Centralized Vehicle Trajectory Planning for Intersection Platooning
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Solution Overview
Problem
Autonomous vehicles face challenges in capturing complex road and traffic conditions, particularly at zones of interest like intersections and freeway merging areas, due to limited sensing ranges of onboard sensors, which hinder accurate trajectory planning and decision-making.
Innovation Solution
Implementing sensors on fixed installations along roads to provide supplemental traffic information, combined with wireless communication to enhance the sensing range and accuracy of traffic data, allowing for improved trajectory prediction and planning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of stationary object
If onboard sensors are used for autonomous vehicle perception, then the vehicle can detect objects in its immediate vicinity, but the sensing range is limited and cannot capture complex traffic conditions at intersections and merging zones
Solution Approach 1:
The patent introduces infrastructure-based sensors as an intermediary system that bridges the gap between limited onboard vehicle sensors and the need for comprehensive traffic condition information. These fixed sensors act as mediators that collect data in zones of interest and relay it to vehicles via V2X communication, thereby extending the effective sensing range without requiring larger onboard sensors.
Solution Approach 2:
The patent transitions from a vehicle-centric sensing dimension to an infrastructure-centric sensing dimension. By deploying sensors at fixed locations along the road infrastructure, the system creates a spatially distributed sensing network that covers areas beyond any single vehicle's sensing range, particularly targeting zones of interest like intersections and merging areas.
2Loss of information
If infrastructure sensors are deployed to extend sensing range, then traffic information coverage is improved, but system complexity increases
Solution Approach 1:
The patent designs the infrastructure sensor system to serve multiple functions: collecting traffic condition data, detecting objects in zones of interest, and providing this information to multiple vehicles simultaneously through V2X communication. This multi-functionality justifies the infrastructure investment by making the system serve numerous vehicles rather than a single vehicle.
Solution Approach 2:
The system enables vehicles to serve themselves with enhanced perception capabilities through V2X communication. Instead of each vehicle needing its own extended sensing infrastructure, vehicles receive processed traffic information from the infrastructure system, allowing them to make informed decisions without carrying additional heavy sensing equipment.
3Device complexity
If onboard sensors are used, then the vehicle system remains simple, but the ability to plan trajectories in complex scenarios is hindered
Solution Approach 1:
The infrastructure sensors perform preliminary action by collecting and processing traffic condition information in advance, particularly in zones of interest where complex maneuvers are likely to occur. This pre-collected information is made available to vehicles before they reach critical decision points, enabling more reliable trajectory planning without requiring complex onboard sensing systems.
Data Source
AI summary
This application is directed to a centralized system for predicting vehicle trajectory. A computer system associated with a fixed installation having one or more first sensors obtains, from the first sensors, information of a plurality of vehicles that are traveling within a zone of interest of a road. The computer system generates a first travel trajectory for a first vehicle of the plurality of vehicles based on the information obtained from the one or more first sensors. The computer system sends, to the first vehicle, the first travel trajectory such that the first vehicle is configured to at least partially autonomously drive the first vehicle based on the first travel trajectory of the first vehicle.