2D Repulsive Force Model for Vehicle Collision Avoidance
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Solution Overview
Problem
Existing collision avoidance systems in vehicles are not flexible enough for various collision scenarios, particularly on non-straight roads, and are difficult for engineers to understand due to their reliance on non-linear state equations and multiple cost functions, which complicates the definition of control thresholds.
Innovation Solution
A method using 2D repulsive forces to calculate curved paths that include deceleration and lateral forces, allowing for flexible collision avoidance on both straight and curved roads, with control thresholds determined geometrically, and the integration of AI for enhanced reliability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If MPC (Model Predictive Control) is used to calculate optimal paths with non-linear state equations and multiple cost functions, then the collision avoidance can be solved for complicated scenarios, but the control method becomes physically incomprehensible to vehicle engineers and difficult to define control thresholds
Solution Approach 1:
The patent creates a virtual 2D environment that copies the essential physics of vehicle collision avoidance in a simplified manner. Instead of using complex non-linear state equations, it uses a 2D force model with repulsive forces from virtual walls and attractive forces toward target points, reproducing the collision avoidance effect while maintaining physical intuitiveness and geometric interpretability
Solution Approach 2:
The patent changes the parameter representation from complex non-linear state equations to simple geometric parameters in a 2D plane. The control thresholds are defined geometrically based on the 2D force model, making them physically comprehensible and easy to adjust for different collision scenarios without requiring complex mathematical optimization
2Ease of operation
If straight braking and parallel lane change control modes are used, then the control method is physically understandable by automotive engineers, but the method is not flexible enough for various kinds of collision scenarios and can only be applied to straight road conditions
Solution Approach 1:
The patent creates a universal 2D force model that can handle multiple collision scenarios including straight roads, curved roads, and various obstacle configurations through a single unified algorithm. The repulsive force from virtual walls and attractive force toward target points work together to generate appropriate avoidance paths for different scenarios without requiring separate control strategies
Solution Approach 2:
The patent naturally handles curved road conditions by working in a 2D geometric space where curves are inherently supported. The virtual wall repulsive forces and target point attractive forces automatically adapt to curved geometries, enabling the system to handle both straight and curved collision scenarios with the same physical model
3Ease of operation
If related art methods without brake force during lane change are used, then the control activation thresholds can be determined, but the distance from control starting position to obstacles is longer than necessary
Solution Approach 1:
The patent merges the deceleration function and lateral avoidance function into a single unified 2D force model. The repulsive force from virtual walls simultaneously provides both lateral steering guidance and longitudinal deceleration components, eliminating the need for separate control activations and reducing the distance to obstacle while maintaining clear threshold definition
Data Source
AI summary
Example implementations involve systems and methods to control the ego vehicle to trace connected plural curved paths, which are calculated as the movement of the vehicle against vertical repulsive force from straight or curved walls, and connected continuously at the joints, and differentiable by position at the joints. Further, the repulsion force acts as deceleration force and lateral force.