Spline Backup Path Planning for Obstacle-Avoiding Truck Maneuvers
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Solution Overview
Problem
Backing a truck into a parking space in congested areas is challenging due to the need for repetitive movements and steering adjustments to navigate around obstacles, increasing the risk of collisions and transportation costs.
Innovation Solution
A method and apparatus that use spline curves to provide steering guidance to drivers or autonomous systems, generating a smooth, curving path that avoids obstacles by overlaying mathematical functions on a Cartesian coordinate system, allowing vehicles to safely maneuver into desired locations without collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional manual backing methods are used in congested areas, then the driver has full control and flexibility, but the maneuvering time increases and collision risk increases due to repetitive forward and backward movements
Solution Approach 1:
The system performs preliminary actions by pre-calculating the backup path using spline curves before the vehicle begins maneuvering. The path planning algorithm computes the optimal trajectory in advance, considering all obstacles and vehicle constraints, allowing the vehicle to follow a predetermined safe path without repeated trial-and-error movements
Solution Approach 2:
The patent replaces the mechanical trial-and-error backing process with a computational system that uses spline curve mathematics to generate precise backup paths. The system substitutes manual trial-and-error mechanical adjustments with algorithmic path calculation and electronic steering guidance
2Productivity
If repetitive forward and backward movements are performed to navigate around obstacles, then the vehicle can reach the destination, but the steering adjustments become complex and the process becomes inefficient
Solution Approach 1:
The system applies curvature principles by using spline curves to generate smooth, continuous backup paths that naturally navigate around obstacles. Instead of sharp angular steering adjustments, the spline-based path provides gradual curvature changes that are easier to execute and more efficient for vehicle maneuvering
Solution Approach 2:
The patent implements dynamics by creating adaptive backup paths that account for vehicle-specific characteristics such as turning radius, length, and width. The system dynamically adjusts the spline curve parameters based on the vehicle's physical constraints, ensuring the generated path is both optimal and executable by the specific vehicle
3Reliability
If manual backing without assistance is used, then no additional system complexity is introduced, but the risk of collisions with surrounding vehicles increases
Solution Approach 1:
The system introduces an intermediary computational layer between the driver and the vehicle controls. The spline-based path planning algorithm acts as a mediator that processes obstacle information, calculates safe trajectories, and provides steering guidance, thereby reducing collision risk without requiring direct complex control systems
Data Source
AI summary
Backing a vehicle around objects and vehicles is assisted by digitally mapping the location and size/footprint of objects and vehicles. A path for the vehicle to follow is generated by mathematically concatenating small segments of lines of various shapes iteratively, until a mathematical spline curve extending from the vehicle's starting point to a desired end point is generated, the shape of which will safely route the vehicle around objects. The starting and ending points of the spline curve, control points and inflection points are also mapped and wirelessly transmitted provided to a display device for the driver or to the vehicle's steering controls.