Autonomous Vehicle Cut-In Path Planning in Limited Lane Space
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Solution Overview
Problem
Autonomous vehicles face challenges in safely performing lane changes when there is no available space, as existing technologies fail to adaptively respond to changing surroundings and ensure collision-free cut-in paths, especially when objects occupy the target lane.
Innovation Solution
A vehicle path generating apparatus and method that sets a drivable region for cutting-in, generates a cut-in path using Bezier curves, and determines a risk of collision, ensuring the path does not overlap with the boundary of the drivable region, thereby allowing the vehicle to safely cut-in between objects in the target lane without collision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the vehicle attempts to change lanes when objects occupy the target lane, then the vehicle can maintain its driving progress, but the risk of collision increases
Solution Approach 1:
The system performs preliminary detection of objects in the target lane and pre-calculates cut-in paths before attempting lane change. By identifying suitable cut-in points and verifying path safety in advance, the system enables lane changes even when objects occupy the target lane, maintaining driving progress while preventing collisions through prior safety verification
Solution Approach 2:
The system continuously monitors the positions and speeds of objects in the target lane, using this feedback to dynamically adjust cut-in path selection. By comparing real-time object data with pre-calculated paths and verifying that path boundaries do not overlap with object positions, the system adapts to changing conditions while maintaining collision-free operation
2Adaptability or versatility
If the vehicle generates a cut-in path that closely follows the boundary of the drivable region, then the maneuverability is improved, but the safety margin decreases
Solution Approach 1:
The system generates cut-in paths that extend to the boundary of the drivable region to maximize maneuverability, then performs verification to ensure the path does not overlap with object positions. This approach allows the vehicle to utilize the full available space while maintaining safety through boundary verification against object locations
Solution Approach 2:
The system adjusts the cut-in path characteristics locally based on the distribution of objects in different regions of the target lane. By identifying specific cut-in points where the path boundary can safely approach object positions and modifying path geometry in those local regions, the system maximizes maneuverability while maintaining adequate safety margins where objects are present
Data Source
AI summary
The present disclosure relates to a vehicle path generating apparatus and a method therefor. The vehicle path generating apparatus includes a processor and a storage configured to store data and algorithms, when executed by the processor, cause the processor to set a drivable region for cutting-in, to generate a cut-in path within the drivable region and in response a cut-in activation condition which is satisfied during autonomous driving of the vehicle, the processor configured to control a vehicle to follow the cut-in path, when there is no space available for performing lane change for the cutting-in, the processor configured to determine that the cut-in activation condition is satisfied.