Autonomous Vehicle Passage Point Planning for Smooth Gate Changes
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Solution Overview
Problem
Existing autonomous vehicle systems face challenges in changing target states without sudden trajectory corrections, particularly when dynamic obstacles or gate conditions necessitate last-minute adjustments.
Innovation Solution
A passage point generation apparatus that calculates local target states reachable in intermediate points along a trajectory, allowing for smooth transitions to changed target states by generating a passage point based on surrounding environment and vehicle state information.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the target gate is corrected from the first gate to a gate far away from the first gate on a way to the first gate, then the passage probability of the gate is improved, but sudden steering wheel control needs to be performed to correct a trajectory in the vehicle
Solution Approach 1:
The patent introduces an intermediate target position between the current vehicle position and the final target gate position. This intermediate position acts as a mediator that breaks down the large trajectory correction into smaller, more manageable segments, allowing smooth vehicle steering while still achieving the ultimate goal of reaching the correct gate
Solution Approach 2:
The trajectory correction process is divided into multiple segments by introducing intermediate target positions. Instead of making one large correction to the final target gate, the system segments the path into multiple smaller steps, each with its own target position, enabling gradual and smooth trajectory adjustment
2Reliability
If the target gate is corrected to the other gate immediately before reaching the first gate, then the passage probability of the gate is improved, but a trajectory correction cannot be found
Solution Approach 1:
The system performs preliminary calculation of multiple candidate trajectory corrections before executing the final trajectory adjustment. By pre-calculating possible intermediate target positions and their corresponding trajectories, the system ensures that a valid trajectory correction is always available when gate correction is needed, avoiding the complexity of real-time trajectory recalculation
3Adaptability or versatility
If the target state is changed frequently to adapt to dynamic obstacles or gate conditions, then the adaptability of the system is improved, but sudden trajectory corrections occur
Solution Approach 1:
The system dynamically adjusts the target state by introducing intermediate target positions that are calculated based on current vehicle state and environment. This dynamic approach allows the system to adapt to changing conditions while maintaining trajectory stability, as each intermediate target is carefully chosen to ensure smooth transitions
Data Source
AI summary
The present disclosure relates to a passage point generation apparatus. A passage point generation apparatus generating a passage point which a moving body should reach, including: a target state candidate generation part calculating a plurality of target state candidates including at least a state amount of a position based on surrounding environment information of the moving body and a state amount of the moving body; and a local target state generation part calculating a local target state as a local target state reachable in any of the plurality of target state candidates in an intermediate point of a trajectory toward a surrounding area of the plurality of target state candidates and outputting the local target state as the passage point.