Route Candidate Setting Using Variable Degree Curves
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Solution Overview
Problem
The State Lattice method for setting vehicle route candidates is computationally intensive, particularly when quickly avoiding obstacles, necessitating a reduction in computing load for efficient obstacle avoidance and passenger comfort.
Innovation Solution
A route candidate setting system that uses a computing device to set two types of curved lines on a grid-shaped traveling road, with a high-degree quintic function for precise route candidates near the vehicle and a low-degree cubic function for farther routes, reducing computational load by limiting the high-degree curve when an obstacle is detected.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the State Lattice method uses many grid points to set various route candidates, then the route candidate diversity is improved, but the computing load increases significantly
Solution Approach 1:
The patent segments the route candidate generation process into two distinct parts: a first curved line from the vehicle position to an intermediate grid point, and a second curved line from the intermediate grid point to the target grid point. This segmentation allows the system to generate diverse routes while controlling computational complexity by processing the path in two stages rather than as a single complex computation.
Solution Approach 2:
The patent dynamically adjusts the degree of mathematical functions based on the range. For the first curved line (closer range), it uses a higher-degree function (degree 4 or higher) to provide precise route candidates. For the second curved line (farther range), it uses a lower-degree function (degree 3) to reduce computing load. This dynamic adaptation resolves the contradiction between route diversity and computational complexity.
2Manufacturing precision
If a high-degree function is used to provide precise route candidates, then the route precision is improved, but the computing load increases
Solution Approach 1:
The patent applies different mathematical function degrees to different spatial regions. In the closer range (first curved line), it uses high-degree functions (degree 4 or higher) to ensure precise route candidates that meet multiple requirements. In the farther range (second curved line), it uses lower-degree functions (degree 3) where full precision is less critical. This local differentiation of quality resolves the contradiction between precision and computational load.
Solution Approach 2:
The system dynamically selects the appropriate function degree based on the spatial range being processed. The computing device executes different mathematical expressions depending on whether it is generating the first curved line (requiring higher precision) or the second curved line (where reduced computation is prioritized). This dynamic adjustment allows the system to optimize the balance between route precision and computing load in real-time.
3Adaptability or versatility
If route candidates are set for all grid points, then the route coverage is improved, but the computation time increases
Solution Approach 1:
The patent segments the computation into two phases: first generating curved lines from the vehicle position to intermediate grid points, then generating curved lines from intermediate grid points to target grid points. This two-stage segmentation enables comprehensive route coverage across all grid points while reducing computation time by breaking down the overall computational task into smaller, more manageable sub-tasks that can be executed efficiently.
Data Source
AI summary
An ECU of a driving support system as a route candidate setting system is configured to provide a first curved line represented by a first function having x coordinate as a variable and y coordinate and a second curved line represented by a second function having x coordinate as a variable and y coordinate and having a lower degree than the first function, and set the first and second curved lines as traveling-route candidate RC. In a case where an obstacle is detected by a camera and a radar, the ECU is configured not to provide the first curved line having its terminal point corresponding to a grid point Gn located on a forward side, in an advancing direction of a vehicle, of the obstacle and the second curved line having its start point corresponding to this grid point Gn.