plan determination unit that determines an action plan indicating a sequence of action steps, of the host vehicle, a trajectory generation unit generating a travel trajectory of the host vehicle in the passable area, an action plan update unit that updates the action plan based on a position of the oncoming vehicle and a travel trajectory of the host vehicle generated by the trajectory generation unit, and a travel control unit controlling travel of the host vehicle according to the action plan.