Autonomous Vehicle Trajectory Architecture With Split-Rate Execution
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing autonomous vehicle systems lack a robust architecture for generating and executing trajectories that ensures safety, redundancy, and optimization, particularly in unpredictable environments with dynamic objects and varying road conditions.
Innovation Solution
A multi-layered architecture with separate computer systems for trajectory generation and execution, operating at different frequencies, which includes a route planning module, decision module, trajectory module, and execution module, allowing for enhanced safety, redundancy, and optimization, as well as easier troubleshooting and safety certification.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a single integrated system is used for trajectory generation and execution, then device complexity is reduced, but safety and reliability are compromised
Solution Approach 1:
The system is divided into two separate computer systems: a first computer system dedicated to trajectory generation and a second computer system dedicated to trajectory execution. This segmentation allows each system to specialize in its function, improving safety through functional separation while managing complexity through modular design.
Solution Approach 2:
A communication interface acts as an intermediary between the trajectory generation system and the trajectory execution system. This mediator enables safe and reliable data exchange while maintaining the independence and safety boundaries of the separated systems.
2Productivity
If trajectory generation and execution are performed at the same frequency, then system synchronization is simplified, but optimization and real-time responsiveness are reduced
Solution Approach 1:
The system employs dynamic operational frequencies for different modules. The trajectory generation module can operate at higher frequencies for rapid computation and optimization, while the execution module operates at frequencies matched to the vehicle's physical response capabilities. This dynamic frequency adaptation optimizes productivity without requiring all components to run at the same speed.
Solution Approach 2:
By separating the system into independent modules with different operational frequencies, the patent enables each segment to operate optimally at its own frequency while maintaining overall system coordination through the communication interface.
3Reliability
If computational resources are centralized, then system architecture is simpler, but real-time optimization and fallback capabilities are reduced
Solution Approach 1:
Computational resources are segmented into separate processing units within the first and second computer systems. This allows real-time optimization computations to occur independently from execution, enabling fallback capabilities if one system fails while maintaining architectural manageability through clear functional boundaries.
4Ease of operation
If a unified system is used for troubleshooting and certification, then ease of operation is maintained, but safety certification and problem isolation become difficult
Solution Approach 1:
The separation of trajectory generation and execution into distinct computer systems enables independent troubleshooting and certification of each module. Problems can be isolated to specific systems, making debugging easier while simultaneously enabling targeted safety certifications for each functional component.
Data Source
AI summary
Trajectory generation and/or execution architecture is described. In an example, a first signal can be determined at a first frequency, wherein the first signal comprises information associated with causing the system to move to a location. Further, a second signal can be determined at a second frequency different from the first frequency and based at least in part on the first signal. A system can be controlled to move to the location, based at least in part on the second signal.