Autonomous Driving Trajectory Determination for Deviating Objects
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Solution Overview
Problem
Existing autonomous driving trajectory determination devices struggle to adequately consider moving objects that deviate from standard states, such as those traveling at inappropriate speeds or out of their lanes, which can significantly impact vehicle trajectory determination.
Innovation Solution
An autonomous driving trajectory determination device that includes a deviating moving object detection unit to identify objects deviating from a standard state, a number-of-deviating-moving objects calculation unit to assess their impact, and a trajectory determination unit to decide on the appropriate autonomous driving trajectory based on these factors, incorporating standard, efficiency priority, and change suppressed trajectories.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If trajectory evaluation is performed based on position of moving objects only, then the evaluation process is simple, but moving objects deviating from standard state cannot be fully considered
Solution Approach 1:
The system performs preliminary detection of deviating moving objects by comparing current behavior against standard state criteria before trajectory evaluation. This preliminary action identifies objects that require special consideration, allowing the system to weight their influence appropriately in the subsequent trajectory determination process without complicating the overall evaluation framework
2Measurement precision
If moving objects deviating from standard state are considered, then trajectory determination accuracy is improved, but the detection and evaluation process becomes more complex
Solution Approach 1:
The system applies different evaluation criteria to different moving objects based on their behavior characteristics. Standard moving objects are evaluated using basic position-based criteria, while deviating moving objects detected through behavior analysis receive enhanced weighting in the trajectory determination. This local differentiation improves accuracy without requiring complete reconfiguration of the evaluation system
Solution Approach 2:
The system changes the evaluation parameters dynamically based on detected behavior patterns. When a moving object is identified as deviating from standard state, its influence weight parameter is increased in the trajectory determination calculation. This parameter adjustment allows the system to adapt to different traffic situations without adding permanent structural complexity
Data Source
AI summary
An autonomous driving trajectory determination device that is configured to determine an autonomous driving trajectory of a vehicle is configured to include: a standard trajectory generation unit configured to generate a standard trajectory for the autonomous driving of the vehicle; a moving object behavior detection unit configured to detect a behavior of a moving object; a deviating moving object detection unit configured to detect a deviating moving object that deviates from a standard state set in advance based on the behavior of the moving object and the map information; a number-of-deviating-moving objects calculation unit configured to calculate the number of deviating moving objects, which is the number of deviating moving objects interfering with the standard trajectory; and a trajectory determination unit configured to determine whether or not to set the standard trajectory as the autonomous driving trajectory based on the number of deviating moving objects.