Vehicle Control Reference System Transition

Solution Overview

Problem

Autonomous vehicles are limited by route-based reference systems, which restrict their ability to perform actions like parking, reversing, or pulling over, as these systems are designed for navigating along designated routes and lack the flexibility to operate off these routes.

Innovation Solution

Transitioning between route-based and inertial-based reference systems allows the vehicle to determine and execute off-route trajectories for actions such as parking or reversing, using optimization algorithms and sensor data to adjust trajectories based on cost and environmental factors.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Device complexity

If a route-based reference system is used for autonomous vehicle control, then computational complexity is reduced and navigation along designated routes is improved, but the vehicle's ability to perform off-route actions such as parking, reversing, or pulling over is restricted

Engineering Contradiction:

Improvecomputational complexityVSAvoidoperational flexibility

Core Design Contradiction:

Device complexityVSAdaptability or versatility

Solution Approach 1:

The system dynamically switches between route-based reference system (for normal navigation) and inertial-based reference system (for off-route actions). This dynamic adaptation allows the vehicle to maintain computational efficiency during route following while gaining operational flexibility during parking, reversing, or pulling over maneuvers

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The control system integrates two reference systems (route-based and inertial-based) into a single unified platform that can handle both on-route navigation and off-route actions. This multi-functionality enables the vehicle to perform diverse operations including following designated routes, parking, reversing, and pulling over without requiring separate specialized systems

Inventive Principle:

Principle #6Universality (Multi-functionality)

2Adaptability or versatility

If the vehicle transitions to an inertial-based reference system for off-route actions, then operational flexibility is improved, but computational complexity increases

Engineering Contradiction:

Improveoperational flexibilityVSAvoidcomputational complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The system dynamically switches between route-based reference system (for normal navigation) and inertial-based reference system (for off-route actions). This dynamic adaptation allows the vehicle to maintain computational efficiency during route following while gaining operational flexibility during parking, reversing, or pulling over maneuvers

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The control system divides operations into two segments: route-based navigation handled by the route-based reference system and off-route actions handled by the inertial-based reference system. This segmentation allows each subsystem to be optimized independently, maintaining computational efficiency for route following while providing enhanced flexibility for specific maneuvers

Inventive Principle:

Principle #1Segmentation

3Adaptability or versatility

If the vehicle performs off-route actions like parking or reversing, then operational versatility is improved, but forward motion progress may be delayed

Engineering Contradiction:

Improveoperational versatilityVSAvoidforward motion progress

Core Design Contradiction:

Adaptability or versatilityVSProductivity

Solution Approach 1:

The system performs off-route actions (parking, reversing, pulling over) as preliminary actions when needed, then quickly transitions back to route-based navigation to resume forward motion. This allows the vehicle to handle necessary maneuvers without significantly delaying overall progress toward the destination

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system dynamically switches between route-based reference system (for normal navigation) and inertial-based reference system (for off-route actions). This dynamic adaptation allows the vehicle to maintain computational efficiency during route following while gaining operational flexibility during parking, reversing, or pulling over maneuvers

Inventive Principle:

Principle #15Dynamics

Data Source

PatentUS11142188B2Action-based reference systems for vehicle control

Publication Date: 2021.10.12 ZOOX INC

AI summary

Techniques for controlling a vehicle on and off a route structure in an environment are discussed herein. A vehicle computing system controls the vehicle along a route based on a route-based reference system. The vehicle computing system may determine to operate off the route, such as to operate in reverse, park, etc. The vehicle computing system may modify vehicle operations to an inertial-based reference system to navigate to a location off the route. The vehicle computing system may determine a vehicle trajectory to the location off the route based on a reference trajectory between a location on the route and the location off the route and a corridor associated therewith. The vehicle computing system may transition between the route-based reference system and the inertial-based reference system, based on a determination to operate on or off the route.