Occupancy Grid Map Waiting Space Detection for Narrow Road Passing
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing methods for self-driving vehicles do not effectively address the challenge of passing oncoming vehicles in narrow roads, as they lack a systematic approach for identifying suitable waiting spaces and planning escape routes.
Innovation Solution
An information processing apparatus that generates map data associated with a vehicle's circumference, detects waiting spaces, and sets escape routes to allow the vehicle to pass oncoming vehicles by updating and using occupancy grid maps, with independent timing for map and waiting space information updates.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If real-time occupancy grid map updating is performed without three-dimensional highly accurate maps, then processing load and memory requirements are reduced, but the ability to pass oncoming vehicles in narrow roads is insufficient
Solution Approach 1:
The system performs preliminary detection of waiting spaces by analyzing the occupancy grid map in advance, identifying suitable locations where the vehicle can stop to allow oncoming vehicles to pass. This preliminary action enables the vehicle to plan escape routes proactively rather than reactively, resolving the contradiction by preparing passing solutions before encountering narrow road situations.
Solution Approach 2:
The occupancy grid map serves as an intermediary data structure that bridges the gap between simple real-time sensor data and complex navigation decisions. By maintaining a probabilistic representation of the environment with occupied, free, and unknown cells, the system can infer waiting spaces and plan escape routes without requiring detailed three-dimensional maps, thus reducing processing load while maintaining passing capability.
2Productivity
If waiting space detection is performed independently from map updates, then processing efficiency is improved, but synchronization between current vehicle position and waiting space information may be compromised
Solution Approach 1:
The system dynamically adjusts the synchronization mechanism between map updates and waiting space detection based on vehicle motion state. When the vehicle is moving, waiting space detection is performed more frequently relative to map updates, while when stationary, the frequency is reduced. This dynamic approach maintains synchronization accuracy while optimizing processing efficiency across different operational phases.
Data Source
AI summary
The present technology relates to an information processing apparatus and an information processing method enabling a vehicle to readily pass an oncoming vehicle in a narrow road or the like. The information processing apparatus includes a map generating section generating map data associated with a circumference of a vehicle, and updating the map data in conformity with a movement of the vehicle, and a waiting space detecting section detecting a waiting space enabling the vehicle to wait on the basis of the map data, and generating waiting space information as information associated with the detected waiting space and used in setting of an escaping route on which the vehicle is escaped in order to pass an oncoming vehicle. The present technology, for example, can be applied to a vehicle controlling system which performs control of automatic driving.