Sub-Lane Trajectory Planning for Smoother Autonomous Obstacle Avoidance
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Solution Overview
Problem
Autonomous vehicles face instability and safety issues due to the need for frequent lane changes and obstacle avoidance maneuvers, which result in large curvature of driving routes and increased risk of collisions.
Innovation Solution
A sub-lane-level trajectory planning method that determines a target trajectory parallel to the lane center line but offset from it, allowing for efficient lane changes and obstacle avoidance with reduced turning and lane switching, thereby improving stability and safety.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the autonomous vehicle changes lanes frequently to avoid obstacles and reach destination, then the vehicle can complete target actions (lane changing, obstacle avoidance), but the driving stability is affected and safety is reduced due to large curvature and frequent direction changes
Solution Approach 1:
The patent segments the trajectory planning into two levels: lane-level trajectory (center line) and sub-lane-level trajectory (parallel offset trajectory). By dividing the navigation path into these hierarchical levels, the system can maintain lane-level adaptability for completing target actions while using sub-lane-level parallel trajectories to reduce frequent lane changes and improve stability.
Solution Approach 2:
The patent introduces a new dimension of trajectory planning by creating parallel offset trajectories that run alongside the lane center line. This additional dimensional approach allows the vehicle to achieve obstacle avoidance and target completion without necessarily changing lanes frequently, thereby reducing direction changes and improving driving safety.
2Adaptability or versatility
If the autonomous vehicle changes lanes multiple times to avoid obstacles, then the vehicle can navigate around obstacles, but the passing efficiency is reduced due to increased turning and lane switching
Solution Approach 1:
The patent segments the trajectory into lane-level and sub-lane-level components. The sub-lane-level parallel offset trajectory allows the vehicle to avoid obstacles by adjusting its position within the lane rather than频繁 changing lanes, thus maintaining higher passing efficiency while still achieving obstacle avoidance.
Solution Approach 2:
The parallel offset trajectory acts as an intermediary path between the lane center line and the lane boundary. This intermediate trajectory provides a smooth transition path for obstacle avoidance, reducing the need for sharp turns and frequent lane changes, thereby improving passing efficiency.
3Ease of operation
If the autonomous vehicle uses traditional lane-level trajectory planning, then the trajectory passes through lane center lines, but the vehicle experiences large curvature and frequent direction changes affecting stability
Solution Approach 1:
The patent divides trajectory planning into lane-level (center line) and sub-lane-level (parallel offset) segments. The sub-lane-level parallel trajectory provides a smoother path that reduces curvature and direction changes, improving driving stability while maintaining the simplicity of lane-based navigation.
Solution Approach 2:
The patent introduces dynamic adjustment capability by allowing the trajectory to switch between lane-level and sub-lane-level planning. This dynamic approach enables the system to select the most appropriate trajectory type based on road conditions and target actions, optimizing both stability and operational simplicity.
Data Source
AI summary
A trajectory planning method and a related device are provided, to plan a sub-lane-level trajectory, so that an autonomous vehicle drives along the sub-lane-level trajectory, and driving stability and safety of the autonomous vehicle are improved by using the sub-lane-level trajectory. Target information is obtained, where the target information includes at least one of a driving status of a target vehicle and first road condition information. A first planned trajectory of the target vehicle is determined based on the target information, where the first planned trajectory includes a target trajectory, the target trajectory is parallel to a center line of a lane, and the target trajectory is located in an area between the center line of the lane and a boundary of the lane, or on the boundary