Route Arbitration for Overlapping Autonomous Vehicle Paths
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Solution Overview
Problem
Existing automatic driving technologies do not effectively evaluate safety in a broader perspective, leading to potential collisions when multiple vehicles simultaneously plan lane changes, and lack the ability to prioritize lane changes based on the necessity of individual vehicles.
Innovation Solution
A route arbitration apparatus that communicates with multiple vehicles, determines overlapping travel routes, and assigns priority travel areas and avoidance travel areas based on the priority of vehicles, ensuring safe and smooth travel operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a vehicle receives a lane change request and only evaluates the safety of its own traveling, then the lane change permission process is simple and quick, but multiple vehicles may simultaneously change lane causing route overlap and potential collisions
Solution Approach 1:
The system segments the lane change arbitration process by introducing a route overlap detection mechanism that separately evaluates each vehicle's target route against others. This segmentation allows the system to maintain simple individual safety checks while adding a layer of collective route coordination, preventing simultaneous lane changes that would cause overlaps.
Solution Approach 2:
The system introduces an intermediary arbitration mechanism that mediates between multiple vehicles requesting lane changes. This intermediary evaluates all target routes and coordinates permission grants, ensuring that lane change permissions are issued in a way that prevents route overlaps while maintaining overall system efficiency.
2Device complexity
If all vehicles are treated equally in lane change requests, then the arbitration process is straightforward, but vehicles with higher necessity (emergency vehicles, merging vehicles) cannot prioritize their lane changes
Solution Approach 1:
The system applies local quality by assigning different priority levels to different vehicles based on their specific situations. Emergency vehicles, merging vehicles, and other vehicles with high lane change necessity are granted higher priorities locally, while ordinary vehicles receive standard priority. This allows the arbitration process to adapt to different contexts without requiring complete redesign.
Solution Approach 2:
The arbitration system is made dynamic by allowing priority levels to change based on vehicle conditions. A vehicle's priority is not fixed but can be adjusted in real-time based on factors such as emergency status, merging requirements, and traffic conditions, enabling the system to adapt to changing circumstances.
3Reliability
If the system determines and transmits priority travel areas and avoidance travel areas to all vehicles, then route overlap is prevented and safety is improved, but communication data volume and processing complexity increase
Solution Approach 1:
The system performs preliminary actions by pre-calculating priority travel areas and avoidance travel areas before vehicles execute lane changes. This preliminary determination of safe zones and conflict zones allows vehicles to plan their trajectories in advance, reducing the need for complex real-time adjustments and simplifying the overall arbitration process.
Data Source
AI summary
To provide a route arbitration apparatus, an automatic driving controller, and an automatic driving and route arbitration system which can avoid an overlapping between travel routes and make vehicles carry out a traveling operation smoothly while considering priority between vehicles, in a broad perspective, about a multiple of vehicles existing in a periphery. A route arbitration apparatus receives a target travel route from each vehicle; when it is determined that a mutual overlapping of the target travel routes occurs, determines a priority travel area which is an area where the highest priority vehicle can travel in accordance with the target travel route, transmits the priority travel area to the highest priority vehicle, determines an avoidance travel area which is an area where the low priority vehicle can travel while avoiding the priority travel area, and transmits the avoidance travel area to the low priority vehicle.