Vehicle Obstacle Avoidance Using Dynamic Reference Point Control
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Solution Overview
Problem
Existing advanced driver assistance systems (ADAS) face challenges in effectively preventing low-speed impacts by accurately detecting potential obstacles, especially when the vehicle is in forward or reverse motion.
Innovation Solution
The system uses a control barrier function defined with respect to a dynamically positioned reference point that changes based on the vehicle's direction, allowing for more robust detection of potential impacts. This reference point can be located within the vehicle's footprint or extended structures like side-view mirrors, enabling better detection of side and extension-related impacts.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the reference point is located at the centroid of the vehicle, then the control system is simple to implement, but the detection of potential impacts to the sides of the vehicle and extensions is less robust
Solution Approach 1:
The reference point is made dynamic by shifting its location based on vehicle operating conditions (forward vs. reverse motion). The system automatically adjusts the reference point position to optimize impact detection for the current direction of travel, improving reliability without requiring multiple fixed reference points or complex manual configuration.
2Reliability
If the reference point is fixed within the vehicle footprint, then the system is easier to implement, but it is less effective at detecting potential impacts to extensions like side-view mirrors and bicycle racks
Solution Approach 1:
The reference point dynamically extends beyond the vehicle footprint when needed. By positioning the reference point at the rear of the vehicle during reverse motion (or front during forward motion), the system effectively monitors areas around extensions like side-view mirrors and bicycle racks, improving detection capability without requiring physical sensors on each extension.
3Reliability
If the reference point shifts location based on forward or reverse motion, then the system becomes more robust at detecting potential impacts, but the control logic becomes more complex
Solution Approach 1:
The system implements dynamic reference point positioning that automatically adapts to the vehicle's direction of motion. A shift indicator determines whether the vehicle is moving forward or in reverse, and accordingly positions the reference point at the front or rear of the vehicle, optimizing impact detection for low-speed maneuvers while maintaining manageable control logic through clear conditional rules.
Data Source
AI summary
A computer includes a processor and a memory, the memory storing instructions executable by the processor to receive sensor data indicating an obstacle, formulate a control barrier function for a vehicle based on the sensor data, determine a control input based on the control barrier function, and actuate a component of the vehicle according to the control input. The control barrier function is defined with respect to a reference point that is spaced from a centroid of the vehicle.