Autonomous Vehicle Avoidance Control With Dual Soft Constraints
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Solution Overview
Problem
Current avoidance control methods for autonomous driving technologies lack rationality and stability, often resulting in conservative and human-like decision-making, leading to poor avoidance capabilities and increased safety risks due to sudden changes in weight coefficients and discontinuous sensitivity.
Innovation Solution
Implementing an avoidance control method that determines inner and outer soft constraints based on target object appearance and speed information, allowing the intelligent device to avoid obstacles while maintaining a sufficient distance and direction away from them, ensuring stability and smooth navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If avoidance control uses only outer constraint based on target object appearance, then collision avoidance is achieved, but the intelligent device cannot maintain sufficient distance and direction away from the target object
Solution Approach 1:
The avoidance control is segmented into two independent constraint modules: outer constraint based on target object appearance information and inner constraint based on target object speed information. This segmentation allows each constraint to independently address specific aspects of avoidance control, with the outer constraint ensuring collision avoidance and the inner constraint maintaining sufficient distance and direction away from the target object.
2Reliability
If avoidance control uses hard constraints with sudden weight coefficient changes, then safety is prioritized, but the avoidance process becomes unstable and discontinuous
Solution Approach 1:
The patent transforms static hard constraints into dynamic soft constraints where the constraint strength adapts continuously based on target object speed. The inner constraint dynamically adjusts the required distance and direction away from the target object according to its speed, creating a stable and continuous avoidance process that responds smoothly to changing conditions rather than applying sudden, discontinuous weight coefficient changes.
3Reliability
If avoidance control performs sudden and sensitive avoidance, then collision is avoided, but the autonomous driving stability deteriorates
Solution Approach 1:
The inner constraint acts as a cushioning mechanism that prepares the intelligent device for smooth avoidance by maintaining a sufficient distance and direction away from the target object in advance. This pre-positioning based on target speed information creates a buffer zone that allows for gradual, stable avoidance maneuvers rather than sudden, sensitive reactions that would disrupt autonomous driving stability.
Data Source
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AI summary
An avoidance control method, an intelligent device, and a vehicle are provided. The vehicle can be away from a target object as far as possible while ensuring avoidance safety. The intelligent device may determine a first constraint of avoidance control based on first information of the target object in a surrounding environment of the intelligent device, where the first constraint indicates a first passing area in which the intelligent device avoids the target object; and determine a second constraint of avoidance control based on second information of the target object, where the second constraint indicates a second passing area that is in the first passing area and in which the intelligent device is away from the target object. Based on the first constraint and the second constraint, the intelligent device can keep the vehicle away from the target object as far as possible while ensuring avoidance safety.