Vehicle Control Module for Safe Stop Path Execution
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Solution Overview
Problem
Self-driving vehicles that only control braking when the system fails can lead to safety issues, such as skidding into another lane on curved roads, due to lack of continuous lateral motion control during abnormal system conditions.
Innovation Solution
A vehicle controlling method that includes a computing system, a vehicle controlling module, and a positioning module, which calculates an offset between positioning and fusion coordinates to transmit vehicle control commands for safe stopping, ensuring both longitudinal and lateral control when the system becomes abnormal.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the vehicle brakes immediately when the system fails, then the vehicle stops quickly, but the vehicle may skid to another lane and cause a traffic accident due to lack of lateral motion control
Solution Approach 1:
The patent segments the control system into two independent modules: a computing system for path planning and a vehicle controlling module for execution. When the computing system fails, the vehicle controlling module can independently execute emergency stop commands with lateral motion control, ensuring safety without relying on the failed computing system.
Solution Approach 2:
The patent implements preliminary action by pre-calculating and storing safe stop paths before system failure occurs. The vehicle controlling module is pre-programmed with emergency stop algorithms that maintain lateral motion control, allowing it to execute safe stops immediately upon detecting computing system failure without needing real-time path recalculation.
2Device complexity
If the vehicle relies solely on the computing system for control, then the control logic is centralized and simple, but the system reliability decreases when the computing system becomes abnormal
Solution Approach 1:
The control system is segmented into two functional modules: the computing system for normal operation and the vehicle controlling module for emergency operations. This segmentation allows the vehicle to maintain basic control functions even when the computing system fails, improving reliability without significantly increasing overall system complexity.
Solution Approach 2:
The vehicle controlling module acts as an intermediary between the computing system and the vehicle's actuators. It receives commands from the computing system during normal operation and can independently execute emergency stop commands when the computing system fails, serving as a safety buffer that maintains system reliability.
3Device complexity
If the vehicle uses only braking control during system failure, then the control mechanism is simple, but the vehicle cannot maintain proper lateral motion control on curved roads
Solution Approach 1:
The control mechanism is segmented to handle longitudinal and lateral motion independently. The vehicle controlling module can apply braking force for longitudinal deceleration while simultaneously adjusting steering angle for lateral position control, ensuring the vehicle stays on the safe stop path even on curved roads during emergency stops.
Solution Approach 2:
The control mechanism dynamically adjusts both braking force and steering angle based on real-time vehicle state and path requirements. During emergency stops, the system continuously modifies the ratio of longitudinal to lateral control to maintain optimal positioning accuracy throughout the stopping process.
Data Source
AI summary
A vehicle and a vehicle controlling method are provided. The vehicle includes a computing system; a vehicle controlling module coupled to the computing system; and a positioning module coupled to the computing system and the vehicle controlling module. The vehicle controlling module receives a safe stop path and a fusion coordinate from the computing system. When the vehicle controlling module determines that an abnormality occurs in the computing system, the vehicle controlling module receives a positioning coordinate from the positioning module and calculates an offset corresponding to the positioning coordinate and the fusion coordinate. The vehicle controlling module transmits a vehicle controlling command to the vehicle according to the offset and the safe stop path.