Autonomous Vehicle Lateral Control via Spiral Line Calculation
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Solution Overview
Problem
Existing autonomous driving systems face instability and inefficiency in lateral motion control due to high computational demands, leading to insufficient computing performance and low control output frequency.
Innovation Solution
A method utilizing spiral line equations to calculate and determine steering angle instructions based on real-time speed and curvature, reducing computational complexity and improving control accuracy by directly obtaining spiral lines at various speeds and curvature variations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If optimization method is used for lateral motion control, then control accuracy is improved, but computing performance deteriorates and control output frequency decreases
Solution Approach 1:
The patent transforms the complex optimization control problem into a parameter calculation problem by introducing spiral line parameters (curvature, tangential angle) as intermediate variables. The control output is generated through direct parameter computation rather than iterative optimization, significantly reducing computational complexity while maintaining control accuracy.
Solution Approach 2:
The patent replaces the computational mechanism (optimization algorithm) with a mathematical modeling mechanism (spiral line equations). By substituting the optimization-based control generation with direct calculation based on spiral line geometry, the system achieves both high accuracy and high output frequency.
2Measurement precision
If optimization method is used for lateral motion control, then control accuracy is improved, but device complexity increases
Solution Approach 1:
The patent introduces spiral line parameters (curvature κ, tangential angle ψ) as intermediate variables to transform the complex optimization control problem into a parameter calculation problem. This parameter transformation simplifies the computational process while maintaining control accuracy.
Solution Approach 2:
The patent pre-establishes the spiral line mathematical model and parameter relationships before actual control execution. By preparing the mathematical framework in advance (preliminary action), the real-time control only requires parameter substitution and calculation, avoiding complex optimization computations during execution.
3Measurement precision
If high computing performance is required for optimization control, then control accuracy is improved, but resource occupation increases and production cost increases
Solution Approach 1:
The patent replaces the resource-intensive optimization computation with a lightweight mathematical model-based calculation system. By substituting the computational approach with a mathematical model (spiral line equations), the system achieves comparable or superior control accuracy with significantly reduced computational resources.
Solution Approach 2:
The patent transforms the control problem into parameter calculation based on spiral line geometry, which requires minimal computational resources. This parameter-based approach reduces resource occupation while maintaining control accuracy, thereby lowering production costs for the autonomous driving platform.
Data Source
AI summary
The present disclosure provides a method and an apparatus for autonomously driving a vehicle. The method includes: recognizing a centerline of a lane on which a current vehicle is driving; acquiring a lateral distance between the current vehicle and the centerline of the lane, and a real-time speed and a real-time motion curvature of the current vehicle; calculating the lateral distance, the real-time speed, and the real-time motion curvature, based on a preset first spiral line equation, to acquire parameters of a reference spiral line; calculating the parameters, the real-time speed, and the real-time motion curvature, based on a preset second spiral line equation, to acquire a current spiral line; and determining an steering angle instruction of a steering wheel based on a first curvature of the current spiral line; and controlling the current vehicle for autonomous driving based on the steering angle instruction.