Turn-Segment Path Planning for Obstacle Avoidance and Smooth Yaw
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Solution Overview
Problem
Existing autonomous driving assistance systems fail to consider the orientations of a vehicle at the starting and end points of a turn segment when modifying the travel course to avoid obstacles, leading to unnatural vehicle behavior such as sudden speed changes or lateral acceleration.
Innovation Solution
A driving assistance device and computer program that generate a travel course for turn segments, ensuring the vehicle's orientation at the starting and end points aligns with the recommended orientation, using obstacle information to avoid obstacles while maintaining smooth vehicle behavior.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the travel course is modified to avoid an obstacle on a turn segment, then the vehicle can safely avoid the obstacle, but the orientation of the vehicle at the starting point or end point of the turn segment may not coincide with the recommended orientation, causing unnatural vehicle behavior such as sudden speed changes or lateral acceleration
Solution Approach 1:
The patent changes the parameters of the travel course by adjusting the orientation of the vehicle at the starting point or end point of the turn segment. Specifically, it calculates a corrected orientation that satisfies both the obstacle avoidance requirement and the smooth vehicle behavior requirement, thereby resolving the contradiction between safety and operational smoothness
Solution Approach 2:
The patent employs a feedback mechanism by checking whether the calculated travel course satisfies the orientation condition at the starting point or end point of the turn segment. If the condition is not satisfied, the system iteratively adjusts the travel course until the orientation requirement is met, ensuring both obstacle avoidance and smooth vehicle behavior
2Device complexity
If the travel course follows the center line of the road, then the route is simple to generate, but the radius of curvature of the turn portion is smaller, reducing vehicle ride comfort
Solution Approach 1:
The patent changes the geometric parameters of the travel course by generating a curve that passes through specified points with controlled orientations. This approach increases the radius of curvature of the turn portion compared to following the center line, thereby improving vehicle ride comfort while maintaining reasonable generation complexity
Solution Approach 2:
The patent performs preliminary action by pre-calculating the orientations at the starting point and end point of the turn segment before generating the travel course. This allows the system to ensure that the generated curve satisfies the orientation requirements, thereby guaranteeing smooth vehicle behavior without requiring complex iterative adjustments later
Data Source
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AI summary
A planned travel path along which a vehicle travels is obtained. Obstacle information about an obstacle present on the planned travel path is also obtained. When, upon traveling along the planned travel path, there is included a turn segment where the vehicle travels with a turn, orientations of the vehicle taken when the vehicle reaches a starting point and an end point of the turn segment are set based on the planned travel path. A travel course that avoids the obstacle on the turn segment and that is recommended for the vehicle to travel along on the turn segment is generated using the obstacle information, on condition that the orientations of the vehicle upon reaching the starting point and the end point of the turn segment coincide with the set orientations. Driving assistance for the vehicle is provided based on the generated travel course.