RSU-Guided Vehicle Path Planning for Multi-Vehicle Maneuvering
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Solution Overview
Problem
In situations with changing traffic conditions, it is challenging for multiple autonomous vehicles to agree on local path plans through N:N driving negotiation within a given time, especially in environments with reduced lanes or unexpected situations.
Innovation Solution
A cooperative maneuvering method and apparatus based on infrastructure guidance, which involves receiving planned paths from vehicles, determining an infrastructure guidance path using traffic situation and law information, and transmitting this path to vehicles for coordinated driving.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If N:N driving negotiation is performed between multiple autonomous vehicles to agree on local path plans, then collision avoidance capability is improved, but negotiation time and system complexity increase significantly
Solution Approach 1:
The patent introduces an infrastructure side unit (RSU) as an intermediary to mediate path plan negotiations between multiple autonomous vehicles. Instead of direct N:N negotiation between vehicles, the RSU receives planned paths from all vehicles, determines an infrastructure guidance path considering traffic situations and laws, and transmits this guidance to all vehicles. This mediator approach significantly reduces negotiation time while maintaining collision avoidance capability.
Solution Approach 2:
The patent segments the negotiation process into two distinct phases: (1) Each autonomous vehicle independently generates its own planned path without needing to negotiate with others, and (2) The infrastructure side unit centrally coordinates all vehicles by determining a unified infrastructure guidance path. This segmentation eliminates the need for complex multi-party negotiations while ensuring coordinated maneuvering.
2Reliability
If N:N driving negotiation is performed between multiple autonomous vehicles to agree on local path plans, then coordinated maneuvering capability is improved, but device complexity and computational burden increase
Solution Approach 1:
The infrastructure side unit serves as a central mediator that handles the complex coordination task. It receives planned paths from all autonomous vehicles, integrates traffic situation information and traffic law information, determines a unified infrastructure guidance path, and transmits this guidance to all vehicles. This centralization reduces the computational burden on individual vehicles and simplifies the overall system architecture.
Solution Approach 2:
The patent extracts the complex path coordination function from the autonomous vehicles themselves and relocates it to the infrastructure side unit. Each vehicle only needs to generate its own planned path and receive infrastructure guidance, while the RSU handles the complex task of integrating all paths and determining the final coordinated maneuvering plan.
3Measurement precision
If infrastructure guidance path is determined based on traffic situation information and traffic law information, then path determination accuracy is improved, but information processing complexity increases
Solution Approach 1:
The infrastructure side unit automatically processes traffic situation information and traffic law information to determine the infrastructure guidance path without requiring manual intervention. The system self-services by integrating multiple information sources and making autonomous decisions about path determination, reducing the need for complex human-in-the-loop processing.
Data Source
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AI summary
Provided is a cooperative maneuvering method based on infrastructure guidance including receiving a first message including a planned path from each of at least one vehicle, determining an infrastructure guidance path for the at least one vehicle based on the planned path, and transmitting a second message including the infrastructure guidance path to the at least one vehicle.