Vehicle Motion Arbitration for Interfering Kinematic Plans
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Solution Overview
Problem
In vehicles with multiple applications setting kinematic plans, sporadically set plans can hinder the execution of intended operations, such as autonomous driving, due to interference between different systems.
Innovation Solution
A motion manager is configured to receive and arbitrate kinematic plans from various systems, prioritizing certain plans over others and distributing motion requests to actuators, allowing for the restriction of interfering plans and ensuring the execution of intended vehicle operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple systems set kinematic plans independently, then each system can operate autonomously, but interference between systems occurs and execution of intended operations is hindered
Solution Approach 1:
The motion manager serves as an intermediary between multiple control systems and the actuator system. It receives kinematic plans from various systems (autonomous driving, driver assistance, manual control), arbitrates their priorities, and distributes unified motion requests to actuators. This mediator role prevents direct interference between systems while maintaining autonomous operation capabilities of each system.
Solution Approach 2:
The control architecture is segmented into distinct functional modules: individual control systems (autonomous driving, driver assistance), the motion manager for arbitration, and the actuator system for execution. This segmentation allows each module to operate independently with defined interfaces, preventing interference while maintaining overall system functionality.
2Reliability
If a motion manager arbitrates between multiple kinematic plans, then interference between systems is restricted, but system complexity increases
Solution Approach 1:
The motion manager is designed as a centralized intermediary that handles all arbitration logic in one place, rather than distributing complex arbitration logic across multiple systems. This concentrates the complexity in a single manageable component while keeping other systems relatively simple.
Solution Approach 2:
The motion manager uses parameter-based priority assignment to kinematic plans from different systems. By changing the parameter representation (assigning priority levels or weights to different plan types), the system manages complexity through standardized parameter handling rather than complex conditional logic distributed throughout the architecture.
3Adaptability or versatility
If sporadically set kinematic plans are allowed, then system flexibility is maintained, but execution of series of operations is hindered
Solution Approach 1:
The motion manager performs preliminary arbitration of kinematic plans before they are executed by the actuator system. By pre-evaluating and prioritizing plans from multiple sources, it ensures that sporadically set plans are properly integrated without disrupting the continuity of intended operation sequences.
Solution Approach 2:
The motion manager continuously monitors incoming kinematic plans from multiple systems and dynamically adjusts arbitration based on current system state and plan priorities. This feedback mechanism allows flexible acceptance of sporadic plans while maintaining operation continuity through real-time coordination.
Data Source
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AI summary
A motion manager (200) includes one or more processors, The one or more processors are configured to receive each piece of information indicating kinematic plans from a plurality of systems (150) The systems (150) include a first system and a second system. The one or more processors are configured to receive, from the first system, request information requesting to select a first kinematic plan by prioritizing the first kinematic plan set in the first system over a second kinematic plan set in the second system. The one or more processors are configured to arbitrate the kinematic plans. The one or more processors are configured to distribute a motion request to the vehicle (1) to at least one of actuators. The motion request is set based on arbitration results.