Vehicle Obstacle Avoidance Using Load-Aware Braking Strategy
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Solution Overview
Problem
Existing obstacle-avoidance methods for driverless vehicles primarily focus on kinematic collision avoidance and lack safety considerations, especially when dealing with obstacles on fixed paths during straight travel or rotation, leading to potential safety risks.
Innovation Solution
A vehicle obstacle-avoidance method that acquires obstacle information, determines if the obstacle is on a straight path, calculates the vehicle's center-of-gravity position, safe stopping distance, and current speed, and uses this data to determine a maximum acceleration and deceleration strategy to safely avoid obstacles, considering the vehicle's load conditions and trajectory.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If existing obstacle-avoidance methods focus only on kinematic collision avoidance, then the obstacle avoidance can be achieved, but the safety is reduced
Solution Approach 1:
The obstacle avoidance method is segmented into multiple independent modules: obstacle detection module, obstacle classification module (straight-going vs. rotating), path planning module, and control module. Each module handles a specific aspect of the obstacle avoidance process, allowing the system to achieve comprehensive safety without excessive overall complexity.
Solution Approach 2:
The system dynamically adjusts the obstacle avoidance strategy based on real-time conditions. When a straight-going obstacle is detected, the vehicle executes emergency braking; when a rotating obstacle is detected, the vehicle adjusts its path. This dynamic response ensures safety while maintaining operational efficiency.
2Productivity
If a fixed driving path is used for high-speed vehicles, then the driving efficiency is improved, but the ability to avoid obstacles is reduced
Solution Approach 1:
The system performs preliminary obstacle detection and classification before the vehicle reaches the obstacle. By detecting obstacles early and classifying them as straight-going or rotating, the system can plan the avoidance path in advance, allowing the vehicle to maintain higher speeds while still avoiding obstacles safely.
Solution Approach 2:
The system changes key parameters (speed, steering angle, acceleration) based on obstacle type. For straight-going obstacles, speed is reduced to zero while maintaining direction; for rotating obstacles, the vehicle adjusts its trajectory parameters to follow a new path. This allows efficient response while maintaining overall driving productivity.
Data Source
AI summary
Provided are a vehicle obstacle-avoidance method, an apparatus, and a vehicle. The method includes: acquiring obstacle information, in a case that an obstacle is detected; determining whether the obstacle is a straight-going obstacle in a planned route, according to the planned route and the obstacle information; acquiring a center-of-gravity position of a vehicle, a safe stopping distance and a vehicle current speed, in a case that the obstacle is determined as the straight-going obstacle in the planned route; determining a maximum acceleration of the vehicle, according to the center-of-gravity position; and determining a straight-going obstacle-avoidance strategy, according to the obstacle information, the maximum acceleration, the safe stopping distance and the vehicle current speed. In the present application, current actions as well as load conditions of the vehicle are considered to determine the obstacle-avoidance strategy, thereby improving safety of the vehicle while ensuring execution of obstacle-avoidance.