Vehicle Control System Multi-Processor Obstacle Avoidance
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Solution Overview
Problem
Conventional vehicle control systems take too long to initiate an avoiding action after recognizing an obstacle, particularly when it is present on the side in the vehicle's advancement direction.
Innovation Solution
A vehicle control system that includes multiple processors to determine and adjust target speeds and positions, allowing for quicker avoidance actions by using sensors to recognize obstacles and control acceleration/deceleration and steering based on multiple trajectory generators with different processing periods.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If a single processor determines target speed at a first period, then the control process is simple, but the response time to obstacles is long
Solution Approach 1:
The control system is divided into two processors with different functions: a first processor that determines target speed at a first period for general control, and a second processor that determines target speed at a second period for quick response to obstacles. This segmentation allows the system to achieve fast response without requiring all processing to occur at high speed, thus resolving the contradiction between response time and system complexity.
Solution Approach 2:
The first processor continuously determines target speed at a first period in advance, preparing control data before obstacles are detected. When an obstacle is detected, the second processor can immediately use this pre-computed data and adjust at a shorter second period, reducing the overall response time without requiring the entire system to operate at high speed continuously.
2Speed
If the second processor determines target speed at a shorter second period, then the avoidance action is faster, but the processing load increases
Solution Approach 1:
The second processor operates at a shorter second period only when necessary for obstacle avoidance, rather than continuously. This partial high-speed processing achieves fast avoidance action when needed while reducing overall processing load and energy consumption compared to maintaining high-speed processing at all times.
Solution Approach 2:
The first processor acts as an intermediary that handles general target speed determination at a lower processing load, allowing the second processor to focus only on obstacle-related adjustments at high speed. This division reduces the processing burden on the system while maintaining fast avoidance capability.
3Reliability
If multiple processors are used to determine target speed, then the response to obstacles is faster, but the system complexity increases
Solution Approach 1:
The system segments the target speed determination function into two distinct processors with clear division of labor: the first processor handles general target speed determination, while the second processor handles obstacle-specific adjustments. This segmentation improves reliability by ensuring obstacle response is dedicated to a specific processor, while keeping system complexity manageable through functional separation.
Solution Approach 2:
The two processors work together in a combined system where the first processor provides baseline target speed and the second processor provides obstacle-based adjustments. This merging of functions achieves high reliability for obstacle avoidance while managing complexity through coordinated operation rather than completely independent systems.
Data Source
AI summary
A vehicle control system including: a recognizer that recognizes a target in the vicinity of a subject vehicle; a first processor that repeatedly performs a process of determining a first target speed, which is a target speed of the subject vehicle in the future, at a first period on the basis of the target recognized by the recognizer and a state of the subject vehicle; a second processor that repeatedly performs a process of determining a second target speed, which is a target speed of the subject vehicle in the future, at a second period shorter than the first period on the basis of the first target speed determined by the first processor, the target recognized by the recognizer, and the state of the subject vehicle; and a running controller that controls acceleration/deceleration of the subject vehicle on the basis of at least one of the first target speed determined by the first processor and the second target speed determined by the second processor.