Vehicle Trajectory Boundary Cost Functions for Smooth Motion Control
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Solution Overview
Problem
Current methods for determining vehicle trajectories in assisted or autonomous driving systems do not effectively balance various cost functions, leading to abrupt changes in motion control and limited flexibility in configuring motion control systems, which can result in suboptimal user experience and safety.
Innovation Solution
A computer-implemented method that solves an optimization problem with a total cost function dependent on continuous and non-constant boundary cost functions, using elementary cost functions for static and dynamic objects to smoothly penalize deviations from permitted driving regions, ensuring continuous and convex cost functions to prevent abrupt transitions and maintain safe distances.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional cost functions with abrupt boundaries are used, then clear driving region boundaries are enforced, but abrupt transitions in motion control occur leading to poor user experience
Solution Approach 1:
The patent applies parameter changes by transforming the boundary cost function from a discontinuous step function to a continuous function with a continuous first derivative. This is achieved by introducing a smoothing parameter that controls the transition region width, allowing abrupt boundary enforcement to be maintained while eliminating jerky motion transitions through continuous cost parameter variation.
Solution Approach 2:
The patent implements beforehand cushioning by pre-defining a transition region before the actual boundary is reached. The continuous boundary cost function gradually increases costs as the vehicle approaches the boundary, cushioning the transition before the abrupt boundary constraint is encountered, thereby preventing sudden motion changes and improving ride comfort.
2Device complexity
If fixed motion control configurations are used, then system simplicity is maintained, but flexibility in configuring motion control systems is limited
Solution Approach 1:
The patent applies dynamics by making the boundary cost function configurable and adaptable to different driving scenarios. The system allows dynamic adjustment of boundary definitions and cost function parameters, enabling the motion control system to adapt to various road types, weather conditions, and driving styles while maintaining a unified mathematical framework that preserves system simplicity.
Solution Approach 2:
The patent implements universality by creating a boundary cost function framework that can handle multiple types of boundaries (road edges, other vehicles, pedestrians, curbs) and multiple cost considerations (safety, comfort, efficiency) through a single unified mathematical formulation. This multi-functional approach eliminates the need for separate control systems for different scenarios.
3Measurement precision
If discontinuous cost functions are used, then clear boundary definitions are maintained, but abrupt transitions occur in the optimization solution
Solution Approach 1:
The patent resolves this contradiction by changing the mathematical parameters of the cost function from discontinuous to continuous with continuous derivatives. The boundary definition clarity is preserved through the asymptotic behavior of the continuous function that approaches infinity at the boundary, while the continuous parameter variation ensures smooth trajectory transitions without abrupt changes.
Data Source
AI summary
A computer-implemented method for calculating a trajectory of a mobile platform. An optimization problem whose total cost function depends on one or several boundary cost functions is solved. A first boundary cost function is, in at least one portion, a continuous and non-constant function of the position of the mobile platform. By way of continuous boundary cost functions, it is possible to achieve a continuous total cost function by which abrupt changes in the motion control of the mobile platform can be avoided. The boundary cost functions can be based on different elementary cost functions that make possible simple and flexible configuration of the motion control system.