Vehicle Backward Driving Trajectory Correction
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Solution Overview
Problem
Existing backward driving assist systems for vehicles struggle to adapt to changes in the driving environment during reverse maneuvers, such as encountering obstacles, and fail to account for road characteristics like curvature, leading to potential collisions and congestion.
Innovation Solution
An apparatus and method that generate a driving trajectory for backward vehicle control using sensing information from forward driving, incorporating curvature parameters and communication with other vehicles to correct trajectories and prevent collisions, while also notifying following vehicles of obstacles, utilizing V2X communication and sensors like wheel speed, steering angle, and yaw rate sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If a conventional backward driving assist system uses a pre-calculated driving trajectory based on forward driving path, then the system can provide automatic steering assistance, but the system cannot adapt to changes in driving environment such as obstacles that appear during backward driving
Solution Approach 1:
The system dynamically adjusts the driving trajectory during backward driving by continuously sensing the current environment and comparing it with the pre-stored trajectory. When obstacles or environmental changes are detected, the system modifies the trajectory in real-time to accommodate the new conditions while maintaining automatic steering control.
Solution Approach 2:
The system implements a feedback mechanism where the actual driving environment sensed during backward driving is continuously compared with the pre-calculated trajectory. This feedback loop enables the system to detect deviations caused by obstacles or environmental changes and automatically correct the driving path accordingly.
2Device complexity
If the backward driving assist system calculates trajectory based on memorized forward driving path, then the system can operate with simple sensors, but the system fails to account for road characteristics like curvature and environmental changes
Solution Approach 1:
The system performs preliminary sensing and trajectory calculation during the forward driving phase, storing the path information before backward driving begins. This preliminary action allows the system to prepare a baseline trajectory using existing sensors, which is then refined during backward driving based on real-time environmental feedback.
Solution Approach 2:
The trajectory calculation evolves from a static pre-computed path to a dynamic adaptive trajectory. The system starts with a baseline trajectory from forward driving data and continuously adjusts it during backward driving based on real-time sensor input, road characteristics, and environmental conditions, improving reliability without requiring completely new sensing infrastructure.
3Device complexity
If the system uses fixed logic to decide driving trajectory, then the control algorithm is simple, but the system cannot optimize the driving trajectory considering road characteristics such as curvature
Solution Approach 1:
The system changes key parameters of the driving trajectory such as curvature, steering angle, and speed based on detected road characteristics. By dynamically adjusting these parameters according to the actual road geometry and environmental conditions, the system optimizes the driving path while building upon the existing control framework.
Solution Approach 2:
The control algorithm transitions from fixed logic to dynamic adaptation. The system maintains the simplicity of the base control structure but enhances it with real-time parameter adjustments that respond to road characteristics like curvature, allowing optimization without completely redesigning the control system.
4Device complexity
If the system does not communicate with following vehicles, then the communication system remains simple, but following vehicles cannot recognize situations where they cannot move forward, leading to collisions or congestion
Solution Approach 1:
The system introduces a communication intermediary that transmits trajectory and obstacle information to following vehicles. This intermediary communication channel enables following vehicles to awareness of situations where they cannot proceed, preventing collisions and congestion without requiring complex integrated control systems between vehicles.
Solution Approach 2:
The system performs preliminary communication with following vehicles by transmitting advance warning information about obstacles and trajectory adjustments before the ego vehicle completes its maneuver. This preliminary action allows following vehicles to prepare and avoid conflicts, improving safety without requiring continuous complex communication protocols.
Data Source
AI summary
An apparatus for controlling backward driving of a vehicle including: a driving trajectory generation unit configured to generate a driving trajectory for backward driving of an ego vehicle on a target path, using sensing information acquired while the ego vehicle drives forward along the target path; and a control unit configured to control the backward driving of the ego vehicle on the target path according to the driving trajectory generated by the driving trajectory generation unit, correct the driving trajectory using driving information of another vehicle, which has driven backward on the target path before the ego vehicle, when a change on the target path is sensed in comparison to during the forward driving of the ego vehicle during the process of controlling the backward driving of the ego vehicle, and control the backward driving of the ego vehicle according to the corrected driving trajectory.