Spatial Trajectory Deceleration Control Under Jerk Constraints
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Vehicles face challenges in maintaining passenger comfort and safety during deceleration, especially when encountering unexpected obstacles or malfunctions, as existing systems struggle to accurately determine and implement deceleration controls that balance safety and comfort.
Innovation Solution
A vehicle trajectory system that determines appropriate acceleration and deceleration levels based on spatial characteristics, using jerk constraints and real-time vehicle and environmental data to modify trajectories and implement acceleration controls at specific spatial segments, thereby ensuring safe and comfortable stopping without relying on temporal data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If deceleration controls are implemented to ensure safety during unexpected events, then vehicle safety is improved, but passenger comfort deteriorates due to abrupt acceleration changes
Solution Approach 1:
The trajectory is divided into multiple spatial segments along the path of travel. Deceleration controls are determined and applied at specific spatial implementation points within these segments, allowing gradual and controlled reduction of acceleration rather than abrupt changes, thereby maintaining both safety and passenger comfort
Solution Approach 2:
The system determines deceleration controls in advance based on spatial characteristics and jerk constraints before implementing them. By pre-calculating the acceleration profile at different spatial segments, the system prepares smooth transition paths that ensure safety while minimizing abrupt changes that would affect passenger comfort
2Reliability
If deceleration controls are implemented to ensure safety during unexpected events, then vehicle safety is improved, but control accuracy deteriorates due to reliance on temporal data
Solution Approach 1:
The system transitions from temporal-based control (time-dependent acceleration profiles) to spatial-based control (position-dependent acceleration profiles). By determining deceleration controls based on spatial characteristics and implementation points along the trajectory, the system achieves more accurate and reliable control that is independent of timing variations, thereby improving both safety and control accuracy
3Ease of operation
If acceleration controls are modified to minimize acceleration changes for passenger comfort, then passenger comfort is improved, but device complexity increases due to spatial segment analysis
Solution Approach 1:
The system applies different deceleration controls at different spatial segments along the trajectory. Each segment has its own implementation point and control parameters tailored to local conditions, allowing optimization of passenger comfort in each region while maintaining overall system manageability through modular spatial segmentation
Data Source
AI summary
Systems and techniques for determining acceleration controls to use in a trajectory for use in controlling a vehicle are described. An acceleration determination system may receive a trajectory from a trajectory determination system and determine, based on various vehicle, acceleration, and spatial trajectory parameters, the appropriate controls to configure in a longitudinal profile of the trajectory and the suitable spatial implementation points for implementing the controls within acceleration rate change constraints. An operational trajectory determination system may determine a trajectory for use in operating the vehicle using one or more candidate trajectories and/or associated data, including one or more acceleration controls determined by the acceleration determination system.