Road Shape-Based Speed Planning for Mapless Moving Objects
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Solution Overview
Problem
Compact moving objects, such as ultra-compact mobility vehicles, face challenges in generating routes and controlling speed without high-precision map information, as they need to analyze images and recognize road structures to generate routes stepwise, leading to potential sudden deceleration issues at intersections.
Innovation Solution
A moving object control system comprising an imaging unit, recognition unit, path generation unit, and speed planning unit that acquires images, recognizes road shapes, generates paths, and plans speeds based on recognized road shapes and situations, allowing for speed adjustments to avoid sudden deceleration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If route generation is performed without high-precision map information using image analysis, then hardware resource requirements are reduced, but route generation accuracy and reliability deteriorate due to stepwise recognition limitations
Solution Approach 1:
The speed planning unit performs preliminary speed planning based on the current recognition situation before the road shape is fully recognized. By planning speed in advance according to the current state of road shape recognition, the system ensures smooth deceleration even when the complete route is not yet known, thereby maintaining reliability without requiring high-precision maps
Solution Approach 2:
The speed plan is dynamically adjusted based on the recognition situation of the road shape. As the recognition unit progressively identifies road features, the speed planning unit updates the speed plan accordingly, allowing the system to adapt to changing recognition states and maintain reliable operation throughout the route generation process
2Device complexity
If speed is controlled based on stepwise road shape recognition, then hardware resources are saved, but sudden deceleration occurs when road shape recognition is incomplete
Solution Approach 1:
The speed planning unit creates a preliminary speed plan based on the current recognition situation before the road shape is fully recognized. This preliminary planning allows the system to prepare for upcoming deceleration events in advance, ensuring smooth travel even when complete road shape information is not yet available
Solution Approach 2:
The system performs preliminary deceleration based on the current recognition situation to prevent sudden deceleration later. By anticipating potential route changes and decelerating early, the system counteracts the harmful effect of sudden speed changes that would occur if waiting for complete road shape recognition
Data Source
AI summary
The present invention is directed to a moving object control system comprising acquiring a captured image of a travel area to be a movement destination of a moving object; recognizing a road shape included in the captured image; generating a path of the moving object, based on the recognized road shape; and generating a speed plan of the moving object, based on the generated path and a recognition situation of the road shape.